dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Data Sheet High-Performance, 16-bit Microcontrollers © 2007 Microchip Technology Inc. Preliminary DS70283B Note the following details of the code protection feature on Microchip devices: • Microchip products meet the specification contained in their particular Microchip Data Sheet. • Microchip believes that its family of products is one of the most secure families of its kind on the market today, when used in the intended manner and under normal conditions. • There are dishonest and possibly illegal methods used to breach the code protection feature. All of these methods, to our knowledge, require using the Microchip products in a manner outside the operating specifications contained in Microchip’s Data Sheets. Most likely, the person doing so is engaged in theft of intellectual property. • Microchip is willing to work with the customer who is concerned about the integrity of their code. • Neither Microchip nor any other semiconductor manufacturer can guarantee the security of their code. Code protection does not mean that we are guaranteeing the product as “unbreakable.” Code protection is constantly evolving. We at Microchip are committed to continuously improving the code protection features of our products. Attempts to break Microchip’s code protection feature may be a violation of the Digital Millennium Copyright Act. If such acts allow unauthorized access to your software or other copyrighted work, you may have a right to sue for relief under that Act. Information contained in this publication regarding device applications and the like is provided only for your convenience and may be superseded by updates. It is your responsibility to ensure that your application meets with your specifications. MICROCHIP MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED, WRITTEN OR ORAL, STATUTORY OR OTHERWISE, RELATED TO THE INFORMATION, INCLUDING BUT NOT LIMITED TO ITS CONDITION, QUALITY, PERFORMANCE, MERCHANTABILITY OR FITNESS FOR PURPOSE. Microchip disclaims all liability arising from this information and its use. Use of Microchip devices in life support and/or safety applications is entirely at the buyer’s risk, and the buyer agrees to defend, indemnify and hold harmless Microchip from any and all damages, claims, suits, or expenses resulting from such use. No licenses are conveyed, implicitly or otherwise, under any Microchip intellectual property rights. Trademarks The Microchip name and logo, the Microchip logo, Accuron, dsPIC, KEELOQ, KEELOQ logo, microID, MPLAB, PIC, PICmicro, PICSTART, PRO MATE, rfPIC and SmartShunt are registered trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. AmpLab, FilterLab, Linear Active Thermistor, Migratable Memory, MXDEV, MXLAB, SEEVAL, SmartSensor and The Embedded Control Solutions Company are registered trademarks of Microchip Technology Incorporated in the U.S.A. Analog-for-the-Digital Age, Application Maestro, CodeGuard, dsPICDEM, dsPICDEM.net, dsPICworks, ECAN, ECONOMONITOR, FanSense, FlexROM, fuzzyLAB, In-Circuit Serial Programming, ICSP, ICEPIC, Mindi, MiWi, MPASM, MPLAB Certified logo, MPLIB, MPLINK, PICkit, PICDEM, PICDEM.net, PICLAB, PICtail, PowerCal, PowerInfo, PowerMate, PowerTool, REAL ICE, rfLAB, Select Mode, Smart Serial, SmartTel, Total Endurance, UNI/O, WiperLock and ZENA are trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. SQTP is a service mark of Microchip Technology Incorporated in the U.S.A. All other trademarks mentioned herein are property of their respective companies. © 2007, Microchip Technology Incorporated, Printed in the U.S.A., All Rights Reserved. Printed on recycled paper. Microchip received ISO/TS-16949:2002 certification for its worldwide headquarters, design and wafer fabrication facilities in Chandler and Tempe, Arizona; Gresham, Oregon and design centers in California and India. The Company’s quality system processes and procedures are for its PIC® MCUs and dsPIC® DSCs, KEELOQ® code hopping devices, Serial EEPROMs, microperipherals, nonvolatile memory and analog products. In addition, Microchip’s quality system for the design and manufacture of development systems is ISO 9001:2000 certified. DS70283B-page ii Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 High-Performance, 16-Bit Digital Signal Controllers Operating Range: Interrupt Controller: • Up to 40 MIPS operation (@ 3.0-3.6V): - Industrial temperature range (-40°C to +85°C) - Extended temperature range (-40°C to +125°C) • • • • • • High-Performance DSC CPU: • • • • • • • • • • • • • • Modified Harvard architecture C compiler optimized instruction set 16-bit wide data path 24-bit wide instructions Linear program memory addressing up to 4M instruction words Linear data memory addressing up to 64 Kbytes 83 base instructions: mostly 1 word/1 cycle Two 40-bit accumulators with rounding and saturation options Flexible and powerful addressing modes: - Indirect - Modulo - Bit-reversed Software stack 16 x 16 fractional/integer multiply operations 32/16 and 16/16 divide operations Single-cycle multiply and accumulate: - Accumulator write back for DSP operations - Dual data fetch Up to ±16-bit shifts for up to 40-bit data Timers/Capture/Compare/PWM: • Timer/Counters, up to three 16-bit timers - Can pair up to make one 32-bit timer - 1 timer runs as Real-Time Clock with external 32.768 kHz oscillator - Programmable prescaler • Input Capture (up to 4 channels): - Capture on up, down or both edges - 16-bit capture input functions - 4-deep FIFO on each capture • Output Compare (up to 2 channels): - Single or Dual 16-Bit Compare mode - 16-bit Glitchless PWM mode © 2007 Microchip Technology Inc. 5-cycle latency 118 interrupt vectors Up to 26 available interrupt sources Up to 3 external interrupts 7 programmable priority levels 4 processor exceptions Digital I/O: • • • • • • • Peripheral pin Select functionality Up to 35 programmable digital I/O pins Wake-up/Interrupt-on-Change for up to 21 pins Output pins can drive from 3.0V to 3.6V Up to 5V output with open drain configuration All digital input pins are 5V tolerant 4 mA sink on all I/O pins On-Chip Flash and SRAM: • Flash program memory (up to 32 Kbytes) • Data SRAM (2 Kbytes) • Boot and General Security for program Flash System Management: • Flexible clock options: - External, crystal, resonator, internal RC - Fully integrated Phase-Locked Loop (PLL) - Extremely low jitter PLL • Power-up Timer • Oscillator Start-up Timer/Stabilizer • Watchdog Timer with its own RC oscillator • Fail-Safe Clock Monitor • Reset by multiple sources Power Management: • On-chip 2.5V voltage regulator • Switch between clock sources in real time • Idle, Sleep and Doze modes with fast wake-up Preliminary DS70283B-page 1 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Motor Control Peripherals: CMOS Flash Technology: • 6-channel 16-bit Motor Control PWM: - 3 duty cycle generators - Independent or Complementary mode - Programmable dead time and output polarity - Edge-aligned or center-aligned - Manual output override control - 1 Fault input - Trigger for ADC conversions - PWM frequency for 16-bit resolution (@ 40 MIPS) = 1220 Hz for Edge-Aligned mode, 610 Hz for Center-Aligned mode - PWM frequency for 11-bit resolution (@ 40 MIPS) = 39.1 kHz for Edge-Aligned mode, 19.55 kHz for Center-Aligned mode • 2-channel 16-bit Motor Control PWM: - 1 duty cycle generator - Independent or Complementary mode - Programmable dead time and output polarity - Edge-aligned or center-aligned - Manual output override control - 1 Fault input - Trigger for ADC conversions - PWM frequency for 16-bit resolution (@ 40 MIPS) = 1220 Hz for Edge-Aligned mode, 610 Hz for Center-Aligned mode - PWM frequency for 11-bit resolution (@ 40 MIPS) = 39.1 kHz for Edge-Aligned mode, 19.55 kHz for Center-Aligned mode • Quadrature Encoder Interface module: - Phase A, Phase B and index pulse input - 16-bit up/down position counter - Count direction status - Position Measurement (x2 and x4) mode - Programmable digital noise filters on inputs - Alternate 16-bit Timer/Counter mode - Interrupt on position counter rollover/underflow • • • • • Low-power, high-speed Flash technology Fully static design 3.3V (±10%) operating voltage Industrial and Extended temperature Low power consumption Communication Modules: • 4-wire SPI: - Framing supports I/O interface to simple codecs - Supports 8-bit and 16-bit data - Supports all serial clock formats and sampling modes • I2C™: - Full Multi-Master Slave mode support - 7-bit and 10-bit addressing - Bus collision detection and arbitration - Integrated signal conditioning - Slave address masking • UART: - Interrupt on address bit detect - Interrupt on UART error - Wake-up on Start bit from Sleep mode - 4-character TX and RX FIFO buffers - LIN bus support - IrDA® encoding and decoding in hardware - High-Speed Baud mode - Hardware Flow Control with CTS and RTS Packaging: • 28-pin SDIP/SOIC/QFN-S • 44-pin QFN/TQFP Note: See the device variant tables for exact peripheral features per device. Analog-to-Digital Converters (ADCs): • 10-bit, 1.1 Msps or 12-bit, 500 Ksps conversion: - 2 and 4 simultaneous samples (10-bit ADC) - Up to 9 input channels with auto-scanning - Conversion start can be manual or synchronized with 1 of 4 trigger sources - Conversion possible in Sleep mode - ±2 LSb max integral nonlinearity - ±1 LSb max differential nonlinearity DS70283B-page 2 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 PRODUCT FAMILIES The device names, pin counts, memory sizes and peripheral availability of each device are listed below. The following pages show their pinout diagrams. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Controller Families Remappable Pins 16-bit Timer Input Capture Output Compare Standard PWM Motor Control PWM Quadrature Encoder Interface UART SPI I2C™ I/O Pins Packages 10-Bit/12-Bit ADC Remappable Peripherals dsPIC33FJ32MC202 28 32 2 16 3(1) 4 2 6ch(2) 2ch(2) 1 1 1 1ADC, 6 ch 1 21 SDIP SOIC QFN-S dsPIC33FJ32MC204 44 32 2 26 3(1) 4 2 6ch(2) 2ch(2) 1 1 1 1ADC, 9 ch 1 35 QFN TQFP dsPIC33FJ16MC304 44 16 2 26 3(1) 4 2 6ch(2) 2ch(2) 1 1 1 1ADC, 9 ch 1 35 QFN TQFP Device Note 1: 2: Program Flash RAM Pins Memory (Kbyte) (Kbyte) Only 2 out of 3 timers are remappable. Only PWM fault inputs are remappable. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 3 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Pin Diagrams 28-PIN SDIP, SOIC dsPIC33FJ32MC202 1 2 3 4 5 6 7 8 9 10 11 12 13 14 MCLR AN0/VREF+/CN2/RA0 AN1/VREF-/CN3/RA1 PGD1/EMUD1/AN2/C2IN-/RP0/CN4/RB0 PGC1/EMUC1/AN3/C2IN+/RP1/CN5/RB1 AN4/RP2/CN6/RB2 AN5/RP3/CN7/RB3 VSS OSCI/CLKI/CN30/RA2 OSCO/CLKO/CN29/RA3 SOSCI/RP4/CN1/RB4 SOSCO/T1CK/CN0/RA4 VDD PGD3/EMUD3/ASDA1/RP5/CN27/RB5 28 27 26 25 24 AVDD AVSS PWM1L1/RP15/CN11/RB15 PWM1H1/RP14/CN12/RB14 PWM1L2/RP13/CN13/RB13 PWM1H2/RP12/CN14/RB12 PGC2/EMUC2/TMS/PWM1L3/RP11/CN15/RB11 PGD2/EMUD2/TDI/PWM1H3/RP10/CN16/RB10 VCAP/VDDCORE VSS TDO/PWM2L1/SDA1/RP9/CN21/RB9 TCK/PWM2H1/SCL1/RP8/CN22/RB8 INT0/RP7/CN23/RB7 PGC3/EMUC3/ASCL1/RP6/CN24/RB6 23 22 21 20 19 18 17 16 15 PWM1H1/RP14/CN12/RB14 AVDD AVSS PWM1L1/RP15/CN11/RB15 AN1/VREF-/CN3/RA1 AN0/VREF+/CN2/RA0 MCLR 28-Pin QFN-S 28 27 26 25 24 23 22 PGED1/EMUD1/AN2/C2IN-/RP0/CN4/RB0 PGEC1/EMUC1/AN3/C2IN+/RP1/CN5/RB1 1 21 PWM1L2/RP13/CN13/RB13 2 PWM1H2/RP12/CN14/RB12 AN4/RP2/CN6/RB2 3 20 19 AN5/RP3/CN7/RB3 VSS 4 5 17 VCAP/VDDCORE OSCI/CLKI/CN30/RA2 OSCO/CLKO/CN29/RA3 16 15 VSS 7 dsPIC33FJ32MC202 18 6 TDO/PWM2L1/SDA1/RP9/CN21/RB9 PGEC3/EMUC3/ASCL1/RP6/CN24/RB6 INT0/RP7/CN23/RB7 TCK/PWM2H1/SCL1/RP8/CN22/RB8 PGED3/EMUD3/ASDA1/RP5/CN27/RB5 SOSCI/RP4/CN1/RB4 DS70283B-page 4 PGED2/EMUD2/TDI/PWM1H3/RP10/CN16/RB10 9 10 11 12 13 14 SOSCO/T1CK/CN0/RA4 VDD 8 PGEC2/EMUC2/TMS/PWM1L3/RP11/CN15/RB11 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Pin Diagrams (Continued) TMS/RA10 TCK/RA7 PWM1H1/RP14/CN12/RB14 PWM1L1/RP15/CN11/RB15 AVSS MCLR AVDD AN0/VREF+/CN2/RA0 AN1/VREF-/CN3/RA1 PGED1/EMUD1/AN2/C2IN-/RP0/CN4/RB0 PGEC1/EMUC1/AN3/C2IN+/RP1/CN5/RB1 44-Pin QFN 22 21 20 19 18 17 16 15 14 13 12 AN4/RP2/CN6/RB2 23 11 PWM1L2/RP13/CN13/RB13 AN5/RP3/CN7/RB3 24 10 PWM1H2/RP12/CN14/RB12 AN6/RP16/CN8/RC0 25 9 PGEC2/EMUC2/PWM1L3/RP11/CN15/RB11 AN7/RP17/CN9/RC1 26 8 PGED2/EMUD2/PWM1H3/RP10/CN16/RB10 AN8/RP18/CN10/RC2 27 7 VCAP/VDDCORE VDD 28 6 VSS VSS 29 5 RP25/CN19/RC9 OSCI/CLKI/CN30/RA2 30 4 RP24/CN20/RC8 OSCO/CLKO/CN29/RA3 31 3 PWM2L1/RP23/CN17/RC7 TDO/RA8 32 2 PWM2H1/RP22/CN18/RC6 SOSCI/RP4/CN1/RB4 33 1 SDA1/RP9/CN21/RB9 dsPIC33FJ32MC204 dsPIC33FJ16MC304 © 2007 Microchip Technology Inc. SCL1/RP8/CN22/RB8 INT0/RP7/CN23/RB7 PGEC3/EMUC3/ASCL1/RP6/CN24/RB6 VDD PGED3/EMUD3/ASDA1/RP5/CN27/RB5 VSS RP21/CN26/RC5 RP20/CN25/RC4 RP19/CN28/RC3 TDI/RA9 SOSCO/T1CK/CN0/RA4 34 35 36 37 38 39 40 41 42 43 44 Preliminary DS70283B-page 5 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Pin Diagrams (Continued) PGEC1/EMUC1/AN3/C2IN+/RP1/CN5/RB1 PGED1/EMUD1/AN2/C2IN-/RP0/CN4/RB0 AN1/VREF-/CN3/RA1 AN0/VREF+/CN2/RA0 MCLR AVDD AVSS PWM1L1/RP15/CN11/RB15 PWM1H1/RP14/CN12/RB14 TCK/RA7 TMS/RA10 44-Pin TQFP 12 13 14 15 16 17 18 19 20 21 22 11 10 9 8 7 6 5 4 3 2 1 PWM1L2/RP13/CN13/RB13 PWM1H2/RP12/CN14/RB12 PGEC2/EMUC2/PWM1L3/RP11/CN15/RB11 PGED2/EMUD2/PWM1H3/RP10/CN16/RB10 VCAP/VDDCORE VSS RP25/CN19/RC9 RP24/CN20/RC8 PWM2L1/RP23/CN17/RC7 PWM2H1/RP22/CN18/RC6 SDA1/RP9/CN21/RB9 38 39 40 41 42 43 44 dsPIC33FJ32MC204 dsPIC33FJ16MC304 34 35 36 37 23 24 25 26 27 28 29 30 31 32 33 SOSCO/T1CK/CN0/RA4 TDI/RA9 RP19/CN28/RC3 RP20/CN25/RC4 RP21/CN26/RC5 VSS VDD PGED3/EMUD3/ASDA1/RP5/CN27/RB5 PGEC3/EMUC3/ASCL1/RP6/CN24/RB6 INT0/RP7/CN23/RB7 SCL1/RP8/CN22/RB8 AN4/RP2/CN6/RB2 AN5/RP3/CN7/RB3 AN6/RP16/CN8/RC0 AN7/RP17/CN9/RC1 AN8/RP18/CN10/RC2 VDD VSS OSCI/CLKI/CN30/RA2 OSCO/CLKO/CN29/RA3 TDO/RA8 SOSCI/RP4/CN1/RB4 DS70283B-page 6 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Table of Contents dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Product Families.................................................................................................. 3 1.0 Device Overview .......................................................................................................................................................................... 9 2.0 CPU............................................................................................................................................................................................ 13 3.0 Memory Organization ................................................................................................................................................................. 25 4.0 Flash Program Memory.............................................................................................................................................................. 51 5.0 Resets ....................................................................................................................................................................................... 57 6.0 Interrupt Controller ..................................................................................................................................................................... 63 7.0 Oscillator Configuration .............................................................................................................................................................. 95 8.0 Power-Saving Features............................................................................................................................................................ 105 9.0 I/O Ports ................................................................................................................................................................................... 107 10.0 Timer1 ...................................................................................................................................................................................... 133 11.0 Timer2/3 feature ...................................................................................................................................................................... 135 12.0 Input Capture............................................................................................................................................................................ 141 13.0 Output Compare....................................................................................................................................................................... 143 14.0 Motor Control PWM Module ..................................................................................................................................................... 147 15.0 Quadrature Encoder Interface (QEI) Module ........................................................................................................................... 169 16.0 Serial Peripheral Interface (SPI)............................................................................................................................................... 177 17.0 Inter-Integrated Circuit (I2C) ..................................................................................................................................................... 185 18.0 Universal Asynchronous Receiver Transmitter (UART) ........................................................................................................... 195 19.0 10-bit/12-bit Analog-to-Digital Converter (ADC) ....................................................................................................................... 203 20.0 Special Features ...................................................................................................................................................................... 217 21.0 Instruction Set Summary .......................................................................................................................................................... 225 22.0 Development Support............................................................................................................................................................... 233 23.0 Electrical Characteristics .......................................................................................................................................................... 237 24.0 Packaging Information.............................................................................................................................................................. 275 Appendix A: Revision History............................................................................................................................................................. 281 Index ................................................................................................................................................................................................. 283 The Microchip Web Site ..................................................................................................................................................................... 287 Customer Change Notification Service .............................................................................................................................................. 287 Customer Support .............................................................................................................................................................................. 287 Reader Response .............................................................................................................................................................................. 288 Product Identification System ............................................................................................................................................................ 289 TO OUR VALUED CUSTOMERS It is our intention to provide our valued customers with the best documentation possible to ensure successful use of your Microchip products. To this end, we will continue to improve our publications to better suit your needs. Our publications will be refined and enhanced as new volumes and updates are introduced. If you have any questions or comments regarding this publication, please contact the Marketing Communications Department via E-mail at [email protected] or fax the Reader Response Form in the back of this data sheet to (480) 792-4150. We welcome your feedback. Most Current Data Sheet To obtain the most up-to-date version of this data sheet, please register at our Worldwide Web site at: http://www.microchip.com You can determine the version of a data sheet by examining its literature number found on the bottom outside corner of any page. The last character of the literature number is the version number, (e.g., DS30000A is version A of document DS30000). Errata An errata sheet, describing minor operational differences from the data sheet and recommended workarounds, may exist for current devices. As device/documentation issues become known to us, we will publish an errata sheet. The errata will specify the revision of silicon and revision of document to which it applies. To determine if an errata sheet exists for a particular device, please check with one of the following: • Microchip’s Worldwide Web site; http://www.microchip.com • Your local Microchip sales office (see last page) When contacting a sales office, please specify which device, revision of silicon and data sheet (include literature number) you are using. Customer Notification System Register on our web site at www.microchip.com to receive the most current information on all of our products. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 7 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 8 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 1.0 Note: DEVICE OVERVIEW This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual” . Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. This document contains device specific information for the following Digital Signal Controller (DSC) devices: • dsPIC33FJ32MC202 • dsPIC33FJ32MC204 • dsPIC33FJ16MC304 The dsPIC33F devices contain extensive Digital Signal Processor (DSP) functionality with a high performance 16-bit microcontroller (MCU) architecture. Figure 1-1 shows a general block diagram of the core and peripheral modules in the dsPIC33FJ32MC202/ 204 and dsPIC33FJ16MC304 family of devices. Table 1-1 lists the functions of the various pins shown in the pinout diagrams. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 9 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 1-1: dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 BLOCK DIAGRAM PSV & Table Data Access Control Block Y Data Bus X Data Bus Interrupt Controller 16 8 PORTA 16 16 16 Data Latch Data Latch X RAM Y RAM Address Latch Address Latch 23 PCU PCH PCL Program Counter Loop Stack Control Control Logic Logic 23 PORTB 16 23 16 16 Remappable Pins Address Generator Units Address Latch Program Memory EA MUX Address Bus Data Latch ROM Latch 24 Instruction Reg Control Signals to Various Blocks Timing Generation FRC/LPRC Oscillators Precision Band Gap Reference Voltage Regulator VDDCORE/VCAP 16 DSP Engine Power-up Timer Divide Support 16 x 16 W Register Array 16 Oscillator Start-up Timer Power-on Reset 16-bit ALU Watchdog Timer 16 Brown-out Reset VDD, VSS Timers 1-3 IC1,2,7,8 Note: Literal Data Instruction Decode & Control OSC2/CLKO OSC1/CLKI 16 16 MCLR UART1 ADC1 OC/ PWM1-2 PWM 2 Ch CNx I2C1 QEI PWM 6 Ch Not all pins or features are implemented on all device pinout configurations. See pinout diagrams for the specific pins and features present on each device. DS70283B-page 10 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 1-1: Pin Name PINOUT I/O DESCRIPTIONS Pin Type Buffer Type Analog Description AN0-AN8 I CLKI CLKO I O ST/CMOS External clock source input. Always associated with OSC1 pin function. — Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode. Optionally functions as CLKO in RC and EC modes. Always associated with OSC2 pin function. Analog input channels. OSC1 OSC2 I I/O ST/CMOS Oscillator crystal input. ST buffer when configured in RC mode; CMOS otherwise. — Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode. Optionally functions as CLKO in RC and EC modes. SOSCI SOSCO I O ST/CMOS 32.768 kHz low-power oscillator crystal input; CMOS otherwise. — 32.768 kHz low-power oscillator crystal output. CN0-CN30 I ST Change notification inputs. Can be software programmed for internal weak pull-ups on all inputs. IC1-IC2 IC7-IC8 I I ST ST Capture inputs 1/2 Capture inputs 7/8. OCFA OC1-OC2 I O ST — Compare Fault A input (for Compare Channels 1 and 2). Compare outputs 1 through 2. INT0 INT1 INT2 I I I ST ST ST External interrupt 0. External interrupt 1. External interrupt 2. RA0-RA4 RA7-RA15 I/O ST PORTA is a bidirectional I/O port. RB0-RB15 I/O ST PORTB is a bidirectional I/O port. RC0-RC9 I/O ST PORTC is a bidirectional I/O port. T1CK T2CK T3CK I I I ST ST ST Timer1 external clock input. Timer2 external clock input. Timer3 external clock input. U1CTS U1RTS U1RX U1TX I O I O ST — ST — UART1 clear to send. UART1 ready to send. UART1 receive. UART1 transmit. SCK1 SDI1 SDO1 SS1 I/O I O I/O ST ST — ST Synchronous serial clock input/output for SPI1. SPI1 data in. SPI1 data out. SPI1 slave synchronization or frame pulse I/O. SCL1 SDA1 ASCL1 ASDA1 I/O I/O I/O I/O ST ST ST ST Synchronous serial clock input/output for I2C1. Synchronous serial data input/output for I2C1. Alternate synchronous serial clock input/output for I2C1. Alternate synchronous serial data input/output for I2C1. TMS TCK TDI TDO I I I O ST ST ST — JTAG Test mode select pin. JTAG test clock input pin. JTAG test data input pin. JTAG test data output pin. INDX QEA I I ST ST QEB I ST O CMOS Quadrature Encoder Index Pulse input. Quadrature Encoder Phase A input in QEI mode. Auxiliary Timer External Clock/Gate input in Timer mode. Quadrature Encoder Phase A input in QEI mode. Auxiliary Timer External Clock/Gate input in Timer mode. Position Up/Down Counter Direction State. UPDN Legend: CMOS = CMOS compatible input or output; Analog = Analog input ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power © 2007 Microchip Technology Inc. Preliminary DS70283B-page 11 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 1-1: PINOUT I/O DESCRIPTIONS (CONTINUED) Pin Type Buffer Type FLTA1 PWM1L1 PWM1H1 PWM1L2 PWM1H2 PWM1L3 PWM1H3 FLTA2 PWM2L1 PWM2H1 I O O O O O O I O O ST — — — — — — ST — — PWM1 Fault A input. PWM1 Low output 1 PWM1 High output 1 PWM1 Low output 2 PWM1 High output 2 PWM1 Low output 3 PWM1 High output 3 PWM2 Fault A input. PWM2 Low output 1 PWM2 High output 1 PGD1/EMUD1 PGC1/EMUC1 PGD2/EMUD2 PGC2/EMUC2 PGD3/EMUD3 PGC3/EMUC3 I/O I I/O I I/O I ST ST ST ST ST ST Data I/O pin for programming/debugging communication channel 1. Clock input pin for programming/debugging communication channel 1. Data I/O pin for programming/debugging communication channel 2. Clock input pin for programming/debugging communication channel 2. Data I/O pin for programming/debugging communication channel 3. Clock input pin for programming/debugging communication channel 3. Master Clear (Reset) input. This pin is an active-low Reset to the device. Pin Name Description MCLR I/P ST AVDD P P Positive supply for analog modules. AVSS P P Ground reference for analog modules. VDD P — Positive supply for peripheral logic and I/O pins. VDDCORE P — CPU logic filter capacitor connection. VSS P — Ground reference for logic and I/O pins. VREF+ I Analog Analog voltage reference (high) input. VREF- I Analog Analog voltage reference (low) input. Legend: CMOS = CMOS compatible input or output; Analog = Analog input ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power DS70283B-page 12 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 2.0 Note: CPU 2.1 This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 CPU module has a 16-bit (data) modified Harvard architecture with an enhanced instruction set, including significant support for DSP. The CPU has a 24-bit instruction word with a variable length opcode field. The Program Counter (PC) is 23 bits wide and addresses up to 4M x 24 bits of user program memory space. The actual amount of program memory implemented varies by device. A single-cycle instruction prefetch mechanism is used to help maintain throughput and provides predictable execution. All instructions execute in a single cycle, with the exception of instructions that change the program flow, the double-word move (MOV.D) instruction and the table instructions. Overhead-free program loop constructs are supported using the DO and REPEAT instructions, both of which are interruptible at any point. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices have sixteen, 16-bit working registers in the programmer’s model. Each of the working registers can serve as a data, address or address offset register. The 16th working register (W15) operates as a software Stack Pointer (SP) for interrupts and calls. There are two classes of instruction in the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices: MCU and DSP. These two instruction classes are seamlessly integrated into a single CPU. The instruction set includes many addressing modes and is designed for optimum C compiler efficiency. For most instructions, the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 is capable of executing a data (or program data) memory read, a working register (data) read, a data memory write and a program (instruction) memory read per instruction cycle. As a result, three parameter instructions can be supported, allowing A + B = C operations to be executed in a single cycle. Data Addressing Overview The data space can be addressed as 32K words or 64 Kbytes and is split into two blocks, referred to as X and Y data memory. Each memory block has its own independent Address Generation Unit (AGU). The MCU class of instructions operates solely through the X memory AGU, which accesses the entire memory map as one linear data space. Certain DSP instructions operate through the X and Y AGUs to support dual operand reads, which splits the data address space into two parts. The X and Y data space boundary is device-specific. Overhead-free circular buffers (Modulo Addressing mode) are supported in both X and Y address spaces. The Modulo Addressing removes the software boundary checking overhead for DSP algorithms. Furthermore, the X AGU circular addressing can be used with any of the MCU class of instructions. The X AGU also supports Bit-Reversed Addressing to greatly simplify input or output data reordering for radix-2 FFT algorithms. The upper 32 Kbytes of the data space memory map can optionally be mapped into program space at any 16K program word boundary defined by the 8-bit Program Space Visibility Page (PSVPAG) register. The program-to-data-space mapping feature lets any instruction access program space as if it were data space. 2.2 DSP Engine Overview The DSP engine features a high-speed 17-bit by 17-bit multiplier, a 40-bit ALU, two 40-bit saturating accumulators and a 40-bit bidirectional barrel shifter. The barrel shifter is capable of shifting a 40-bit value up to 16 bits right or left, in a single cycle. The DSP instructions operate seamlessly with all other instructions and have been designed for optimal real-time performance. The MAC instruction and other associated instructions can concurrently fetch two data operands from memory while multiplying two W registers and accumulating and optionally saturating the result in the same cycle. This instruction functionality requires that the RAM data space be split for these instructions and linear for all others. Data space partitioning is achieved in a transparent and flexible manner through dedicating certain working registers to each address space. A block diagram of the CPU is shown in Figure 2-1, and the programmer’s model for the dsPIC33FJ32MC202/ 204 and dsPIC33FJ16MC304 is shown in Figure 2-2. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 13 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 2.3 Special MCU Features The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 supports 16/16 and 32/16 divide operations, both fractional and integer. All divide instructions are iterative operations. They must be executed within a REPEAT loop, resulting in a total execution time of 19 instruction cycles. The divide operation can be interrupted during any of those 19 cycles without loss of data. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 features a 17-bit by 17-bit singlecycle multiplier that is shared by both the MCU ALU and DSP engine. The multiplier can perform signed, unsigned and mixed-sign multiplication. Using a 17-bit by 17-bit multiplier for 16-bit by 16-bit multiplication not only allows you to perform mixed-sign multiplication, it also achieves accurate results for special operations, such as (-1.0) x (-1.0). FIGURE 2-1: A 40-bit barrel shifter is used to perform up to a 16-bit left or right shift in a single cycle. The barrel shifter can be used by both MCU and DSP instructions. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 CPU CORE BLOCK DIAGRAM PSV & Table Data Access Control Block Y Data Bus X Data Bus Interrupt Controller 8 16 23 23 PCU PCH PCL Program Counter Loop Stack Control Control Logic Logic 16 16 16 Data Latch Data Latch X RAM Y RAM Address Latch Address Latch 23 16 16 16 Address Generator Units Address Latch Program Memory EA MUX Address Bus Data Latch ROM Latch 24 Control Signals to Various Blocks Instruction Reg Literal Data Instruction Decode & Control 16 16 16 DSP Engine Divide Support 16 x 16 W Register Array 16 16-bit ALU 16 To Peripheral Modules DS70283B-page 14 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 2-2: dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 PROGRAMMER’S MODEL D15 D0 W0/WREG PUSH.S Shadow W1 DO Shadow W2 W3 Legend W4 DSP Operand Registers W5 W6 W7 Working Registers W8 W9 DSP Address Registers W10 W11 W12/DSP Offset W13/DSP Write Back W14/Frame Pointer W15/Stack Pointer Stack Pointer Limit Register SPLIM AD39 DSP Accumulators AD15 AD31 AD0 ACCA ACCB PC22 PC0 Program Counter 0 0 7 TBLPAG Data Table Page Address 7 0 PSVPAG Program Space Visibility Page Address 15 0 RCOUNT REPEAT Loop Counter 15 0 DCOUNT DO Loop Counter 22 0 DOSTART DO Loop Start Address DOEND DO Loop End Address 22 15 0 Core Configuration Register CORCON OA OB SA SB OAB SAB DA SRH © 2007 Microchip Technology Inc. DC IPL2 IPL1 IPL0 RA N OV Z C STATUS Register SRL Preliminary DS70283B-page 15 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 2.4 CPU Control Registers REGISTER 2-1: R-0 OA SR: CPU STATUS REGISTER R-0 R/C-0 R/C-0 OB SA(1) (1) SB R-0 R/C-0 R -0 R/W-0 OAB SAB DA DC bit 15 bit 8 R/W-0(2) R/W-0(3) R/W-0(3) (2) IPL<2:0> R-0 R/W-0 R/W-0 R/W-0 R/W-0 RA N OV Z C bit 7 bit 0 Legend: C = Clear only bit R = Readable bit U = Unimplemented bit, read as ‘0’ S = Set only bit W = Writable bit -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 OA: Accumulator A Overflow Status bit 1 = Accumulator A overflowed 0 = Accumulator A has not overflowed bit 14 OB: Accumulator B Overflow Status bit 1 = Accumulator B overflowed 0 = Accumulator B has not overflowed bit 13 SA: Accumulator A Saturation ‘Sticky’ Status bit(1) 1 = Accumulator A is saturated or has been saturated at some time 0 = Accumulator A is not saturated bit 12 SB: Accumulator B Saturation ‘Sticky’ Status bit(1) 1 = Accumulator B is saturated or has been saturated at some time 0 = Accumulator B is not saturated bit 11 OAB: OA || OB Combined Accumulator Overflow Status bit 1 = Accumulators A or B have overflowed 0 = Neither Accumulators A or B have overflowed bit 10 SAB: SA || SB Combined Accumulator ‘Sticky’ Status bit 1 = Accumulators A or B are saturated or have been saturated at some time in the past 0 = Neither Accumulator A or B are saturated bit 9 DA: DO Loop Active bit 1 = DO loop in progress 0 = DO loop not in progress bit 8 DC: MCU ALU Half Carry/Borrow bit 1 = A carry-out from the 4th low-order bit (for byte-sized data) or 8th low-order bit (for word-sized data) of the result occurred 0 = No carry-out from the 4th low-order bit (for byte-sized data) or 8th low-order bit (for word-sized data) of the result occurred Note: Note 1: 2: 3: This bit may be read or cleared (not set). Clearing this bit will clear SA and SB. This bit can be read or cleared (not set). The IPL<2:0> bits are concatenated with the IPL<3> bit (CORCON<3>) to form the CPU Interrupt Priority Level. The value in parentheses indicates the IPL if IPL<3> = 1. User interrupts are disabled when IPL<3> = 1. The IPL<2:0> Status bits are read only when NSTDIS = 1 (INTCON1<15>). DS70283B-page 16 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 2-1: SR: CPU STATUS REGISTER (CONTINUED) bit 7-5 IPL<2:0>: CPU Interrupt Priority Level Status bits(2) 111 = CPU Interrupt Priority Level is 7 (15), user interrupts disabled 110 = CPU Interrupt Priority Level is 6 (14) 101 = CPU Interrupt Priority Level is 5 (13) 100 = CPU Interrupt Priority Level is 4 (12) 011 = CPU Interrupt Priority Level is 3 (11) 010 = CPU Interrupt Priority Level is 2 (10) 001 = CPU Interrupt Priority Level is 1 (9) 000 = CPU Interrupt Priority Level is 0 (8) bit 4 RA: REPEAT Loop Active bit 1 = REPEAT loop in progress 0 = REPEAT loop not in progress bit 3 N: MCU ALU Negative bit 1 = Result was negative 0 = Result was non-negative (zero or positive) bit 2 OV: MCU ALU Overflow bit This bit is used for signed arithmetic (2’s complement). It indicates an overflow of a magnitude that causes the sign bit to change state. 1 = Overflow occurred for signed arithmetic (in this arithmetic operation) 0 = No overflow occurred bit 1 Z: MCU ALU Zero bit 1 = An operation that affects the Z bit has set it at some time in the past 0 = The most recent operation that affects the Z bit has cleared it (i.e., a non-zero result) bit 0 C: MCU ALU Carry/Borrow bit 1 = A carry-out from the Most Significant bit of the result occurred 0 = No carry-out from the Most Significant bit of the result occurred Note 1: 2: 3: This bit can be read or cleared (not set). The IPL<2:0> bits are concatenated with the IPL<3> bit (CORCON<3>) to form the CPU Interrupt Priority Level. The value in parentheses indicates the IPL if IPL<3> = 1. User interrupts are disabled when IPL<3> = 1. The IPL<2:0> Status bits are read only when NSTDIS = 1 (INTCON1<15>). © 2007 Microchip Technology Inc. Preliminary DS70283B-page 17 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 2-2: CORCON: CORE CONTROL REGISTER U-0 — bit 15 U-0 — R/W-0 SATA bit 7 R/W-0 SATB bit 11 bit 10-8 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 Note 1: 2: R/W-0 US R/W-0 EDT(1) R-0 R-0 DL<2:0> R-0 bit 8 Legend: R = Readable bit 0’ = Bit is cleared bit 15-13 bit 12 U-0 — R/W-1 SATDW R/W-0 ACCSAT C = Clear only bit W = Writable bit ‘x = Bit is unknown R/C-0 IPL3(2) R/W-0 PSV R/W-0 RND R/W-0 IF bit 0 -n = Value at POR ‘1’ = Bit is set U = Unimplemented bit, read as ‘0’ Unimplemented: Read as ‘0’ US: DSP Multiply Unsigned/Signed Control bit 1 = DSP engine multiplies are unsigned 0 = DSP engine multiplies are signed EDT: Early DO Loop Termination Control bit(1) 1 = Terminate executing DO loop at end of current loop iteration 0 = No effect DL<2:0>: DO Loop Nesting Level Status bits 111 = 7 DO loops active • • • 001 = 1 DO loop active 000 = 0 DO loops active SATA: ACCA Saturation Enable bit 1 = Accumulator A saturation enabled 0 = Accumulator A saturation disabled SATB: ACCB Saturation Enable bit 1 = Accumulator B saturation enabled 0 = Accumulator B saturation disabled SATDW: Data Space Write from DSP Engine Saturation Enable bit 1 = Data space write saturation enabled 0 = Data space write saturation disabled ACCSAT: Accumulator Saturation Mode Select bit 1 = 9.31 saturation (super saturation) 0 = 1.31 saturation (normal saturation) IPL3: CPU Interrupt Priority Level Status bit 3(2) 1 = CPU interrupt priority level is greater than 7 0 = CPU interrupt priority level is 7 or less PSV: Program Space Visibility in Data Space Enable bit 1 = Program space visible in data space 0 = Program space not visible in data space This bit will always read as ‘0’. The IPL3 bit is concatenated with the IPL<2:0> bits (SR<7:5>) to form the CPU interrupt priority level. DS70283B-page 18 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 2-2: bit 1 bit 0 Note 1: 2: CORCON: CORE CONTROL REGISTER (CONTINUED) RND: Rounding Mode Select bit 1 = Biased (conventional) rounding enabled 0 = Unbiased (convergent) rounding enabled IF: Integer or Fractional Multiplier Mode Select bit 1 = Integer mode enabled for DSP multiply ops 0 = Fractional mode enabled for DSP multiply ops This bit will always read as ‘0’. The IPL3 bit is concatenated with the IPL<2:0> bits (SR<7:5>) to form the CPU interrupt priority level. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 19 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 2.5 Arithmetic Logic Unit (ALU) 2.5.2 The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 ALU is 16 bits wide and is capable of addition, subtraction, bit shifts and logic operations. Unless otherwise mentioned, arithmetic operations are 2’s complement in nature. Depending on the operation, the ALU can affect the values of the Carry (C), Zero (Z), Negative (N), Overflow (OV) and Digit Carry (DC) Status bits in the SR register. The C and DC Status bits operate as Borrow and Digit Borrow bits, respectively, for subtraction operations. The ALU can perform 8-bit or 16-bit operations, depending on the mode of the instruction that is used. Data for the ALU operation can come from the W register array or data memory, depending on the addressing mode of the instruction. Likewise, output data from the ALU can be written to the W register array or a data memory location. Refer to the “dsPIC30F/33F Programmer’s Reference Manual” (DS70157) for information on the SR bits affected by each instruction. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 CPU incorporates hardware support for both multiplication and division. This includes a dedicated hardware multiplier and support hardware for 16-bit-divisor division. 2.5.1 MULTIPLIER Using the high-speed 17-bit x 17-bit multiplier of the DSP engine, the ALU supports unsigned, signed or mixed-sign operation in several MCU multiplication modes: • • • • • • • 16-bit x 16-bit signed 16-bit x 16-bit unsigned 16-bit signed x 5-bit (literal) unsigned 16-bit unsigned x 16-bit unsigned 16-bit unsigned x 5-bit (literal) unsigned 16-bit unsigned x 16-bit signed 8-bit unsigned x 8-bit unsigned DIVIDER The divide block supports 32-bit/16-bit and 16-bit/16-bit signed and unsigned integer divide operations with the following data sizes: 1. 2. 3. 4. 32-bit signed/16-bit signed divide 32-bit unsigned/16-bit unsigned divide 16-bit signed/16-bit signed divide 16-bit unsigned/16-bit unsigned divide The quotient for all divide instructions ends up in W0 and the remainder in W1. 16-bit signed and unsigned DIV instructions can specify any W register for both the 16-bit divisor (Wn) and any W register (aligned) pair (W(m + 1):Wm) for the 32-bit dividend. The divide algorithm takes one cycle per bit of divisor, so both 32-bit/ 16-bit and 16-bit/16-bit instructions take the same number of cycles to execute. 2.6 DSP Engine The DSP engine consists of a high-speed 17-bit x 17-bit multiplier, a barrel shifter and a 40-bit adder/ subtracter (with two target accumulators, round and saturation logic). The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 is a single-cycle instruction flow architecture; therefore, concurrent operation of the DSP engine with MCU instruction flow is not possible. However, some MCU ALU and DSP engine resources can be used concurrently by the same instruction (e.g., ED, EDAC). The DSP engine can also perform inherent accumulator-to-accumulator operations that require no additional data. These instructions are ADD, SUB and NEG. The DSP engine has options selected through bits in the CPU Core Control register (CORCON), as listed below: • • • • • • Fractional or integer DSP multiply (IF) Signed or unsigned DSP multiply (US) Conventional or convergent rounding (RND) Automatic saturation on/off for ACCA (SATA) Automatic saturation on/off for ACCB (SATB) Automatic saturation on/off for writes to data memory (SATDW) • Accumulator Saturation mode selection (ACCSAT) A block diagram of the DSP engine is shown in Figure 2-3. DS70283B-page 20 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 2-1: DSP INSTRUCTIONS SUMMARY Instruction Algebraic Operation CLR A=0 ED EDAC MAC MAC MOVSAC MPY MPY MPY.N MSC A = (x – y)2 A = A + (x – y)2 A = A + (x * y) A = A + x2 No change in A A=x*y A=x2 A=–x*y A=A–x*y FIGURE 2-3: ACC Write Back Yes No No Yes No Yes No No No Yes DSP ENGINE BLOCK DIAGRAM 40 40-bit Accumulator A 40-bit Accumulator B Carry/Borrow Out Carry/Borrow In 40 Saturate S a Round t 16 u Logic r a t e Adder Negate 40 40 40 16 X Data Bus Barrel Shifter 40 Y Data Bus Sign-Extend 32 Zero Backfill 16 32 33 17-bit Multiplier/Scaler 16 16 To/From W Array © 2007 Microchip Technology Inc. Preliminary DS70283B-page 21 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 2.6.1 MULTIPLIER 2.6.2.1 The 17-bit x 17-bit multiplier is capable of signed or unsigned operation and can multiplex its output using a scaler to support either 1.31 fractional (Q31) or 32-bit integer results. Unsigned operands are zero-extended into the 17th bit of the multiplier input value. Signed operands are sign-extended into the 17th bit of the multiplier input value. The output of the 17-bit x 17-bit multiplier/scaler is a 33-bit value that is sign-extended to 40 bits. Integer data is inherently represented as a signed 2’s complement value, where the Most Significant bit (MSb) is defined as a sign bit. The range of an N-bit 2’s complement integer is -2N-1 to 2N-1 – 1. • For a 16-bit integer, the data range is -32768 (0x8000) to 32767 (0x7FFF) including 0. • For a 32-bit integer, the data range is 2,147,483,648 (0x8000 0000) to 2,147,483,647 (0x7FFF FFFF). When the multiplier is configured for fractional multiplication, the data is represented as a 2’s complement fraction, where the MSb is defined as a sign bit and the radix point is implied to lie just after the sign bit (QX format). The range of an N-bit 2’s complement fraction with this implied radix point is -1.0 to (1 – 21-N). For a 16-bit fraction, the Q15 data range is -1.0 (0x8000) to 0.999969482 (0x7FFF) including 0 and has a precision of 3.01518x10-5. In Fractional mode, the 16 x 16 multiply operation generates a 1.31 product that has a precision of 4.65661 x 10-10. The same multiplier is used to support the MCU multiply instructions, which include integer 16-bit signed, unsigned and mixed sign multiply operations. The MUL instruction can be directed to use byte or word-sized operands. Byte operands will direct a 16-bit result, and word operands will direct a 32-bit result to the specified register(s) in the W array. 2.6.2 DATA ACCUMULATORS AND ADDER/SUBTRACTER The data accumulator consists of a 40-bit adder/ subtracter with automatic sign extension logic. It can select one of two accumulators (A or B) as its preaccumulation source and post-accumulation destination. For the ADD and LAC instructions, the data to be accumulated or loaded can be optionally scaled using the barrel shifter prior to accumulation. DS70283B-page 22 Adder/Subtracter, Overflow and Saturation The adder/subtracter is a 40-bit adder with an optional zero input into one side, and either true or complement data into the other input. • In the case of addition, the Carry/Borrow input is active-high and the other input is true data (not complemented). • In the case of subtraction, the Carry/Borrow input is active-low and the other input is complemented. The adder/subtracter generates Overflow Status bits, SA/SB and OA/OB, which are latched and reflected in the STATUS register: • Overflow from bit 39: this is a catastrophic overflow in which the sign of the accumulator is destroyed. • Overflow into guard bits 32 through 39: this is a recoverable overflow. This bit is set whenever all the guard bits are not identical to each other. The adder has an additional saturation block that controls accumulator data saturation, if selected. It uses the result of the adder, the Overflow Status bits described previously and the SAT<A:B> (CORCON<7:6>) and ACCSAT (CORCON<4>) mode control bits to determine when and to what value to saturate. Six STATUS register bits support saturation and overflow: • OA: ACCA overflowed into guard bits • OB: ACCB overflowed into guard bits • SA: ACCA saturated (bit 31 overflow and saturation) or ACCA overflowed into guard bits and saturated (bit 39 overflow and saturation) • SB: ACCB saturated (bit 31 overflow and saturation) or ACCB overflowed into guard bits and saturated (bit 39 overflow and saturation) • OAB: Logical OR of OA and OB • SAB: Logical OR of SA and SB The OA and OB bits are modified each time data passes through the adder/subtracter. When set, they indicate that the most recent operation has overflowed into the accumulator guard bits (bits 32 through 39). The OA and OB bits can also optionally generate an arithmetic warning trap when set and the corresponding Overflow Trap Flag Enable bits (OVATE, OVBTE) in the INTCON1 register are set (refer to Section 6.0 “Interrupt Controller”). This allows the user application to take immediate action, for example, to correct system gain. Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 The SA and SB bits are modified each time data passes through the adder/subtracter, but can only be cleared by the user application. When set, they indicate that the accumulator has overflowed its maximum range (bit 31 for 32-bit saturation or bit 39 for 40-bit saturation) and will be saturated (if saturation is enabled). When saturation is not enabled, SA and SB default to bit 39 overflow and thus indicate that a catastrophic overflow has occurred. If the COVTE bit in the INTCON1 register is set, SA and SB bits will generate an arithmetic warning trap when saturation is disabled. The Overflow and Saturation Status bits can optionally be viewed in the STATUS Register (SR) as the logical OR of OA and OB (in bit OAB) and the logical OR of SA and SB (in bit SAB). Programmers can check one bit in the STATUS register to determine if either accumulator has overflowed, or one bit to determine if either accumulator has saturated. This is useful for complex number arithmetic, which typically uses both accumulators. The device supports three Saturation and Overflow modes: • Bit 39 Overflow and Saturation: When bit 39 overflow and saturation occurs, the saturation logic loads the maximally positive 9.31 (0x7FFFFFFFFF) or maximally negative 9.31 value (0x8000000000) into the target accumulator. The SA or SB bit is set and remains set until cleared by the user application. This condition is referred to as ‘super saturation’ and provides protection against erroneous data or unexpected algorithm problems (such as gain calculations). • Bit 31 Overflow and Saturation: When bit 31 overflow and saturation occurs, the saturation logic then loads the maximally positive 1.31 value (0x007FFFFFFF) or maximally negative 1.31 value (0x0080000000) into the target accumulator. The SA or SB bit is set and remains set until cleared by the user application. When this Saturation mode is in effect, the guard bits are not used, so the OA, OB or OAB bits are never set. • Bit 39 Catastrophic Overflow: The bit 39 Overflow Status bit from the adder is used to set the SA or SB bit, which remains set until cleared by the user application. No saturation operation is performed, and the accumulator is allowed to overflow, destroying its sign. If the COVTE bit in the INTCON1 register is set, a catastrophic overflow can initiate a trap exception. 2.6.3 ACCUMULATOR ‘WRITE BACK’ The MAC class of instructions (with the exception of MPY, MPY.N, ED and EDAC) can optionally write a rounded version of the high word (bits 31 through 16) of the accumulator that is not targeted by the instruction into data space memory. The write is performed across the X bus into combined X and Y address space. The following addressing modes are supported: © 2007 Microchip Technology Inc. • W13, Register Direct: The rounded contents of the non-target accumulator are written into W13 as a 1.15 fraction. • [W13] + = 2, Register Indirect with Post-Increment: The rounded contents of the non-target accumulator are written into the address pointed to by W13 as a 1.15 fraction. W13 is then incremented by 2 (for a word write). 2.6.3.1 Round Logic The round logic is a combinational block that performs a conventional (biased) or convergent (unbiased) round function during an accumulator write (store). The Round mode is determined by the state of the RND bit in the CORCON register. It generates a 16-bit, 1.15 data value that is passed to the data space write saturation logic. If rounding is not indicated by the instruction, a truncated 1.15 data value is stored and the least significant word is simply discarded. Conventional rounding zero-extends bit 15 of the accumulator and adds it to the ACCxH word (bits 16 through 31 of the accumulator). • If the ACCxL word (bits 0 through 15 of the accumulator) is between 0x8000 and 0xFFFF (0x8000 included), ACCxH is incremented. • If ACCxL is between 0x0000 and 0x7FFF, ACCxH is left unchanged. A consequence of this algorithm is that over a succession of random rounding operations, the value tends to be biased slightly positive. Convergent (or unbiased) rounding operates in the same manner as conventional rounding, except when ACCxL equals 0x8000. In this case, the Least Significant bit (bit 16 of the accumulator) of ACCxH is examined: • If it is ‘1’, ACCxH is incremented. • If it is ‘0’, ACCxH is not modified. Assuming that bit 16 is effectively random in nature, this scheme removes any rounding bias that may accumulate. The SAC and SAC.R instructions store either a truncated (SAC), or rounded (SAC.R) version of the contents of the target accumulator to data memory via the X bus, subject to data saturation (see Section 2.6.3.2 “Data Space Write Saturation”). For the MAC class of instructions, the accumulator writeback operation functions in the same manner, addressing combined MCU (X and Y) data space though the X bus. For this class of instructions, the data is always subject to rounding. Preliminary DS70283B-page 23 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 2.6.3.2 Data Space Write Saturation 2.6.4 BARREL SHIFTER In addition to adder/subtracter saturation, writes to data space can also be saturated, but without affecting the contents of the source accumulator. The data space write saturation logic block accepts a 16-bit, 1.15 fractional value from the round logic block as its input, together with overflow status from the original source (accumulator) and the 16-bit round adder. These inputs are combined and used to select the appropriate 1.15 fractional value as output to write to data space memory. The barrel shifter can perform up to 16-bit arithmetic or logic right shifts, or up to 16-bit left shifts in a single cycle. The source can be either of the two DSP accumulators or the X bus (to support multi-bit shifts of register or memory data). If the SATDW bit in the CORCON register is set, data (after rounding or truncation) is tested for overflow and adjusted accordingly: The barrel shifter is 40 bits wide, thereby obtaining a 40-bit result for DSP shift operations and a 16-bit result for MCU shift operations. Data from the X bus is presented to the barrel shifter between bit positions 16 and 31 for right shifts, and between bit positions 0 and 16 for left shifts. • For input data greater than 0x007FFF, data written to memory is forced to the maximum positive 1.15 value, 0x7FFF. • For input data less than 0xFF8000, data written to memory is forced to the maximum negative 1.15 value, 0x8000. The shifter requires a signed binary value to determine both the magnitude (number of bits) and direction of the shift operation. A positive value shifts the operand right. A negative value shifts the operand left. A value of ‘0’ does not modify the operand. The Most Significant bit of the source (bit 39) is used to determine the sign of the operand being tested. If the SATDW bit in the CORCON register is not set, the input data is always passed through unmodified under all conditions. DS70283B-page 24 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 3.0 MEMORY ORGANIZATION Note: 3.1 This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 architecture features separate program and data memory spaces and buses. This architecture also allows the direct access of program memory from the data space during code execution. User application access to the program memory space is restricted to the lower half of the address range (0x000000 to 0x7FFFFF). The exception is the use of TBLRD/TBLWT operations, which use TBLPAG<7> to permit access to the Configuration bits and Device ID sections of the configuration memory space. The memory maps for the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices are shown in Figure 3-1. PROGRAM MEMORY MAPS FOR dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 DEVICES dsPIC33FJ32MC202/204 GOTO Instruction Reset Address Interrupt Vector Table Reserved Alternate Vector Table User Memory Space The program address memory space of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices is 4M instructions. The space is addressable by a 24-bit value derived either from the 23-bit Program Counter (PC) during program execution, or from table operation or data space remapping as described in Section 3.6 “Interfacing Program and Data Memory Spaces”. User Program Flash Memory (11264 instructions) dsPIC33FJ16MC304 GOTO Instruction Reset Address Interrupt Vector Table Reserved Alternate Vector Table 0x000000 0x000002 0x000004 0x0000FE 0x000100 0x000104 0x0001FE 0x000200 User Memory Space FIGURE 3-1: Program Address Space 0x0057FE 0x005800 Unimplemented (Read ‘0’s) User Program Flash Memory (5632 instructions) Configuration Memory Space Configuration Memory Space Reserved 0xF7FFFE 0xF80000 0xF80017 0xF80018 Reserved © 2007 Microchip Technology Inc. 0x002BFE 0x002C00 0x7FFFFE 0x800000 Reserved DEVID (2) 0x0000FE 0x000100 0x000104 0x0001FE 0x000200 Unimplemented (Read ‘0’s) 0x7FFFFE 0x800000 Device Configuration Registers 0x000000 0x000002 0x000004 0xFEFFFE 0xFF0000 0xFFFFFE Device Configuration Registers Reserved DEVID (2) Preliminary 0xF7FFFE 0xF80000 0xF80017 0xF80018 0xFEFFFE 0xFF0000 0xFFFFFE DS70283B-page 25 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 3.1.1 PROGRAM MEMORY ORGANIZATION 3.1.2 All dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices reserve the addresses between 0x00000 and 0x000200 for hard-coded program execution vectors. A hardware Reset vector is provided to redirect code execution from the default value of the PC on device Reset to the actual start of code. A GOTO instruction is programmed by the user application at 0x000000, with the actual address for the start of code at 0x000002. The program memory space is organized in wordaddressable blocks. Although it is treated as 24 bits wide, it is more appropriate to think of each address of the program memory as a lower and upper word, with the upper byte of the upper word being unimplemented. The lower word always has an even address, while the upper word has an odd address (Figure 3-2). dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices also have two interrupt vector tables, located from 0x000004 to 0x0000FF and 0x000100 to 0x0001FF. These vector tables allow each of the device interrupt sources to be handled by separate Interrupt Service Routines (ISRs). A more detailed discussion of the interrupt vector tables is provided in Section 6.1 “Interrupt Vector Table”. Program memory addresses are always word-aligned on the lower word, and addresses are incremented or decremented by two during code execution. This arrangement provides compatibility with data memory space addressing and makes data in the program memory space accessible. FIGURE 3-2: msw Address PROGRAM MEMORY ORGANIZATION 16 8 PC Address (lsw Address) 0 0x000000 0x000002 0x000004 0x000006 00000000 00000000 00000000 00000000 Program Memory ‘Phantom’ Byte (read as ‘0’) DS70283B-page 26 least significant word most significant word 23 0x000001 0x000003 0x000005 0x000007 INTERRUPT AND TRAP VECTORS Instruction Width Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 3.2 Data Address Space The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 CPU has a separate 16-bit-wide data memory space. The data space is accessed using separate Address Generation Units (AGUs) for read and write operations. The data memory maps is shown in Figure 3-3. All Effective Addresses (EAs) in the data memory space are 16 bits wide and point to bytes within the data space. This arrangement gives a data space address range of 64 Kbytes or 32K words. The lower half of the data memory space (that is, when EA<15> = 0) is used for implemented memory addresses, while the upper half (EA<15> = 1) is reserved for the Program Space Visibility area (see Section 3.6.3 “Reading Data From Program Memory Using Program Space Visibility”). All word accesses must be aligned to an even address. Misaligned word data fetches are not supported, so care must be taken when mixing byte and word operations, or translating from 8-bit MCU code. If a misaligned read or write is attempted, an address error trap is generated. If the error occurred on a read, the instruction underway is completed. If the error occurred on a write, the instruction is executed but the write does not occur. In either case, a trap is then executed, allowing the system and/or user application to examine the machine state prior to execution of the address Fault. All byte loads into any W register are loaded into the Least Significant Byte. The Most Significant Byte is not modified. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices implement up to 30 Kbytes of data memory. Should an EA point to a location outside of this area, an all-zero word or byte will be returned. A sign-extend instruction (SE) is provided to allow user applications to translate 8-bit signed data to 16-bit signed values. Alternatively, for 16-bit unsigned data, user applications can clear the MSB of any W register by executing a zero-extend (ZE) instruction on the appropriate address. 3.2.1 3.2.3 DATA SPACE WIDTH The data memory space is organized in byte addressable, 16-bit wide blocks. Data is aligned in data memory and registers as 16-bit words, but all data space EAs resolve to bytes. The Least Significant Bytes (LSBs) of each word have even addresses, while the Most Significant Bytes (MSBs) have odd addresses. 3.2.2 DATA MEMORY ORGANIZATION AND ALIGNMENT To maintain backward compatibility with PIC® devices and improve data space memory usage efficiency, the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 instruction set supports both word and byte operations. As a consequence of byte accessibility, all effective address calculations are internally scaled to step through word-aligned memory. For example, the core recognizes that Post-Modified Register Indirect Addressing mode [Ws++] will result in a value of Ws + 1 for byte operations and Ws + 2 for word operations. Data byte reads will read the complete word that contains the byte, using the LSB of any EA to determine which byte to select. The selected byte is placed onto the LSB of the data path. That is, data memory and registers are organized as two parallel byte-wide entities with shared (word) address decode but separate write lines. Data byte writes only write to the corresponding side of the array or register that matches the byte address. © 2007 Microchip Technology Inc. SFR SPACE The first 2 Kbytes of the Near Data Space, from 0x0000 to 0x07FF, is primarily occupied by Special Function Registers (SFRs). These are used by the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 core and peripheral modules for controlling the operation of the device. SFRs are distributed among the modules that they control, and are generally grouped together by module. Much of the SFR space contains unused addresses; these are read as ‘0’. Note: 3.2.4 The actual set of peripheral features and interrupts varies by the device. Refer to the corresponding device tables and pinout diagrams for device-specific information. NEAR DATA SPACE The 8 Kbyte area between 0x0000 and 0x1FFF is referred to as the near data space. Locations in this space are directly addressable via a 13-bit absolute address field within all memory direct instructions. Additionally, the whole data space is addressable using MOV instructions, which support Memory Direct Addressing mode with a 16-bit address field, or by using Indirect Addressing mode using a working register as an address pointer. Preliminary DS70283B-page 27 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 3-3: DATA MEMORY MAP FOR dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 DEVICES WITH 2 KB RAM MSB Address MSb 2 Kbyte SFR Space 2 Kbyte SRAM Space LSB Address 16 bits LSb 0x0000 0x0001 SFR Space 0x07FF 0x0801 0x0BFF 0x0001 X Data RAM (X) Y Data RAM (Y) 0x0BFE 0x0C00 0x0FFF 0x1001 0x0FFE 0x1000 0x1FFF 0x2001 0x1FFE 0x8001 0x8000 8 Kbyte Near Data Space 0x2000 X Data Unimplemented (X) Optionally Mapped into Program Memory 0xFFFF DS70283B-page 28 0x07FE 0x0800 0xFFFE Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 3.2.5 X AND Y DATA SPACES The core has two data spaces, X and Y. These data spaces can be considered either separate (for some DSP instructions), or as one unified linear address range (for MCU instructions). The data spaces are accessed using two Address Generation Units (AGUs) and separate data paths. This feature allows certain instructions to concurrently fetch two words from RAM, thereby enabling efficient execution of DSP algorithms such as Finite Impulse Response (FIR) filtering and Fast Fourier Transform (FFT). The X data space is used by all instructions and supports all addressing modes. X data space has separate read and write data buses. The X read data bus is the read data path for all instructions that view data space as combined X and Y address space. It is also the X data prefetch path for the dual operand DSP instructions (MAC class). The Y data space is used in concert with the X data space by the MAC class of instructions (CLR, ED, EDAC, MAC, MOVSAC, MPY, MPY.N and MSC) to provide two concurrent data read paths. Both the X and Y data spaces support Modulo Addressing mode for all instructions, subject to addressing mode restrictions. Bit-Reversed Addressing mode is only supported for writes to X data space. All data memory writes, including in DSP instructions, view data space as combined X and Y address space. The boundary between the X and Y data spaces is device-dependent and is not user-programmable. All effective addresses are 16 bits wide and point to bytes within the data space. Therefore, the data space address range is 64 Kbytes, or 32K words, though the implemented memory locations vary by device. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 29 SFR Name CPU CORE REGISTERS MAP SFR Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets Preliminary WREG0 0000 Working Register 0 0000 WREG1 0002 Working Register 1 0000 WREG2 0004 Working Register 2 0000 WREG3 0006 Working Register 3 0000 WREG4 0008 Working Register 4 0000 WREG5 000A Working Register 5 0000 WREG6 000C Working Register 6 0000 WREG7 000E Working Register 7 0000 WREG8 0010 Working Register 8 0000 WREG9 0012 Working Register 9 0000 WREG10 0014 Working Register 10 0000 WREG11 0016 Working Register 11 0000 WREG12 0018 Working Register 12 0000 WREG13 001A Working Register 13 0000 WREG14 001C Working Register 14 0000 WREG15 001E Working Register 15 0800 SPLIM 0020 Stack Pointer Limit Register xxxx PCL 002E Program Counter Low Word Register PCH 0030 — — — — — — — — Program Counter High Byte Register 0000 TBLPAG 0032 — — — — — — — — Table Page Address Pointer Register 0000 PSVPAG 0034 — — — — — — — — Program Memory Visibility Page Address Pointer Register 0000 RCOUNT 0036 Repeat Loop Counter Register xxxx DCOUNT 0038 DCOUNT<15:0> xxxx © 2007 Microchip Technology Inc. DOSTARTL 003A DOSTARTH 003C DOENDL 003E DOENDH 0040 — — — SR 0042 OA OB CORCON 0044 — — MODCON 0046 XMODEN YMODEN 0000 DOSTARTL<15:1> — — — — — — — 0 — — — DOSTARTH<5:0> 00xx DOENDL<15:1> — — — SA SB OAB SAB — US EDT — — — — DA DC DL<2:0> 0 — — DOENDH IPL2 IPL1 IPL0 RA N OV Z C SATB SATDW ACCSAT IPL3 PSV RND IF YWM<3:0> xxxx 00xx SATA BWM<3:0> xxxx XWM<3:0> 0000 0000 0000 XMODSRT 0048 XS<15:1> 0 xxxx XMODEND 004A XE<15:1> 1 xxxx YMODSRT 004C YS<15:1> 0 xxxx YMODEND 004E YE<15:1> 1 XBREV 0050 BREN 0052 — DISICNT Legend: XB<14:0> — Disable Interrupts Counter Register x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. xxxx xxxx xxxx dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 DS70283B-page 30 TABLE 3-1: CHANGE NOTIFICATION REGISTER MAP FOR dsPIC33FJ32MC202 SFR Name SFR Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets CNEN1 0060 CN15IE CN14IE CN13IE CN12IE CN11IE — — — CN7IE CN6IE CN5IE CN4IE CN3IE CN2IE CN1IE CN0IE 0000 CNEN2 0062 — CN30IE CN29IE — CN27IE — — CN24IE CN23IE CN22IE CN21IE — — — — CN16IE 0000 CNPU1 0068 — — — CN7PUE CN6PUE CN5PUE CN4PUE CN3PUE CN2PUE CN1PUE CN0PUE 0000 CNPU2 006A — — — — — — CN16PUE 0000 Bit 3 Bit 2 Bit 1 Bit 0 All Resets Legend: CN15PUE CN14PUE CN13PUE CN12PUE CN11PUE — CN30PUE CN29PUE — CHANGE NOTIFICATION REGISTER MAP FOR dsPIC33FJ32MC204 and dsPIC33FJ16MC304 SFR Name SFR Addr Bit 15 Bit 14 Bit 13 Bit 12 CNEN1 0060 CN15IE CN14IE CN13IE 0062 — CN30IE CN29IE Preliminary CNPU1 0068 CNPU2 006A Legend: CN24PUE CN23PUE CN22PUE CN21PUE x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. TABLE 3-3: CNEN2 CN27PUE Bit 11 Bit 10 CN12IE CN11IE CN10IE CN9IE CN8IE CN7IE CN6IE CN5IE CN4IE CN3IE CN2IE CN1IE CN0IE 0000 CN28IE CN27IE CN26IE CN25IE CN24IE CN23IE CN22IE CN21IE CN20IE CN19IE CN18IE CN17IE CN16IE 0000 CN15PUE CN14PUE CN13PUE CN12PUE CN11PUE CN10PUE CN9PUE CN8PUE CN7PUE CN6PUE CN5PUE CN4PUE CN3PUE CN2PUE CN1PUE CN0PUE 0000 CN30PUE CN29PUE CN28PUE CN27PUE CN26PUE CN25PUE CN24PUE CN23PUE CN22PUE CN21PUE CN20PUE CN19PUE CN18PUE CN17PUE CN16PUE 0000 — Bit 9 Bit 8 Bit 7 x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. Bit 6 Bit 5 Bit 4 DS70283B-page 31 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 © 2007 Microchip Technology Inc. TABLE 3-2: INTERRUPT CONTROLLER REGISTER MAP Preliminary SFR Name SFR Addr INTCON1 0080 NSTDIS OVAERR OVBERR COVAERR COVBERR INTCON2 0082 ALTIVT DISI — — — IFS0 0084 — — AD1IF U1TXIF IFS1 0086 — — INT2IF IFS3 008A FLTA1IF — IFS4 008C — — IEC0 0094 — IEC1 0096 IEC3 IEC4 IPC0 00A4 — T1IP<2:0> — OC1IP<2:0> — IC1IP<2:0> — IPC1 00A6 — T2IP<2:0> — OC2IP<2:0> — IC2IP<2:0> — IPC2 00A8 — IPC3 00AA — IPC4 00AC — IPC5 00AE — IPC7 00B2 — — IPC14 00C0 — — IPC15 00C2 — IPC16 00C4 — — — IPC18 00C8 — — INTTREG 00E0 — — Legend: Bit 15 Bit 14 Bit 13 Bit 12 Bit 0 All Resets OSCFAIL — 0000 INT1EP INT0EP 0000 OC1IF IC1IF INT0IF 0000 CNIF — MI2C1IF SI2C1IF 0000 — — — — — 0000 — — — U1EIF — 0000 IC2IE — T1IE OC1IE IC1IE INT0IE IC7IE — INT1IE CNIE — — — — — — — — — 0000 — — — — — — U1EIE — 0000 — 4444 Bit 10 Bit 9 Bit 8 OVATE OVBTE COVTE — — — — — — — — INT2EP U1RXIF SPI1IF SPI1EIF T3IF T2IF OC2IF IC2IF — T1IF — — — — — IC8IF IC7IF — INT1IF — — — QEIIF PWM1IF — — — — — — — FLTA2IF PWM2IF — — — — — AD1IE U1TXIE U1RXIE SPI1IE SPI1EIE T3IE T2IE OC2IE — — INT2IE — — — — — IC8IE 009A FLTA1IE — — — — QEIIE PWM1IE — 009C — — — — — FLTA2IE PWM2IE — U1RXIP<2:0> — Bit 11 SFTACERR DIV0ERR Bit 5 — Bit 4 Bit 3 Bit 2 Bit 1 MATHERR ADDRERR STKERR MI2C1IE SI2C1IE INT0IP<2:0> — — 0000 0000 4444 — SPI1EIP<2:0> — T3IP<2:0> 4444 — — — — AD1IP<2:0> — U1TXIP<2:0> 4444 CNIP<2:0> — — — — — MI2C1IP<2:0> — SI2C1IP<2:0> 4444 IC8IP<2:0> — — INT1IP<2:0> — — — — — — — FLTA1IP<2:0> SPI1IP<2:0> Bit 6 — — — Bit 7 IC7IP<2:0> — — — — QEIIP<2:0> — — — — INT2IP<2:0> — PWM1IP<2:0> — 4444 — — — — 4444 — — — — 4444 4444 — — — — — — — — — U1EIP<2:0> — — — — — — — — PWM2IP<2:0> — — — — — — — x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. — — — ILR<3:0>> — — — FLTA2IP<2:0> — 4444 — VECNUM<6:0> 4444 4444 © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 DS70283B-page 32 TABLE 3-4: SFR Name TIMER REGISTER MAP SFR Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 TMR1 0100 Timer1 Register PR1 0102 Period Register 1 T1CON 0104 TMR2 0106 TON — TSIDL — — — TMR3HLD 0108 — — Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets xxxx FFFF — TGATE TCKPS<1:0> — TSYNC TCS — 0000 Timer2 Register xxxx Timer3 Holding Register (for 32-bit timer operations only) xxxx TMR3 010A Timer3 Register xxxx PR2 010C Period Register 2 FFFF PR3 010E Period Register 3 T2CON 0110 TON — TSIDL — — — — — — TGATE TCKPS<1:0> T32 — TCS — 0000 T3CON 0112 TON — TSIDL — — — — — — TGATE TCKPS<1:0> — — TCS — 0000 Legend: x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. TABLE 3-6: INPUT CAPTURE REGISTER MAP Preliminary SFR Name SFR Addr IC1BUF 0140 IC1CON 0142 IC2BUF 0144 IC2CON 0146 IC7BUF 0158 IC7CON 015A IC8BUF 015C IC8CON 015E Legend: Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 — — ICSIDL — — — — Bit 8 Bit 7 Bit 6 Bit 4 Bit 3 Bit 2 Bit 1 ICI<1:0> ICOV ICBNE ICM<2:0> ICI<1:0> ICOV ICBNE ICM<2:0> ICI<1:0> ICOV ICBNE ICM<2:0> ICI<1:0> ICOV ICBNE ICM<2:0> Bit 0 Input 1 Capture Register — 0000 Input 2 Capture Register — — ICSIDL — — — — — xxxx ICTMR 0000 Input 7 Capture Register — — ICSIDL — — — — — xxxx ICTMR 0000 Input 8Capture Register — — ICSIDL — — — — — All Resets xxxx ICTMR xxxx ICTMR 0000 OUTPUT COMPARE REGISTER MAP SFR Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 DS70283B-page 33 OC1RS 0180 Output Compare 1 Secondary Register OC1R 0182 Output Compare 1 Register OC1CON 0184 OC2RS 0186 Output Compare 2 Secondary Register OC2R 0188 Output Compare 2 Register OC2CON 018A Legend: Bit 5 x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. TABLE 3-7: SFR Name FFFF — — — — OCSIDL OCSIDL — — — — — — — — — — — — x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. — — Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets xxxx xxxx — OCFLT OCTSEL OCM<2:0> 0000 xxxx xxxx — OCFLT OCTSEL OCM<2:0> 0000 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 © 2007 Microchip Technology Inc. TABLE 3-5: SFR Name Addr. 6-OUTPUT PWM1 REGISTER MAP Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 — PTSIDL — — — — Bit 8 Bit 7 — Bit 6 Bit 5 Bit 4 PTOPS<3:0> Bit 3 Bit 2 PTCKPS<1:0> Bit 1 Bit 0 PTMOD<1:0> Reset State P1TCON 01C0 PTEN P1TMR 01C2 PTDIR PWM Timer Count Value Register 0000 0000 0000 0000 P1TPER 01C4 — PWM Time Base Period Register 0000 0000 0000 0000 P1SECMP 01C6 SEVTDIR PWM Special Event Compare Register PWM1CON1 01C8 — — — — PWM1CON2 01CA — — — — P1DTCON1 01CC DTBPS<1:0> P1DTCON2 01CE — — P1FLTACON 01D0 — — P1OVDCON 01D4 — — — PMOD3 PMOD2 PMOD1 SEVOPS<3:0> DTB<5:0> — — — 0000 0000 0000 0000 — PEN3H PEN2H PEN1H — PEN3L PEN2L PEN1L 0000 0000 1111 1111 — — — — — IUE OSYNC UDIS 0000 0000 0000 0000 DTAPS<1:0> — — — 0000 0000 0000 0000 DTA<5:0> 0000 0000 0000 0000 — — DTS3A DTS3I DTS2A DTS2I DTS1A DTS1I 0000 0000 0000 0000 FAOV3H FAOV3L FAOV2H FAOV2L FAOV1H FAOV1L FLTAM — — — — FAEN3 FAEN2 FAEN1 0000 0000 0000 0000 POVD3H POVD3L POVD2H POVD2L POVD1H POVD1L — — POUT3H POUT3L POUT2H POUT2L POUT1H POUT1L 1111 1111 0000 0000 P1DC1 01D6 PWM Duty Cycle #1 Register 0000 0000 0000 0000 P1DC2 01D8 PWM Duty Cycle #2 Register 0000 0000 0000 0000 P1DC3 01DA PWM Duty Cycle #3 Register 0000 0000 0000 0000 Legend: u = uninitialized bit, — = unimplemented, read as ‘0’ Preliminary TABLE 3-9: SFR Name 2-OUTPUT PWM2 REGISTER MAP Addr. Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 05C0 PTEN — PTSIDL — — — — — P2TMR 05C2 PTDIR PWM Timer Count Value Register 0000 0000 0000 0000 P2TPER 05C4 — PWM Time Base Period Register 0000 0000 0000 0000 P2SECMP 05C6 SEVTDIR P2TCON PWM2CON1 05C8 Bit 6 Bit 5 Bit 4 PTOPS<3:0> Bit 3 Bit 2 PTCKPS<1:0> Bit 1 Bit 0 PTMOD<1:0> PWM Special Event Compare Register © 2007 Microchip Technology Inc. — — — — PWM2CON2 05CA — — — — P2DTCON1 05CC DTBPS<1:0> P2DTCON2 05CE — — — — — — P2FLTACON 05D0 — — — — — — P2OVDCON 05D4 — — — — — — P2DC1 05D6 Legend: Bit 7 — — — PMOD1 SEVOPS<3:0> DTB<5:0> u = uninitialized bit, — = unimplemented, read as ‘0’ 0000 0000 0000 0000 — — — PEN1H — — — PEN1L 0000 0000 1111 1111 — — — — — IUE OSYNC UDIS 0000 0000 0000 0000 DTS1A DTS1I 0000 0000 0000 0000 — FAEN1 0000 0000 0000 0000 DTAPS<1:0> — — Reset State 0000 0000 0000 0000 DTA<5:0> — — — — — — FAOV1H FAOV1L FLTAM — — — — — POVD1H POVD1L — — — — — — PWM Duty Cycle #1 Register 0000 0000 0000 0000 POUT1H POUT1L 1111 1111 0000 0000 0000 0000 0000 0000 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 DS70283B-page 34 TABLE 3-8: QEI REGISTER MAP SFR Name Addr. Bit 15 Bit 14 Bit 13 QEICON 01E0 CNTERR — QEISIDL INDX UPDN DFLTCON 01E2 — — — — — Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 QEIM<2:0> IMV<1:0> CEID Bit 7 Bit 6 Bit 5 SWPAB PCDOUT QEOUT Bit 4 TQGATE Bit 3 TQCKPS<1:0> QECK<2:0> Bit 2 Bit 1 Bit 0 Reset State POSRES TQCS UPDN_SRC — — — 0000 0000 0000 0000 — 0000 0000 0000 0000 POSCNT 01E4 Position Counter<15:0> 0000 0000 0000 0000 MAXCNT 01E6 Maximum Count<15:0> 1111 1111 1111 1111 Legend: u = uninitialized bit, — = unimplemented, read as ‘0’ TABLE 3-11: I2C1 REGISTER MAP SFR Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 I2C1RCV 0200 — — — — — — — — Receive Register 0000 I2C1TRN 0202 — — — — — — — — Transmit Register 00FF I2C1BRG 0204 — — — — — — — I2C1CON 0206 I2CEN — I2CSIDL SCLREL IPMIEN A10M DISSLW SMEN GCEN STREN ACKDT ACKEN RCEN PEN RSEN SEN 1000 I2C1STAT 0208 ACKSTAT TRSTAT — — — BCL GCSTAT ADD10 IWCOL I2COV D_A P S R_W RBF TBF 0000 I2C1ADD 020A — — — — — — Address Register 0000 I2C1MSK 020C — — — — — — Address Mask Register 0000 SFR Name Preliminary Legend: Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Baud Rate Generator Register All Resets 0000 x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. TABLE 3-12: SFR Name Bit 7 SFR Addr UART1 REGISTER MAP Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 WAKE LPBACK Bit 5 Bit 4 Bit 3 ABAUD URXINV BRGH ADDEN RIDLE PERR Bit 2 Bit 1 All Resets STSEL 0000 URXDA 0110 U1MODE 0220 UARTEN — USIDL IREN RTSMD — UEN1 UEN0 U1STA 0222 UTXISEL1 UTXINV UTXISEL0 — UTXBRK UTXEN UTXBF TRMT U1TXREG 0224 — — — — — — — UART Transmit Register xxxx U1RXREG 0226 — — — — — — — UART Receive Register 0000 U1BRG 0228 Legend: x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. TABLE 3-13: SFR Name URXISEL<1:0> PDSEL<1:0> Bit 0 FERR OERR Baud Rate Generator Prescaler 0000 SPI1 REGISTER MAP DS70283B-page 35 SFR Addr Bit 15 Bit 14 Bit 13 SPI1STAT 0240 SPIEN — SPISIDL — — — — SPI1CON1 0242 — — — DISSCK DISSDO MODE16 SMP SPI1CON2 0244 FRMEN SPIFSD FRMPOL — — — — — SPI1BUF 0248 Legend: x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 — — CKE SSEN SPIROV — — CKP MSTEN — — — SPI1 Transmit and Receive Buffer Register Bit 3 Bit 2 Bit 1 Bit 0 All Resets — — SPITBF SPIRBF 0000 SPRE<2:0> — — PPRE<1:0> — FRMDLY — 0000 0000 0000 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 © 2007 Microchip Technology Inc. TABLE 3-10: ADC1 REGISTER MAP FOR dsPIC33FJ32MC202 Preliminary Addr ADC1BUF0 0300 ADC Data Buffer 0 xxxx ADC1BUF1 0302 ADC Data Buffer 1 xxxx ADC1BUF2 0304 ADC Data Buffer 2 xxxx ADC1BUF3 0306 ADC Data Buffer 3 xxxx ADC1BUF4 0308 ADC Data Buffer 4 xxxx ADC1BUF5 030A ADC Data Buffer 5 xxxx ADC1BUF6 030C ADC Data Buffer 6 xxxx ADC1BUF7 030E ADC Data Buffer 7 xxxx ADC1BUF8 0310 ADC Data Buffer 8 xxxx ADC1BUF9 0312 ADC Data Buffer 9 xxxx ADC1BUFA 0314 ADC Data Buffer 10 xxxx ADC1BUFB 0316 ADC Data Buffer 11 xxxx ADC1BUFC 0318 ADC Data Buffer 12 xxxx ADC1BUFD 031A ADC Data Buffer 13 xxxx ADC1BUFE 031C ADC Data Buffer 14 xxxx ADC1BUFF 031E ADC Data Buffer 15 AD1CON1 0320 AD1CON2 0322 AD1CON3 0324 ADRC — — AD1CHS123 0326 — — — AD1CHS0 0328 CH0NB — — AD1PCFGL 032C — — — — — — — AD1CSSL 0330 — — — — — — — © 2007 Microchip Technology Inc. Legend: Bit 15 ADON Bit 14 — Bit 13 ADSIDL VCFG<2:0> Bit 12 Bit 11 — — — — Bit 10 Bit 9 Bit 8 AD12B FORM<1:0> CSCNA CHPS<1:0> Bit 7 — CH123NB<1:0> Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 xxxx SSRC<2:0> — SIMSAM ASAM DONE 0000 BUFM ALTS 0000 — — — — — — CH0NA — — — — — PCFG5 PCFG4 PCFG3 PCFG2 PCFG1 PCFG0 0000 — — — CSS5 CSS4 CSS3 CSS2 CSS1 CSS0 0000 CH123SB CH0SB<4:0> x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. SMPI<3:0> SAMP BUFS SAMC<4:0> — Bit 6 All Reset s File Name ADCS<5:0> — — 0000 CH123NA<1:0> CH123SA CH0SA<4:0> 0000 0000 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 DS70283B-page 36 TABLE 3-14: ADC1 REGISTER MAP FOR dsPIC33FJ32MC204 AND dsPIC33FJ16MC304 Bit 15 Preliminary Addr ADC1BUF0 0300 ADC Data Buffer 0 xxxx ADC1BUF1 0302 ADC Data Buffer 1 xxxx ADC1BUF2 0304 ADC Data Buffer 2 xxxx ADC1BUF3 0306 ADC Data Buffer 3 xxxx ADC1BUF4 0308 ADC Data Buffer 4 xxxx ADC1BUF5 030A ADC Data Buffer 5 xxxx ADC1BUF6 030C ADC Data Buffer 6 xxxx ADC1BUF7 030E ADC Data Buffer 7 xxxx ADC1BUF8 0310 ADC Data Buffer 8 xxxx ADC1BUF9 0312 ADC Data Buffer 9 xxxx ADC1BUFA 0314 ADC Data Buffer 10 xxxx ADC1BUFB 0316 ADC Data Buffer 11 xxxx ADC1BUFC 0318 ADC Data Buffer 12 xxxx ADC1BUFD 031A ADC Data Buffer 13 xxxx ADC1BUFE 031C ADC Data Buffer 14 xxxx ADC1BUFF 031E ADC Data Buffer 15 AD1CON1 0320 ADON Bit 14 — Bit 13 ADSIDL Bit 11 — — — — Bit 10 Bit 9 Bit 8 AD12B FORM<1:0> CSCNA CHPS<1:0> AD1CON2 0322 AD1CON3 0324 ADRC — — AD1CHS123 0326 — — — AD1CHS0 0328 CH0NB — — AD1PCFGL 032C — — — — — — — AD1CSSL 0330 — — — — — — — Legend: VCFG<2:0> Bit 12 Bit 7 — CH123NB<1:0> Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 xxxx SSRC<2:0> — SIMSAM ASAM DONE 0000 BUFM ALTS 0000 — — — — — — CH0NA — — PCFG8 PCFG7 PCFG6 PCFG5 PCFG4 PCFG3 PCFG2 PCFG1 PCFG0 0000 CSS8 CSS7 CSS6 CSS5 CSS4 CSS3 CSS2 CSS1 CSS0 0000 CH123SB CH0SB<4:0> x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. SMPI<3:0> SAMP BUFS SAMC<4:0> — Bit 6 All Resets File Name ADCS<5:0> — — 0000 CH123NA<1:0> CH123SA CH0SA<4:0> 0000 0000 DS70283B-page 37 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 © 2007 Microchip Technology Inc. TABLE 3-15: PERIPHERAL PIN SELECT INPUT REGISTER MAP Preliminary File Name Addr RPINR0 0680 — — — RPINR1 0682 — — — RPINR3 0686 — — — RPINR7 068E — — — RPINR10 0694 — — — RPINR11 0696 — — — — — — — — RPINR12 0698 — — — — — — — RPINR13 069A — — — — — — RPINR14 069C — — — RPINR15 069E — — — — — RPINR18 06A4 — — — RPINR20 06A8 — — — RPINR21 06AA — — — Legend: Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 — — Bit 9 Bit 8 — — Bit 1 Bit 0 All Resets — — — 1F00 Bit 6 Bit 5 Bit 4 Bit 3 — — — — — — — — INT2R<4:0> 001F T3CKR<4:0> — — — T2CKR<4:0> 1F1F IC2R<4:0> — — — IC1R<4:0> 1F1F — — — IC7R<4:0> 1F1F — — — OCFAR<4:0> 001F — — — — FLTA1R<4:0> 001F — — — — — FLTA2R<4:0> 001F — — — QEA1R<4:0> 1F1F — — — — — INDX1R<4:0> 001F U1CTSR<4:0> — — — U1RXR<4:0> 1F1F SCK1R<4:0> — — — SDI1R<4:0> 1F1F — — — SS1R<4:0> 001F INT1R<4:0> — IC8R<4:0> QEB1R<4:0> — Bit 2 Bit 7 — — — — — x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. TABLE 3-17: PERIPHERAL PIN SELECT OUTPUT REGISTER MAP FOR dsPIC33FJ32MC202 © 2007 Microchip Technology Inc. File Name Addr Bit 15 Bit 14 Bit 13 RPOR0 06C0 — — — RPOR1 06C2 — — — RPOR2 06C4 — — RPOR3 06C6 — — RPOR4 06C8 — RPOR5 06CA RPOR6 06CC RPOR7 Legend: Bit 10 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets Bit 7 Bit 6 Bit 5 RP1R<4:0> — — — RP0R<4:0> 0000 RP3R<4:0> — — — RP2R<4:0> 0000 — RP5R<4:0> — — — RP4R<4:0> 0000 — RP7R<4:0> — — — RP6R<4:0> 0000 — — RP9R<4:0> — — — RP8R<4:0> 0000 — — — RP11R<4:0> — — — RP10R<4:0> 0000 — — — RP13R<4:0> — — — RP12R<4:0> 0000 — — — RP15R<4:0> — 06CE x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. — — RP14R<4:0> 0000 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 DS70283B-page 38 TABLE 3-16: PERIPHERAL PIN SELECT OUTPUT REGISTER MAP FOR dsPIC33FJ32MC204 AND dsPIC33FJ16MC304 File Name Addr Bit 15 Bit 14 Bit 13 RPOR0 06C0 — — — RPOR1 06C2 — — — RPOR2 06C4 — — RPOR3 06C6 — RPOR4 06C8 RPOR5 Bit 7 Bit 6 Bit 5 RP1R<4:0> — — — RP0R<4:0> 0000 RP3R<4:0> — — — RP2R<4:0> 0000 — RP5R<4:0> — — — RP4R<4:0> 0000 — — RP7R<4:0> — — — RP6R<4:0> 0000 — — — RP9R<4:0> — — — RP8R<4:0> 0000 06CA — — — RP11R<4:0> — — — RP10R<4:0> 0000 RPOR6 06CC — — — RP13R<4:0> — — — RP12R<4:0> 0000 RPOR7 06CE — — — RP15R<4:0> — — — RP14R<4:0> 0000 RPOR8 06D0 — — — RP17R<4:0> — — — RP16R<4:0> 0000 RPOR9 06D2 — — — RP19R<4:0> — — — RP18R<4:0> 0000 RPOR10 06D4 — — — RP21R<4:0> — — — RP20R<4:0> 0000 RPOR11 06D6 — — — RP23R<4:0> — — — RP22R<4:0> 0000 RPOR12 06D8 — — — RP25R<4:0> — x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. — — RP24R<4:0> 0000 Legend: Preliminary TABLE 3-19: File Name Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets PORTA REGISTER MAP FOR dsPIC33FJ32MC202 Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets TRISA 02C0 — — — — — — — — — — — TRISA4 TRISA3 TRISA2 TRISA1 TRISA0 001F PORTA 02C2 — — — — — — — — — — — RA4 RA3 RA2 RA1 RA0 xxxx LATA 02C4 — — — — — — — — — — — LATA4 LATA3 LATA2 LATA1 LATA0 xxxx ODCA 02C6 — — — — — — — — — — — ODCA4 ODCA3 ODCA2 ODCA1 ODCA0 xxxx Legend: x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. TABLE 3-20: File Name PORTA REGISTER MAP FOR dsPIC33FJ32MC204 AND dsPIC33FJ16MC304 DS70283B-page 39 Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets TRISA 02C0 — — — — — TRISA10 TRISA9 TRISA8 TRISA7 — — TRISA4 TRISA3 TRISA2 TRISA1 TRISA0 079F PORTA 02C2 — — — — — RA10 RA9 RA8 RA7 — — RA4 RA3 RA2 RA1 RA0 xxxx LATA 02C4 — — — — — LAT10 LAT8 LAT8 LAT7 — — LATA4 LATA3 LATA2 LATA1 LATA0 xxxx ODCA 02C6 — — — — — ODCA10 ODCA9 ODCA8 ODCA7 — — ODCA4 ODCA3 ODCA2 ODCA1 ODCA0 xxxx Legend: x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 © 2007 Microchip Technology Inc. TABLE 3-18: File Name PORTB REGISTER MAP Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets TRISB 02C8 TRISB15 TRISB14 TRISB13 TRISB12 TRISB11 TRISB10 TRISB9 TRISB8 TRISB7 TRISB6 TRISB5 TRISB4 TRISB6 TRISB5 TRISB1 TRISB0 FFFF PORTB 02CA RB15 RB14 RB13 RB12 RB11 RB10 RB9 RB8 RB7 RB6 RB5 RB4 RB6 RB5 RB1 RB0 xxxx LATB 02CC LATB15 LATB14 LATB13 LATB12 LATB11 LATB10 LATB9 LATB8 LATB7 LATB6 LATB5 LATB4 LATB6 LATB5 LATB1 LATB0 xxxx ODCB 02CE ODCB15 ODCB14 ODCB13 ODCB12 ODCB11 ODCB10 ODCB9 ODCB8 ODCB7 ODCB6 ODCB5 ODCB4 ODCB6 ODCB5 ODCB1 ODCB0 xxxx Legend: x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal for 100-pin devices. TABLE 3-22: PORTC REGISTER MAP FOR dsPIC33FJ32MC204 AND dsPIC33FJ16MC304 File Name Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets TRISC 02D0 — — — — — — TRISC9 TRISC8 TRISC7 TRISC6 TRISC5 TRISC4 TRISC6 TRISC5 TRISC1 TRISC0 03FF PORTC 02D2 — — — — — — RC9 RC8 RC7 RC6 RC5 RC4 RC6 RC5 RC1 RC0 xxxx LATC 02D4 — — — — — — LATC9 LATC8 LATC7 LATC6 LATC5 LATC4 LATC6 LATC5 LATC1 LATC0 xxxx ODCC 02D6 — — — — — — ODCC9 ODCC8 ODCC7 ODCC6 ODCC5 ODCC4 ODCC6 ODCC5 ODCC1 ODCC0 xxxx Legend: x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. Preliminary TABLE 3-23: SYSTEM CONTROL REGISTER MAP File Name Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets RCON 0740 TRAPR IOPUWR — — — — CM VREGS EXTR SWR SWDTEN WDTO SLEEP IDLE BOR POR xxxx(1) OSCCON 0742 — CLKLOCK IOLOCK LOCK — CF — LPOSCEN OSWEN 0300(2) COSC<2:0> — DOZE<2:0> NOSC<2:0> CLKDIV 0744 ROI PLLFBD 0746 — — — — DOZEN — — FRCDIV<2:0> — PLLPOST<1:0> OSCTUN 0748 — — — — — — — Legend: Note 1: 2: x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. RCON register Reset values dependent on type of Reset. OSCCON register Reset values dependent on the FOSC Configuration bits and by type of Reset. — PLLPRE<4:0> PLLDIV<8:0> — — — 0040 0030 TUN<5:0> 0000 © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 DS70283B-page 40 TABLE 3-21: NVM REGISTER MAP File Name Addr Bit 15 Bit 14 Bit 13 NVMCON 0760 WR WREN WRERR — — — NVMKEY 0766 — — — — — — Legend: Note 1: x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. Reset value shown is for POR only. Value on other Reset states is dependent on the state of memory write or erase operations at the time of Reset. Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 — — — ERASE — — — Bit 4 Bit 3 — Bit 2 Bit 1 Bit 0 All Resets 0000(1) NVMOP<3:0> NVMKEY<7:0> 0000 TABLE 3-25: PMD REGISTER MAP File Name Addr Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 PMD1 0770 — — T3MD T2MD T1MD QEIMD PWM1MD — I2C1MD — U1MD — SPI1MD — PMD2 0772 IC8MD IC7MD — — — — IC2MD IC1MD — — — — — PMD3 0774 — — — — — — — — — — — PWM2MD — Legend: x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal. Bit 0 All Resets — AD1MD 0000 — OC2MD OC1MD 0000 — — — 0000 Preliminary DS70283B-page 41 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 © 2007 Microchip Technology Inc. TABLE 3-24: dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 3.2.6 SOFTWARE STACK 3.2.7 In addition to its use as a working register, the W15 register in the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices is also used as a software Stack Pointer. The Stack Pointer always points to the first available free word and grows from lower to higher addresses. It predecrements for stack pops and post-increments for stack pushes, as shown in Figure 3-4. For a PC push during any CALL instruction, the MSb of the PC is zero-extended before the push, ensuring that the MSb is always clear. Note: A PC push during exception processing concatenates the SRL register to the MSb of the PC prior to the push. The Stack Pointer Limit register (SPLIM) associated with the Stack Pointer sets an upper address boundary for the stack. SPLIM is uninitialized at Reset. As is the case for the Stack Pointer, SPLIM<0> is forced to ‘0’ because all stack operations must be word-aligned. Whenever an EA is generated using W15 as a source or destination pointer, the resulting address is compared with the value in SPLIM. If the contents of the Stack Pointer (W15) and the SPLIM register are equal and a push operation is performed, a stack error trap will not occur. The stack error trap will occur on a subsequent push operation. For example, to cause a stack error trap when the stack grows beyond address 0x2000 in RAM, initialize the SPLIM with the value 0x1FFE. Similarly, a Stack Pointer underflow (stack error) trap is generated when the Stack Pointer address is found to be less than 0x0800. This prevents the stack from interfering with the Special Function Register (SFR) space. A write to the SPLIM register should not be immediately followed by an indirect read operation using W15. FIGURE 3-4: Stack Grows Toward Higher Address 0x0000 15 CALL STACK FRAME 0 PC<15:0> 000000000 PC<22:16> <Free Word> W15 (before CALL) W15 (after CALL) POP : [--W15] PUSH : [W15++] DS70283B-page 42 DATA RAM PROTECTION FEATURE The dsPIC33F product family supports Data RAM protection features that enable segments of RAM to be protected when used in conjunction with Boot and Secure Code Segment Security. BSRAM (Secure RAM segment for BS) is accessible only from the Boot Segment Flash code when enabled. SSRAM (Secure RAM segment for RAM) is accessible only from the Secure Segment Flash code when enabled. See Table 3-1 for an overview of the BSRAM and SSRAM SFRs. 3.3 Instruction Addressing Modes The addressing modes shown in Table 3-26 form the basis of the addressing modes optimized to support the specific features of individual instructions. The addressing modes provided in the MAC class of instructions differ from those in the other instruction types. 3.3.1 FILE REGISTER INSTRUCTIONS Most file register instructions use a 13-bit address field (f) to directly address data present in the first 8192 bytes of data memory (near data space). Most file register instructions employ a working register, W0, which is denoted as WREG in these instructions. The destination is typically either the same file register or WREG (with the exception of the MUL instruction), which writes the result to a register or register pair. The MOV instruction allows additional flexibility and can access the entire data space. 3.3.2 MCU INSTRUCTIONS The three-operand MCU instructions are of the form: Operand 3 = Operand 1 <function> Operand 2 where Operand 1 is always a working register (that is, the addressing mode can only be register direct), which is referred to as Wb. Operand 2 can be a W register, fetched from data memory, or a 5-bit literal. The result location can be either a W register or a data memory location. The following addressing modes are supported by MCU instructions: • • • • • Register Direct Register Indirect Register Indirect Post-Modified Register Indirect Pre-Modified 5-bit or 10-bit Literal Note: Preliminary Not all instructions support all the addressing modes given above. Individual instructions can support different subsets of these addressing modes. © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 3-26: FUNDAMENTAL ADDRESSING MODES SUPPORTED Addressing Mode Description File Register Direct The address of the file register is specified explicitly. Register Direct The contents of a register are accessed directly. Register Indirect The contents of Wn forms the Effective Address (EA). Register Indirect Post-Modified The contents of Wn forms the EA. Wn is post-modified (incremented or decremented) by a constant value. Register Indirect Pre-Modified Wn is pre-modified (incremented or decremented) by a signed constant value to form the EA. Register Indirect with Register Offset The sum of Wn and Wb forms the EA. (Register Indexed) Register Indirect with Literal Offset The sum of Wn and a literal forms the EA. 3.3.4 3.3.3 MOVE AND ACCUMULATOR INSTRUCTIONS Move instructions and the DSP accumulator class of instructions provide a greater degree of addressing flexibility than other instructions. In addition to the addressing modes supported by most MCU instructions, move and accumulator instructions also support Register Indirect with Register Offset Addressing mode, also referred to as Register Indexed mode. Note: For the MOV instructions, the addressing mode specified in the instruction can differ for the source and destination EA. However, the 4-bit Wb (Register Offset) field is shared by both source and destination (but typically only used by one). In summary, the following addressing modes are supported by move and accumulator instructions: • • • • • • • • Register Direct Register Indirect Register Indirect Post-modified Register Indirect Pre-modified Register Indirect with Register Offset (Indexed) Register Indirect with Literal Offset 8-bit Literal 16-bit Literal Note: © 2007 Microchip Technology Inc. The dual source operand DSP instructions (CLR, ED, EDAC, MAC, MPY, MPY.N, MOVSAC and MSC), also referred to as MAC instructions, use a simplified set of addressing modes to allow the user application to effectively manipulate the data pointers through register indirect tables. The two-source operand prefetch registers must be members of the set {W8, W9, W10, W11}. For data reads, W8 and W9 are always directed to the X RAGU, and W10 and W11 are always directed to the Y AGU. The effective addresses generated (before and after modification) must, therefore, be valid addresses within X data space for W8 and W9 and Y data space for W10 and W11. Note: Register Indirect with Register Offset Addressing mode is available only for W9 (in X space) and W11 (in Y space). In summary, the following addressing modes are supported by the MAC class of instructions: • • • • • Register Indirect Register Indirect Post-Modified by 2 Register Indirect Post-Modified by 4 Register Indirect Post-Modified by 6 Register Indirect with Register Offset (Indexed) 3.3.5 Not all instructions support all the addressing modes given above. Individual instructions may support different subsets of these addressing modes. MAC INSTRUCTIONS OTHER INSTRUCTIONS Besides the addressing modes outlined previously, some instructions use literal constants of various sizes. For example, BRA (branch) instructions use 16-bit signed literals to specify the branch destination directly, whereas the DISI instruction uses a 14-bit unsigned literal field. In some instructions, such as ADD Acc, the source of an operand or result is implied by the opcode itself. Certain operations, such as NOP, do not have any operands. Preliminary DS70283B-page 43 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 3.4 Modulo Addressing Note: Modulo Addressing mode is a method of providing an automated means to support circular data buffers using hardware. The objective is to remove the need for software to perform data address boundary checks when executing tightly looped code, as is typical in many DSP algorithms. Modulo Addressing can operate in either data or program space (since the data pointer mechanism is essentially the same for both). One circular buffer can be supported in each of the X (which also provides the pointers into program space) and Y data spaces. Modulo Addressing can operate on any W register pointer. However, it is not advisable to use W14 or W15 for Modulo Addressing since these two registers are used as the Stack Frame Pointer and Stack Pointer, respectively. In general, any particular circular buffer can be configured to operate in only one direction as there are certain restrictions on the buffer start address (for incrementing buffers), or end address (for decrementing buffers), based upon the direction of the buffer. The only exception to the usage restrictions is for buffers that have a power-of-two length. As these buffers satisfy the start and end address criteria, they can operate in a bidirectional mode (that is, address boundary checks are performed on both the lower and upper address boundaries). 3.4.1 START AND END ADDRESS The Modulo Addressing scheme requires that a starting and ending address be specified and loaded into the 16-bit Modulo Buffer Address registers: XMODSRT, XMODEND, YMODSRT and YMODEND (see Table 3-1). FIGURE 3-5: Y space Modulo Addressing EA calculations assume word-sized data (LSb of every EA is always clear). The length of a circular buffer is not directly specified. It is determined by the difference between the corresponding start and end addresses. The maximum possible length of the circular buffer is 32K words (64 Kbytes). 3.4.2 W ADDRESS REGISTER SELECTION The Modulo and Bit-Reversed Addressing Control register, MODCON<15:0>, contains enable flags as well as a W register field to specify the W Address registers. The XWM and YWM fields select the registers that will operate with Modulo Addressing: • If XWM = 15, X RAGU and X WAGU Modulo Addressing is disabled. • If YWM = 15, Y AGU Modulo Addressing is disabled. The X Address Space Pointer W register (XWM), to which Modulo Addressing is to be applied, is stored in MODCON<3:0> (see Table 3-1). Modulo Addressing is enabled for X data space when XWM is set to any value other than ‘15’ and the XMODEN bit is set at MODCON<15>. The Y Address Space Pointer W register (YWM) to which Modulo Addressing is to be applied is stored in MODCON<7:4>. Modulo Addressing is enabled for Y data space when YWM is set to any value other than ‘15’ and the YMODEN bit is set at MODCON<14>. MODULO ADDRESSING OPERATION EXAMPLE Byte Address 0x1100 0x1163 MOV MOV MOV MOV MOV MOV #0x1100, W0 W0, XMODSRT #0x1163, W0 W0, MODEND #0x8001, W0 W0, MODCON MOV #0x0000, W0 ;W0 holds buffer fill value MOV #0x1110, W1 ;point W1 to buffer DO AGAIN, #0x31 MOV W0, [W1++] AGAIN: INC W0, W0 ;set modulo start address ;set modulo end address ;enable W1, X AGU for modulo ;fill the 50 buffer locations ;fill the next location ;increment the fill value Start Addr = 0x1100 End Addr = 0x1163 Length = 0x0032 words DS70283B-page 44 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 3.4.3 MODULO ADDRESSING APPLICABILITY Modulo Addressing can be applied to the Effective Address (EA) calculation associated with any W register. Address boundaries check for addresses equal to: • The upper boundary addresses for incrementing buffers • The lower boundary addresses for decrementing buffers It is important to realize that the address boundaries check for addresses less than or greater than the upper (for incrementing buffers) and lower (for decrementing buffers) boundary addresses (not just equal to). Address changes can, therefore, jump beyond boundaries and still be adjusted correctly. Note: 3.5 The modulo corrected effective address is written back to the register only when PreModify or Post-Modify Addressing mode is used to compute the effective address. When an address offset (such as [W7 + W2]) is used, Modulo Address correction is performed but the contents of the register remain unchanged. If the length of a bit-reversed buffer is M = 2N bytes, the last ‘N’ bits of the data buffer start address must be zeros. XB<14:0> is the Bit-Reversed Address modifier, or ‘pivot point,’ which is typically a constant. In the case of an FFT computation, its value is equal to half of the FFT data buffer size. Note: When enabled, Bit-Reversed Addressing is executed only for Register Indirect with Pre-Increment or PostIncrement Addressing and word-sized data writes. It will not function for any other addressing mode or for byte-sized data, and normal addresses are generated instead. When Bit-Reversed Addressing is active, the W Address Pointer is always added to the address modifier (XB), and the offset associated with the Register Indirect Addressing mode is ignored. In addition, as word-sized data is a requirement, the LSb of the EA is ignored (and always clear). Note: Bit-Reversed Addressing Bit-Reversed Addressing mode is intended to simplify data re-ordering for radix-2 FFT algorithms. It is supported by the X AGU for data writes only. The modifier, which can be a constant value or register contents, is regarded as having its bit order reversed. The address source and destination are kept in normal order. Thus, the only operand requiring reversal is the modifier. 3.5.1 BIT-REVERSED ADDRESSING IMPLEMENTATION All bit-reversed EA calculations assume word-sized data (LSb of every EA is always clear). The XB value is scaled accordingly to generate compatible (byte) addresses. Modulo Addressing and Bit-Reversed Addressing should not be enabled together. If an application attempts to do so, Bit-Reversed Addressing will assume priority when active for the X WAGU and X WAGU, Modulo Addressing will be disabled. However, Modulo Addressing will continue to function in the X RAGU. If Bit-Reversed Addressing has already been enabled by setting the BREN (XBREV<15>) bit, a write to the XBREV register should not be immediately followed by an indirect read operation using the W register that has been designated as the bit-reversed pointer. Bit-Reversed Addressing mode is enabled in any of these situations: • BWM bits (W register selection) in the MODCON register are any value other than ‘15’ (the stack cannot be accessed using Bit-Reversed Addressing) • The BREN bit is set in the XBREV register • The addressing mode used is Register Indirect with Pre-Increment or Post-Increment © 2007 Microchip Technology Inc. Preliminary DS70283B-page 45 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 3-6: BIT-REVERSED ADDRESS EXAMPLE Sequential Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 0 Bit Locations Swapped Left-to-Right Around Center of Binary Value b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b1 b2 b3 b4 0 Bit-Reversed Address Pivot Point XB = 0x0008 for a 16-Word Bit-Reversed Buffer TABLE 3-27: BIT-REVERSED ADDRESS SEQUENCE (16-ENTRY) Normal Address Bit-Reversed Address A3 A2 A1 A0 Decimal A3 A2 A1 A0 Decimal 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 8 0 0 1 0 2 0 1 0 0 4 0 0 1 1 3 1 1 0 0 12 0 1 0 0 4 0 0 1 0 2 0 1 0 1 5 1 0 1 0 10 0 1 1 0 6 0 1 1 0 6 0 1 1 1 7 1 1 1 0 14 1 0 0 0 8 0 0 0 1 1 1 0 0 1 9 1 0 0 1 9 1 0 1 0 10 0 1 0 1 5 1 0 1 1 11 1 1 0 1 13 1 1 0 0 12 0 0 1 1 3 1 1 0 1 13 1 0 1 1 11 1 1 1 0 14 0 1 1 1 7 1 1 1 1 15 1 1 1 1 15 DS70283B-page 46 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 3.6 Interfacing Program and Data Memory Spaces 3.6.1 Since the address ranges for the data and program spaces are 16 and 24 bits, respectively, a method is needed to create a 23-bit or 24-bit program address from 16-bit data registers. The solution depends on the interface method to be used. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 architecture uses a 24-bit-wide program space and a 16-bit-wide data space. The architecture is also a modified Harvard scheme, meaning that data can also be present in the program space. To use this data successfully, it must be accessed in a way that preserves the alignment of information in both spaces. For table operations, the 8-bit Table Page register (TBLPAG) is used to define a 32K word region within the program space. This is concatenated with a 16-bit EA to arrive at a full 24-bit program space address. In this format, the Most Significant bit of TBLPAG is used to determine if the operation occurs in the user memory (TBLPAG<7> = 0) or the configuration memory (TBLPAG<7> = 1). Aside from normal execution, the dsPIC33FJ32MC202/ 204 and dsPIC33FJ16MC304 architecture provides two methods by which program space can be accessed during operation: For remapping operations, the 8-bit Program Space Visibility register (PSVPAG) is used to define a 16K word page in the program space. When the Most Significant bit of the EA is ‘1’, PSVPAG is concatenated with the lower 15 bits of the EA to form a 23-bit program space address. Unlike table operations, this limits remapping operations strictly to the user memory area. • Using table instructions to access individual bytes or words anywhere in the program space • Remapping a portion of the program space into the data space (Program Space Visibility) Table instructions allow an application to read or write to small areas of the program memory. This capability makes the method ideal for accessing data tables that need to be updated periodically. It also allows access to all bytes of the program word. The remapping method allows an application to access a large block of data on a read-only basis, which is ideal for look-ups from a large table of static data. The application can only access the least significant word of the program word. TABLE 3-28: ADDRESSING PROGRAM SPACE Table 3-28 and Figure 3-7 show how the program EA is created for table operations and remapping accesses from the data EA. Here, P<23:0> refers to a program space word, and D<15:0> refers to a data space word. PROGRAM SPACE ADDRESS CONSTRUCTION Access Space Access Type Program Space Address <23> <22:16> <15> <14:1> Instruction Access (Code Execution) User TBLRD/TBLWT (Byte/Word Read/Write) User TBLPAG<7:0> Configuration TBLPAG<7:0> Data EA<15:0> 1xxx xxxx xxxx xxxx xxxx xxxx Program Space Visibility (Block Remap/Read) Note 1: PC<22:1> 0 0xx xxxx 0xxx xxxx User xxxx <0> 0 xxxx xxxx xxx0 Data EA<15:0> xxxx xxxx xxxx xxxx 0 PSVPAG<7:0> 0 xxxx xxxx Data EA<14:0>(1) xxx xxxx xxxx xxxx Data EA<15> is always ‘1’ in this case, but is not used in calculating the program space address. Bit 15 of the address is PSVPAG<0>. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 47 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 3-7: DATA ACCESS FROM PROGRAM SPACE ADDRESS GENERATION Program Counter(1) Program Counter 0 0 23 bits EA Table Operations(2) 1/0 1/0 TBLPAG 8 bits 16 bits 24 bits Select Program Space Visibility(1) (Remapping) 0 1 EA 0 PSVPAG 8 bits 15 bits 23 bits User/Configuration Space Select Byte Select Note 1: The Least Significant bit (LSb) of program space addresses is always fixed as ‘0’ to maintain word alignment of data in the program and data spaces. 2: Table operations are not required to be word-aligned. Table read operations are permitted in the configuration memory space. DS70283B-page 48 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 3.6.2 DATA ACCESS FROM PROGRAM MEMORY USING TABLE INSTRUCTIONS The TBLRDL and TBLWTL instructions offer a direct method of reading or writing the lower word of any address within the program space without going through data space. The TBLRDH and TBLWTH instructions are the only method to read or write the upper 8 bits of a program space word as data. The PC is incremented by two for each successive 24-bit program word. This allows program memory addresses to directly map to data space addresses. Program memory can thus be regarded as two 16-bitwide word address spaces, residing side by side, each with the same address range. TBLRDL and TBLWTL access the space that contains the least significant data word. TBLRDH and TBLWTH access the space that contains the upper data byte. Two table instructions are provided to move byte or word-sized (16-bit) data to and from program space. Both function as either byte or word operations. • TBLRDL (Table Read Low): - In Word mode, this instruction maps the lower word of the program space location (P<15:0>) to a data address (D<15:0>). FIGURE 3-8: - In Byte mode, either the upper or lower byte of the lower program word is mapped to the lower byte of a data address. The upper byte is selected when Byte Select is ‘1’; the lower byte is selected when it is ‘0’. • TBLRDH (Table Read High): - In Word mode, this instruction maps the entire upper word of a program address (P<23:16>) to a data address. Note that D<15:8>, the ‘phantom byte’, will always be ‘0’. - In Byte mode, this instruction maps the upper or lower byte of the program word to D<7:0> of the data address, in the TBLRDL instruction. The data is always ‘0’ when the upper ‘phantom’ byte is selected (Byte Select = 1). In a similar fashion, two table instructions, TBLWTH and TBLWTL, are used to write individual bytes or words to a program space address. The details of their operation are explained in Section 4.0 “Flash Program Memory”. For all table operations, the area of program memory space to be accessed is determined by the Table Page register (TBLPAG). TBLPAG covers the entire program memory space of the device, including user and configuration spaces. When TBLPAG<7> = 0, the table page is located in the user memory space. When TBLPAG<7> = 1, the page is located in configuration space. ACCESSING PROGRAM MEMORY WITH TABLE INSTRUCTIONS Program Space TBLPAG 02 23 15 0 0x000000 23 16 8 0 00000000 0x020000 0x030000 00000000 00000000 00000000 ‘Phantom’ Byte TBLRDH.B (Wn<0> = 0) TBLRDL.B (Wn<0> = 1) TBLRDL.B (Wn<0> = 0) TBLRDL.W 0x800000 © 2007 Microchip Technology Inc. The address for the table operation is determined by the data EA within the page defined by the TBLPAG register. Only read operations are shown; write operations are also valid in the user memory area. Preliminary DS70283B-page 49 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 3.6.3 READING DATA FROM PROGRAM MEMORY USING PROGRAM SPACE VISIBILITY The upper 32 Kbytes of data space may optionally be mapped into any 16K word page of the program space. This option provides transparent access to stored constant data from the data space without the need to use special instructions (such as TBLRDL/H). Program space access through the data space occurs if the Most Significant bit of the data space EA is ‘1’ and program space visibility is enabled by setting the PSV bit in the Core Control register (CORCON<2>). The location of the program memory space to be mapped into the data space is determined by the Program Space Visibility Page register (PSVPAG). This 8-bit register defines any one of 256 possible pages of 16K words in program space. In effect, PSVPAG functions as the upper 8 bits of the program memory address, with the 15 bits of the EA functioning as the lower bits. By incrementing the PC by 2 for each program memory word, the lower 15 bits of data space addresses directly map to the lower 15 bits in the corresponding program space addresses. Data reads to this area add a cycle to the instruction being executed, since two program memory fetches are required. Although each data space address 8000h and higher maps directly into a corresponding program memory address (see Figure 3-9), only the lower 16 bits of the FIGURE 3-9: 24-bit program word are used to contain the data. The upper 8 bits of any program space location used as data should be programmed with ‘1111 1111’ or ‘0000 0000’ to force a NOP. This prevents possible issues should the area of code ever be accidentally executed. Note: PSV access is temporarily disabled during table reads/writes. For operations that use PSV and are executed outside a REPEAT loop, the MOV and MOV.D instructions require one instruction cycle in addition to the specified execution time. All other instructions require two instruction cycles in addition to the specified execution time. For operations that use PSV, and are executed inside a REPEAT loop, these instances require two instruction cycles in addition to the specified execution time of the instruction: • Execution in the first iteration • Execution in the last iteration • Execution prior to exiting the loop due to an interrupt • Execution upon re-entering the loop after an interrupt is serviced Any other iteration of the REPEAT loop will allow the instruction using PSV to access data, to execute in a single cycle. PROGRAM SPACE VISIBILITY OPERATION When CORCON<2> = 1 and EA<15> = 1: Program Space PSVPAG 02 23 15 Data Space 0 0x000000 0x0000 Data EA<14:0> 0x010000 0x018000 The data in the page designated by PSVPAG is mapped into the upper half of the data memory space... 0x8000 PSV Area 0x800000 DS70283B-page 50 Preliminary ...while the lower 15 bits of the EA specify an exact address within 0xFFFF the PSV area. This corresponds exactly to the same lower 15 bits of the actual program space address. © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 4.0 Note: FLASH PROGRAM MEMORY ital signal controller just before shipping the product. This also allows the most recent firmware or a custom firmware to be programmed. This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. RTSP is accomplished using TBLRD (table read) and TBLWT (table write) instructions. With RTSP, the user application can write program memory data either in blocks or ‘rows’ of 64 instructions (192 bytes) at a time or a single program memory word, and erase program memory in blocks or ‘pages’ of 512 instructions (1536 bytes) at a time. 4.1 The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices contain internal Flash program memory for storing and executing application code. The memory is readable, writable and erasable during normal operation over the entire VDD range. Flash memory can be programmed in two ways: • In-Circuit Serial Programming™ (ICSP™) programming capability • Run-Time Self-Programming (RTSP) ICSP allows a dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 device to be serially programmed while in the end application circuit. This is done with two lines for programming clock and programming data (one of the alternate programming pin pairs: PGC1/ PGD1, PGC2/PGD2 or PGC3/PGD3), and three other lines for power (VDD), ground (VSS) and Master Clear (MCLR). This allows customers to manufacture boards with unprogrammed devices and then program the dig- FIGURE 4-1: Table Instructions and Flash Programming Regardless of the method used, all programming of Flash memory is done with the table read and table write instructions. These allow direct read and write access to the program memory space from the data memory while the device is in normal operating mode. The 24-bit target address in the program memory is formed using bits <7:0> of the TBLPAG register and the Effective Address (EA) from a W register specified in the table instruction, as shown in Figure 4-1. The TBLRDL and the TBLWTL instructions are used to read or write to bits <15:0> of program memory. TBLRDL and TBLWTL can access program memory in both Word and Byte modes. The TBLRDH and TBLWTH instructions are used to read or write to bits <23:16> of program memory. TBLRDH and TBLWTH can also access program memory in Word or Byte mode. ADDRESSING FOR TABLE REGISTERS 24 bits Using Program Counter Program Counter 0 0 Working Reg EA Using Table Instruction 1/0 TBLPAG Reg 8 bits User/Configuration Space Select © 2007 Microchip Technology Inc. 16 bits 24-bit EA Preliminary Byte Select DS70283B-page 51 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 4.2 RTSP Operation 4.3 The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Flash program memory array is organized into rows of 64 instructions or 192 bytes. RTSP allows the user application to erase a page of memory, which consists of eight rows (512 instructions) at a time, and to program one row or one word at a time. Table 23-12 shows typical erase and programming times. The 8-row erase pages and single row write rows are edge-aligned from the beginning of program memory, on boundaries of 1536 bytes and 192 bytes, respectively. The program memory implements holding buffers that can contain 64 instructions of programming data. Prior to the actual programming operation, the write data must be loaded into the buffers sequentially. The instruction words loaded must always be from a group of 64 boundary. The basic sequence for RTSP programming is to set up a Table Pointer, then do a series of TBLWT instructions to load the buffers. Programming is performed by setting the control bits in the NVMCON register. A total of 64 TBLWTL and TBLWTH instructions are required to load the instructions. Control Registers Two SFRs are used to read and write the program Flash memory: NVMCON and NVMKEY. The NVMCON register (Register 4-1) controls which blocks are to be erased, which memory type is to be programmed and the start of the programming cycle. NVMKEY is a write-only register that is used for write protection. To start a programming or erase sequence, the user application must consecutively write 0x55 and 0xAA to the NVMKEY register. Refer to Section 4.4 “Programming Operations” for further details. 4.4 Programming Operations A complete programming sequence is necessary for programming or erasing the internal Flash in RTSP mode. A programming operation is nominally 4 ms in duration and the processor stalls (waits) until the operation is finished. Setting the WR bit (NVMCON<15>) starts the operation, and the WR bit is automatically cleared when the operation is finished. All of the table write operations are single-word writes (two instruction cycles) because only the buffers are written. A programming cycle is required for programming each row. DS70283B-page 52 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 4-1: NVMCON: FLASH MEMORY CONTROL REGISTER R/SO-0(1) R/W-0(1) R/W-0(1) U-0 U-0 U-0 U-0 U-0 WR WREN WRERR — — — — — bit 15 bit 8 U-0 R/W-0(1) U-0 U-0 — ERASE — — R/W-0(1) R/W-0(1) R/W-0(1) R/W-0(1) NVMOP<3:0>(2) bit 7 bit 0 Legend: SO = Satiable only bit R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 WR: Write Control bit 1 = Initiates a Flash memory program or erase operation. The operation is self-timed and the bit is cleared by hardware once operation is complete. 0 = Program or erase operation is complete and inactive bit 14 WREN: Write Enable bit 1 = Enable Flash program/erase operations 0 = Inhibit Flash program/erase operations bit 13 WRERR: Write Sequence Error Flag bit 1 = An improper program or erase sequence attempt or termination has occurred (bit is set automatically on any set attempt of the WR bit) 0 = The program or erase operation completed normally bit 12-7 Unimplemented: Read as ‘0’ bit 6 ERASE: Erase/Program Enable bit 1 = Perform the erase operation specified by NVMOP<3:0> on the next WR command 0 = Perform the program operation specified by NVMOP<3:0> on the next WR command bit 5-4 Unimplemented: Read as ‘0’ bit 3-0 NVMOP<3:0>: NVM Operation Select bits(2) If ERASE = 1: 1111 = Memory bulk erase operation 1101 = Erase General Segment 1100 = Erase Secure Segment 0011 = No operation 0010 = Memory page erase operation 0001 = No operation 0000 = Erase a single Configuration register byte If ERASE = 0: 1111 = No operation 1101 = No operation 1100 = No operation 0011 = Memory word program operation 0010 = No operation 0001 = Memory row program operation 0000 = Program a single Configuration register byte Note 1: 2: These bits can only be Reset on POR. All other combinations of NVMOP<3:0> are unimplemented. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 53 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 4-2: NVMKEY: NONVOLATILE MEMORY KEY REGISTER U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 15 bit 8 W-0 W-0 W-0 W-0 W-0 W-0 W-0 W-0 NVMKEY<7:0> bit 7 bit 0 Legend: SO = Satiable only bit R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-8 Unimplemented: Read as ‘0’ bit 7-0 NVMKEY<7:0>: Key Register (write-only) bits DS70283B-page 54 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 4.4.1 PROGRAMMING ALGORITHM FOR FLASH PROGRAM MEMORY 4. 5. Programmers can program one row of program Flash memory at a time. To do this, it is necessary to erase the 8-row erase page that contains the desired row. The general process is: 1. 2. 3. Read eight rows of program memory (512 instructions) and store in data RAM. Update the program data in RAM with the desired new data. Erase the block (see Example 4-1): a) Set the NVMOP bits (NVMCON<3:0>) to ‘0010’ to configure for block erase. Set the ERASE (NVMCON<6>) and WREN (NVMCON<14>) bits. b) Write the starting address of the page to be erased into the TBLPAG and W registers. c) Write 0x55 to NVMKEY. d) Write 0xAA to NVMKEY. e) Set the WR bit (NVMCON<15>). The erase cycle begins and the CPU stalls for the duration of the erase cycle. When the erase is done, the WR bit is cleared automatically. EXAMPLE 4-1: For protection against accidental operations, the write initiate sequence for NVMKEY must be used to allow any erase or program operation to proceed. After the programming command has been executed, the user application must wait for the programming time until programming is complete. The two instructions following the start of the programming sequence should be NOPs, as shown in Example 4-3. ERASING A PROGRAM MEMORY PAGE ; Set up NVMCON for block erase operation MOV #0x4042, W0 MOV W0, NVMCON ; Init pointer to row to be ERASED MOV #tblpage(PROG_ADDR), W0 MOV W0, TBLPAG MOV #tbloffset(PROG_ADDR), W0 TBLWTL W0, [W0] DISI #5 MOV MOV MOV MOV BSET NOP NOP 6. Write the first 64 instructions from data RAM into the program memory buffers (see Example 4-2). Write the program block to Flash memory: a) Set the NVMOP bits to ‘0001’ to configure for row programming. Clear the ERASE bit and set the WREN bit. b) Write 0x55 to NVMKEY. c) Write 0xAA to NVMKEY. d) Set the WR bit. The programming cycle begins and the CPU stalls for the duration of the write cycle. When the write to Flash memory is done, the WR bit is cleared automatically. Repeat steps 4 and 5, using the next available 64 instructions from the block in data RAM by incrementing the value in TBLPAG, until all 512 instructions are written back to Flash memory. #0x55, W0 W0, NVMKEY #0xAA, W1 W1, NVMKEY NVMCON, #WR © 2007 Microchip Technology Inc. ; ; Initialize NVMCON ; ; ; ; ; ; ; ; ; ; ; ; Initialize PM Page Boundary SFR Initialize in-page EA[15:0] pointer Set base address of erase block Block all interrupts with priority <7 for next 5 instructions Write the 55 key Write the AA key Start the erase sequence Insert two NOPs after the erase command is asserted Preliminary DS70283B-page 55 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 EXAMPLE 4-2: LOADING THE WRITE BUFFERS ; Set up NVMCON for row programming operations MOV #0x4001, W0 ; MOV W0, NVMCON ; Initialize NVMCON ; Set up a pointer to the first program memory location to be written ; program memory selected, and writes enabled MOV #0x0000, W0 ; MOV W0, TBLPAG ; Initialize PM Page Boundary SFR MOV #0x6000, W0 ; An example program memory address ; Perform the TBLWT instructions to write the latches ; 0th_program_word MOV #LOW_WORD_0, W2 ; MOV #HIGH_BYTE_0, W3 ; TBLWTL W2, [W0] ; Write PM low word into program latch TBLWTH W3, [W0++] ; Write PM high byte into program latch ; 1st_program_word MOV #LOW_WORD_1, W2 ; MOV #HIGH_BYTE_1, W3 ; TBLWTL W2, [W0] ; Write PM low word into program latch TBLWTH W3, [W0++] ; Write PM high byte into program latch ; 2nd_program_word MOV #LOW_WORD_2, W2 ; MOV #HIGH_BYTE_2, W3 ; TBLWTL W2, [W0] ; Write PM low word into program latch TBLWTH W3, [W0++] ; Write PM high byte into program latch • • • ; 63rd_program_word MOV #LOW_WORD_31, W2 ; MOV #HIGH_BYTE_31, W3 ; TBLWTL W2, [W0] ; Write PM low word into program latch TBLWTH W3, [W0++] ; Write PM high byte into program latch EXAMPLE 4-3: INITIATING A PROGRAMMING SEQUENCE DISI #5 MOV MOV MOV MOV BSET NOP NOP #0x55, W0 W0, NVMKEY #0xAA, W1 W1, NVMKEY NVMCON, #WR DS70283B-page 56 ; Block all interrupts with priority <7 ; for next 5 instructions ; ; ; ; ; ; Write the 55 key Write the AA key Start the erase sequence Insert two NOPs after the erase command is asserted Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 5.0 Note: RESETS This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The Reset module combines all Reset sources and controls the device Master Reset Signal, SYSRST. The following is a list of device Reset sources: • • • • • • • POR: Power-on Reset BOR: Brown-out Reset MCLR: Master Clear Pin Reset SWR: RESET Instruction WDTO: Watchdog Timer Reset TRAPR: Trap Conflict Reset IOPUWR: Illegal Opcode, Uninitialized W Register Reset and Security Reset • CM: Configuration Mismatch Reset Any active source of Reset makes the SYSRST signal active. Many registers associated with the CPU and peripherals are forced to a known Reset state. Most registers are unaffected by a Reset; their status is unknown on POR and unchanged by all other Resets. Note: Refer to the specific peripheral or CPU section of this manual for register Reset states. All types of device Reset will set a corresponding status bit in the RCON register to indicate the type of Reset (see Register 5-1). A POR will clear all bits, except for the POR bit (RCON<0>), that are set. The user application can set or clear any bit at any time during code execution. The RCON bits only serve as status bits. Setting a particular Reset status bit in software does not cause a device Reset to occur. The RCON register also has other bits associated with the Watchdog Timer and device power-saving states. The function of these bits is discussed in other sections of this manual. Note: The status bits in the RCON register should be cleared after they are read so that the next RCON register value after a device Reset will be meaningful. A simplified block diagram of the Reset module is shown in Figure 5-1. FIGURE 5-1: RESET SYSTEM BLOCK DIAGRAM RESET Instruction Glitch Filter MCLR WDT Module Sleep or Idle VDD BOR Internal Regulator SYSRST VDD Rise Detect POR Trap Conflict Illegal Opcode Uninitialized W Register Configuration Mismatch © 2007 Microchip Technology Inc. Preliminary DS70283B-page 57 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 RCON: RESET CONTROL REGISTER(1) REGISTER 5-1: R/W-0 R/W-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 TRAPR IOPUWR — — — — CM VREGS bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-1 R/W-1 EXTR SWR SWDTEN(2) WDTO SLEEP IDLE BOR POR bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 TRAPR: Trap Reset Flag bit 1 = A Trap Conflict Reset has occurred 0 = A Trap Conflict Reset has not occurred bit 14 IOPUWR: Illegal Opcode or Uninitialized W Access Reset Flag bit 1 = An illegal opcode detection, an illegal address mode or uninitialized W register used as an Address Pointer caused a Reset 0 = An illegal opcode or uninitialized W Reset has not occurred bit 13-10 Unimplemented: Read as ‘0’ bit 9 CM: Configuration Mismatch Flag bit 1 = A configuration mismatch Reset has occurred. 0 = A configuration mismatch Reset has NOT occurred. bit 8 VREGS: Voltage Regulator Standby During Sleep bit 1 = Voltage regulator is active during Sleep 0 = Voltage regulator goes into Standby mode during Sleep bit 7 EXTR: External Reset (MCLR) Pin bit 1 = A Master Clear (pin) Reset has occurred 0 = A Master Clear (pin) Reset has not occurred bit 6 SWR: Software Reset (Instruction) Flag bit 1 = A RESET instruction has been executed 0 = A RESET instruction has not been executed bit 5 SWDTEN: Software Enable/Disable of WDT bit(2) 1 = WDT is enabled 0 = WDT is disabled bit 4 WDTO: Watchdog Timer Time-out Flag bit 1 = WDT time-out has occurred 0 = WDT time-out has not occurred bit 3 SLEEP: Wake-up from Sleep Flag bit 1 = Device has been in Sleep mode 0 = Device has not been in Sleep mode bit 2 IDLE: Wake-up from Idle Flag bit 1 = Device was in Idle mode 0 = Device was not in Idle mode Note 1: 2: All of the Reset status bits can be set or cleared in software. Setting one of these bits in software does not cause a device Reset. If the FWDTEN Configuration bit is ‘1’ (unprogrammed), the WDT is always enabled, regardless of the SWDTEN bit setting. DS70283B-page 58 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 RCON: RESET CONTROL REGISTER(1) REGISTER 5-1: bit 1 BOR: Brown-out Reset Flag bit 1 = A Brown-out Reset has occurred 0 = A Brown-out Reset has not occurred bit 0 POR: Power-on Reset Flag bit 1 = A Power-up Reset has occurred 0 = A Power-up Reset has not occurred Note 1: 2: All of the Reset status bits can be set or cleared in software. Setting one of these bits in software does not cause a device Reset. If the FWDTEN Configuration bit is ‘1’ (unprogrammed), the WDT is always enabled, regardless of the SWDTEN bit setting. TABLE 5-1: RESET FLAG BIT OPERATION Flag Bit Setting Event Clearing Event TRAPR (RCON<15>) Trap conflict event POR, BOR IOPUWR (RCON<14>) Illegal opcode or uninitialized W register access POR, BOR CM (RCON<9>) Configuration mismatch POR, BOR EXTR (RCON<7>) MCLR Reset POR SWR (RCON<6>) RESET instruction POR, BOR WDTO (RCON<4>) WDT time-out PWRSAV instruction, POR, BOR, CLRWDT instruction SLEEP (RCON<3>) PWRSAV #SLEEP instruction POR, BOR IDLE (RCON<2>) PWRSAV #IDLE instruction POR, BOR BOR (RCON<1>) BOR — POR (RCON<0>) POR — Note: All Reset flag bits may be set or cleared by the user software. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 59 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 5.1 Clock Source Selection at Reset 5.2 If clock switching is enabled, the system clock source at device Reset is chosen as shown in Table 5-2. If clock switching is disabled, the system clock source is always selected according to the oscillator Configuration bits. Refer to Section 7.0 “Oscillator Configuration” for further details. TABLE 5-2: POR The Reset times for various types of device Reset are summarized in Table 5-3. The system Reset signal, SYSRST, is released after the POR and PWRT delay times expire. The time at which the device actually begins to execute code also depends on the system oscillator delays, which include the Oscillator Start-up Timer (OST) and the Phase-Locked Loop (PLL) lock time. The OST and PLL lock times occur in parallel with the applicable SYSRST delay times. OSCILLATOR SELECTION vs. TYPE OF RESET (CLOCK SWITCHING ENABLED) Reset Type The FSCM delay determines the time at which the FSCM begins to monitor the system clock source after the SYSRST signal is released. Clock Source Determinant Oscillator Configuration bits (FNOSC<2:0>) BOR MCLR WDTR Device Reset Times COSC Control bits (OSCCON<14:12>) SWR TABLE 5-3: Reset Type POR BOR RESET DELAY TIMES FOR VARIOUS DEVICE RESETS Clock Source SYSRST Delay System Clock Delay FSCM Delay Notes EC, FRC, LPRC TPOR + TSTARTUP + TRST — — ECPLL, FRCPLL TPOR + TSTARTUP + TRST TLOCK TFSCM 1, 2, 3, 5, 6 1, 2, 3 XT, HS, SOSC TPOR + TSTARTUP + TRST TOST TFSCM 1, 2, 3, 4, 6 XTPLL, HSPLL TPOR + TSTARTUP + TRST TOST + TLOCK TFSCM 1, 2, 3, 4, 5, 6 EC, FRC, LPRC TSTARTUP + TRST + TRST — — TLOCK TFSCM 3, 5, 6 3 ECPLL, FRCPLL TSTARTUP XT, HS, SOSC TSTARTUP + TRST TOST TFSCM 3, 4, 6 XTPLL, HSPLL TSTARTUP + TRST TOST + TLOCK TFSCM 3, 4, 5, 6 TRST — — 3 MCLR Any Clock WDT Any Clock TRST — — 3 Software Any Clock TRST — — 3 Illegal Opcode Any Clock TRST — — 3 Uninitialized W Any Clock TRST — — 3 Trap Conflict Any Clock TRST — — 3 Note 1: 2: 3: 4: 5: 6: TPOR = Power-on Reset delay (10 μs nominal). TSTARTUP = Conditional POR delay of 20 μs nominal (if on-chip regulator is enabled) or 64 ms nominal Power-up Timer delay (if regulator is disabled). TSTARTUP is also applied to all returns from powered-down states, including waking from Sleep mode, only if the regulator is enabled. TRST = Internal state Reset time (20 μs nominal). TOST = Oscillator Start-up Timer. A 10-bit counter counts 1024 oscillator periods before releasing the oscillator clock to the system. TLOCK = PLL lock time (20 μs nominal). TFSCM = Fail-Safe Clock Monitor delay (100 μs nominal). DS70283B-page 60 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 5.2.1 POR AND LONG OSCILLATOR START-UP TIMES 5.2.2.1 The oscillator start-up circuitry and its associated delay timers are not linked to the device Reset delays that occur at power-up. Some crystal circuits (especially low-frequency crystals) have a relatively long start-up time. Therefore, one or more of the following conditions is possible after SYSRST is released: • The oscillator circuit has not begun to oscillate. • The Oscillator Start-up Timer has not expired (if a crystal oscillator is used). • The PLL has not achieved a lock (if PLL is used). The device will not begin to execute code until a valid clock source has been released to the system. Therefore, the oscillator and PLL start-up delays must be considered when the Reset delay time must be known. 5.2.2 FAIL-SAFE CLOCK MONITOR (FSCM) AND DEVICE RESETS If the FSCM is enabled, it begins to monitor the system clock source when SYSRST is released. If a valid clock source is not available at this time, the device automatically switches to the FRC oscillator and the user application can switch to the desired crystal oscillator in the Trap Service Routine. © 2007 Microchip Technology Inc. FSCM Delay for Crystal and PLL Clock Sources When the system clock source is provided by a crystal oscillator and/or the PLL, a short delay, TFSCM, is automatically inserted after the POR and PWRT delay times. The FSCM does not begin to monitor the system clock source until this delay expires. The FSCM delay time is nominally 500 μs and provides additional time for the oscillator and/or PLL to stabilize. In most cases, the FSCM delay prevents an oscillator failure trap at a device Reset when the PWRT is disabled. 5.3 Special Function Register Reset States Most of the Special Function Registers (SFRs) associated with the CPU and peripherals are reset to a particular value at a device Reset. The SFRs are grouped by their peripheral or CPU function, and their Reset values are specified in each section of this manual. The Reset value for each SFR does not depend on the type of Reset, with the exception of two registers: • The Reset value for the Reset Control register, RCON, depends on the type of device Reset. • The Reset value for the Oscillator Control register, OSCCON, depends on the type of Reset and the programmed values of the Oscillator Configuration bits in the FOSC Configuration register. Preliminary DS70283B-page 61 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 62 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 6.0 Note: INTERRUPT CONTROLLER 6.1.1 This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 interrupt controller reduces the numerous peripheral interrupt request signals to a single interrupt request signal to the dsPIC33FJ32MC202/ 204 and dsPIC33FJ16MC304 CPU. It has the following features: • • • • Up to 8 processor exceptions and software traps 7 user-selectable priority levels Interrupt Vector Table (IVT) with up to 118 vectors A unique vector for each interrupt or exception source • Fixed priority within a specified user priority level • Alternate Interrupt Vector Table (AIVT) for debug support • Fixed interrupt entry and return latencies 6.1 Interrupt Vector Table ALTERNATE INTERRUPT VECTOR TABLE The Alternate Interrupt Vector Table (AIVT) is located after the IVT, as shown in Figure 6-1. Access to the AIVT is provided by the ALTIVT control bit (INTCON2<15>). If the ALTIVT bit is set, all interrupt and exception processes use the alternate vectors instead of the default vectors. The alternate vectors are organized in the same manner as the default vectors. The AIVT supports debugging by providing a means to switch between an application and a support environment without requiring the interrupt vectors to be reprogrammed. This feature also enables switching between applications for evaluation of different software algorithms at run time. If the AIVT is not needed, the AIVT should be programmed with the same addresses used in the IVT. 6.2 Reset Sequence A device Reset is not a true exception because the interrupt controller is not involved in the Reset process. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 device clears its registers in response to a Reset, which forces the PC to zero. The digital signal controller then begins program execution at location 0x000000. A GOTO instruction at the Reset address can redirect program execution to the appropriate start-up routine. Note: The Interrupt Vector Table (IVT) is shown in Figure 6-1. The IVT resides in program memory, starting at location 000004h. The IVT contains 126 vectors consisting of 8 nonmaskable trap vectors plus up to 118 sources of interrupt. In general, each interrupt source has its own vector. Each interrupt vector contains a 24-bit-wide address. The value programmed into each interrupt vector location is the starting address of the associated Interrupt Service Routine (ISR). Any unimplemented or unused vector locations in the IVT and AIVT should be programmed with the address of a default interrupt handler routine that contains a RESET instruction. Interrupt vectors are prioritized in terms of their natural priority. This priority is linked to their position in the vector table. Lower addresses generally have a higher natural priority. For example, the interrupt associated with vector 0 will take priority over interrupts at any other vector address. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices implement up to 26 unique interrupts and 4 nonmaskable traps. These are summarized in Table 61 and Table 6-2. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 63 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Decreasing Natural Order Priority FIGURE 6-1: Note 1: DS70283B-page 64 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 INTERRUPT VECTOR TABLE Reset – GOTO Instruction Reset – GOTO Address Reserved Oscillator Fail Trap Vector Address Error Trap Vector Stack Error Trap Vector Math Error Trap Vector Reserved Reserved Reserved Interrupt Vector 0 Interrupt Vector 1 ~ ~ ~ Interrupt Vector 52 Interrupt Vector 53 Interrupt Vector 54 ~ ~ ~ Interrupt Vector 116 Interrupt Vector 117 Reserved Reserved Reserved Oscillator Fail Trap Vector Address Error Trap Vector Stack Error Trap Vector Math Error Trap Vector Reserved Reserved Reserved Interrupt Vector 0 Interrupt Vector 1 ~ ~ ~ Interrupt Vector 52 Interrupt Vector 53 Interrupt Vector 54 ~ ~ ~ Interrupt Vector 116 Interrupt Vector 117 Start of Code 0x000000 0x000002 0x000004 0x000014 0x00007C 0x00007E 0x000080 Interrupt Vector Table (IVT)(1) 0x0000FC 0x0000FE 0x000100 0x000102 0x000114 Alternate Interrupt Vector Table (AIVT)(1) 0x00017C 0x00017E 0x000180 0x0001FE 0x000200 See Table 6-1 for the list of implemented interrupt vectors. Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 6-1: INTERRUPT VECTORS Vector Number Interrupt Request (IRQ) Number IVT Address AIVT Address 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 0x000014 0x000016 0x000018 0x00001A 0x00001C 0x00001E 0x000020 0x000022 0x000024 0x000026 0x000028 0x00002A 0x00002C 0x00002E 0x000030 0x000032 0x000034 0x000036 0x000038 0x00003A 0x00003C 0x00003E 0x000040 0x000042 0x000044 0x000046 0x000048 0x00004A 0x00004C 0x00004E 0x000050 0x000052 0x000054 0x000056 0x000058 0x00005A 0x00005C 0x00005E 0x000060 0x000062 0x000064 0x000066 0x000068 0x00006A 0x00006C 0x00006E 0x000114 0x000116 0x000118 0x00011A 0x00011C 0x00011E 0x000120 0x000122 0x000124 0x000126 0x000128 0x00012A 0x00012C 0x00012E 0x000130 0x000132 0x000134 0x000136 0x000138 0x00013A 0x00013C 0x00013E 0x000140 0x000142 0x000144 0x000146 0x000148 0x00014A 0x00014C 0x00014E 0x000150 0x000152 0x000154 0x000156 0x000158 0x00015A 0x00015C 0x00015E 0x000160 0x000162 0x000164 0x000166 0x000168 0x00016A 0x00016C 0x00016E © 2007 Microchip Technology Inc. Preliminary Interrupt Source INT0 – External Interrupt 0 IC1 – Input Compare 1 OC1 – Output Compare 1 T1 – Timer1 Reserved IC2 – Input Capture 2 OC2 – Output Compare 2 T2 – Timer2 T3 – Timer3 SPI1E – SPI1 Error SPI1 – SPI1 Transfer Done U1RX – UART1 Receiver U1TX – UART1 Transmitter ADC1 – ADC 1 Reserved Reserved SI2C1 – I2C1 Slave Events MI2C1 – I2C1 Master Events Reserved Change Notification Interrupt INT1 – External Interrupt 1 Reserved IC7 – Input Capture 7 IC8 – Input Capture 8 Reserved Reserved Reserved Reserved Reserved INT2 – External Interrupt 2 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved DS70283B-page 65 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 6-1: INTERRUPT VECTORS (CONTINUED) Vector Number Interrupt Request (IRQ) Number IVT Address AIVT Address 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 0x000070 0x000072 0x000074 0x000076 0x000078 0x00007A 0x00007C 0x00007E 0x000080 0x000082 0x000084 0x000086 0x000088 0x00008A 0x00008C 0x00008E 0x000090 0x000170 0x000172 0x000174 0x000176 0x000178 0x00017A 0x00017C 0x00017E 0x000180 0x000182 0x000184 0x000186 0x000188 0x00018A 0x00018C 0x00018E 0x000190 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved PWM1 – PWM1 Period Match QEI – Position Counter Compare Reserved Reserved Reserved Reserved 71 63 0x000092 0x000192 FLTA1 – PWM1 Fault A 72 73 74 75 76 77 78 79 80 81 82 64 65 66 67 68 69 70 71 72 73 74 0x000094 0x000096 0x000098 0x00009A 0x00009C 0x00009E 0x0000A0 0x0000A2 0x0000B0 0x0000B2 0x000086 0x000194 0x000196 0x000198 0x00019A 0x00019C 0x00019E 0x0001A0 0x0001A2 0x0001B0 0x0001B2 0x000186 Reserved U1E – UART1 Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved PWM2 – PWM2 Period Match 83-125 75-117 0x0000A40x0000FE 0x0001A40x0001FE TABLE 6-2: Interrupt Source FLTA2 – PWM2 Fault A Reserved TRAP VECTORS Vector Number IVT Address AIVT Address Trap Source 0 0x000004 0x000104 1 0x000006 0x000106 Oscillator Failure 2 0x000008 0x000108 Address Error Reserved 3 0x00000A 0x00010A Stack Error 4 0x00000C 0x00010C Math Error 5 0x00000E 0x00010E Reserved 6 0x000010 0x000110 Reserved 7 0x000012 0x000112 Reserved DS70283B-page 66 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 6.3 Interrupt Control and Status Registers 6.3.4 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices implement a total of 22 registers for the interrupt controller: • • • • • • INTCON1 INTCON2 IFSx IECx IPCx INTTREG 6.3.1 INTCON1 AND INTCON2 IFS0–IFS4 The IFS registers maintain all of the interrupt request flags. Each source of interrupt has a status bit, which is set by the respective peripherals or external signal and is cleared via software. 6.3.3 The IPC registers are used to set the interrupt priority level for each source of interrupt. Each user interrupt source can be assigned to one of eight priority levels. 6.3.5 INTTREG The INTTREG register contains the associated interrupt vector number and the new CPU interrupt priority level, which are latched into vector number (VECNUM<6:0>) and Interrupt level (ILR<3:0>) bit fields in the INTTREG register. The new interrupt priority level is the priority of the pending interrupt. Global interrupt control functions are controlled from INTCON1 and INTCON2. INTCON1 contains the Interrupt Nesting Disable (NSTDIS) bit as well as the control and status flags for the processor trap sources. The INTCON2 register controls the external interrupt request signal behavior and the use of the Alternate Interrupt Vector Table. 6.3.2 IPC0–IPC18 IEC0–IEC4 The IEC registers maintain all of the interrupt enable bits. These control bits are used to individually enable interrupts from the peripherals or external signals. The interrupt sources are assigned to the IFSx, IECx and IPCx registers in the same sequence that they are listed in Table 6-1. For example, the INT0 (External Interrupt 0) is shown as having vector number 8 and a natural order priority of 0. Thus, the INT0IF bit is found in IFS0<0>, the INT0IE bit in IEC0<0>, and the INT0IP bits in the first position of IPC0 (IPC0<2:0>). 6.3.6 STATUS/CONTROL REGISTERS Although they are not specifically part of the interrupt control hardware, two of the CPU Control registers contain bits that control interrupt functionality. • The CPU STATUS register, SR, contains the IPL<2:0> bits (SR<7:5>). These bits indicate the current CPU interrupt priority level. The user can change the current CPU priority level by writing to the IPL bits. • The CORCON register contains the IPL3 bit which, together with IPL<2:0>, also indicates the current CPU priority level. IPL3 is a read-only bit so that trap events cannot be masked by the user software. All Interrupt registers are described in Register 6-1 through Register 6-24 in the following pages. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 67 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-1: SR: CPU STATUS REGISTER(1) R-0 R-0 R/C-0 R/C-0 R-0 R/C-0 R -0 R/W-0 OA OB SA SB OAB SAB DA DC bit 15 bit 8 R/W-0(3) R/W-0(3) IPL2(2) IPL1 (2) R/W-0(3) R-0 R/W-0 R/W-0 R/W-0 R/W-0 IPL0(2) RA N OV Z C bit 7 bit 0 Legend: C = Clear only bit R = Readable bit U = Unimplemented bit, read as ‘0’ S = Set only bit W = Writable bit -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown IPL<2:0>: CPU Interrupt Priority Level Status bits(1) 111 = CPU Interrupt Priority Level is 7 (15), user interrupts disabled 110 = CPU Interrupt Priority Level is 6 (14) 101 = CPU Interrupt Priority Level is 5 (13) 100 = CPU Interrupt Priority Level is 4 (12) 011 = CPU Interrupt Priority Level is 3 (11) 010 = CPU Interrupt Priority Level is 2 (10) 001 = CPU Interrupt Priority Level is 1 (9) 000 = CPU Interrupt Priority Level is 0 (8) bit 7-5 Note 1: 2: 3: For complete register details, see Register 2-1: “SR: CPU STATUS Register”. The IPL<2:0> bits are concatenated with the IPL<3> bit (CORCON<3>) to form the CPU Interrupt Priority Level. The value in parentheses indicates the IPL if IPL<3> = 1. User interrupts are disabled when IPL<3> = 1. The IPL<2:0> Status bits are read-only when NSTDIS (INTCON1<15>) = 1. REGISTER 6-2: CORCON: CORE CONTROL REGISTER(1) U-0 — bit 15 U-0 — R/W-0 SATA bit 7 R/W-0 SATB Note 1: 2: R/W-0 US R/W-0 EDT R-0 R-0 DL<2:0> R-0 bit 8 Legend: R = Readable bit 0’ = Bit is cleared bit 3 U-0 — R/W-1 SATDW R/W-0 ACCSAT C = Clear only bit W = Writable bit ‘x = Bit is unknown R/C-0 IPL3(2) R/W-0 PSV R/W-0 RND R/W-0 IF bit 0 -n = Value at POR ‘1’ = Bit is set U = Unimplemented bit, read as ‘0’ IPL3: CPU Interrupt Priority Level Status bit 3(2) 1 = CPU interrupt priority level is greater than 7 0 = CPU interrupt priority level is 7 or less For complete register details, see Register 2-2: “CORCON: CORE Control Register”. The IPL3 bit is concatenated with the IPL<2:0> bits (SR<7:5>) to form the CPU Interrupt Priority Level. DS70283B-page 68 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-3: INTCON1: INTERRUPT CONTROL REGISTER 1 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 NSTDIS OVAERR OVBERR COVAERR COVBERR OVATE OVBTE COVTE bit 15 bit 8 R/W-0 R/W-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 U-0 SFTACERR DIV0ERR — MATHERR ADDRERR STKERR OSCFAIL — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 NSTDIS: Interrupt Nesting Disable bit 1 = Interrupt nesting is disabled 0 = Interrupt nesting is enabled bit 14 OVAERR: Accumulator A Overflow Trap Flag bit 1 = Trap was caused by overflow of Accumulator A 0 = Trap was not caused by overflow of Accumulator A bit 13 OVBERR: Accumulator B Overflow Trap Flag bit 1 = Trap was caused by overflow of Accumulator B 0 = Trap was not caused by overflow of Accumulator B bit 12 COVAERR: Accumulator A Catastrophic Overflow Trap Enable bit 1 = Trap was caused by catastrophic overflow of Accumulator A 0 = Trap was not caused by catastrophic overflow of Accumulator A bit 11 COVBERR: Accumulator B Catastrophic Overflow Trap Enable bit 1 = Trap was caused by catastrophic overflow of Accumulator B 0 = Trap was not caused by catastrophic overflow of Accumulator B bit 10 OVATE: Accumulator A Overflow Trap Enable bit 1 = Trap overflow of Accumulator A 0 = Trap disabled bit 9 OVBTE: Accumulator B Overflow Trap Enable bit 1 = Trap overflow of Accumulator B 0 = Trap disabled bit 8 COVTE: Catastrophic Overflow Trap Enable bit 1 = Trap on catastrophic overflow of Accumulator A or B enabled 0 = Trap disabled bit 7 SFTACERR: Shift Accumulator Error Status bit 1 = Math error trap was caused by an invalid accumulator shift 0 = Math error trap was not caused by an invalid accumulator shift bit 6 DIV0ERR: Arithmetic Error Status bit 1 = Math error trap was caused by a divide by zero 0 = Math error trap was not caused by a divide by zero bit 5 Unimplemented: Read as ‘0’ bit 4 MATHERR: Arithmetic Error Status bit 1 = Math error trap has occurred 0 = Math error trap has not occurred bit 3 ADDRERR: Address Error Trap Status bit 1 = Address error trap has occurred 0 = Address error trap has not occurred © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 69 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-3: INTCON1: INTERRUPT CONTROL REGISTER 1 (CONTINUED) bit 2 STKERR: Stack Error Trap Status bit 1 = Stack error trap has occurred 0 = Stack error trap has not occurred bit 1 OSCFAIL: Oscillator Failure Trap Status bit 1 = Oscillator failure trap has occurred 0 = Oscillator failure trap has not occurred bit 0 Unimplemented: Read as ‘0’ DS70283B-page 70 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-4: INTCON2: INTERRUPT CONTROL REGISTER 2 R/W-0 R-0 U-0 U-0 U-0 U-0 U-0 U-0 ALTIVT DISI — — — — — — bit 15 bit 8 U-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 R/W-0 — — — — — INT2EP INT1EP INT0EP bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 ALTIVT: Enable Alternate Interrupt Vector Table bit 1 = Use alternate vector table 0 = Use standard (default) vector table bit 14 DISI: DISI Instruction Status bit 1 = DISI instruction is active 0 = DISI instruction is not active bit 13-3 Unimplemented: Read as ‘0’ bit 2 INT2EP: External Interrupt 2 Edge Detect Polarity Select bit 1 = Interrupt on negative edge 0 = Interrupt on positive edge bit 1 INT1EP: External Interrupt 1 Edge Detect Polarity Select bit 1 = Interrupt on negative edge 0 = Interrupt on positive edge bit 0 INT0EP: External Interrupt 0 Edge Detect Polarity Select bit 1 = Interrupt on negative edge 0 = Interrupt on positive edge © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 71 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-5: IFS0: INTERRUPT FLAG STATUS REGISTER 0 U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 — — AD1IF U1TXIF U1RXIF SPI1IF SPI1EIF T3IF bit 15 bit 8 R/W-0 R/W-0 R/W-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 T2IF OC2IF IC2IF — T1IF OC1IF IC1IF INT0IF bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-14 Unimplemented: Read as ‘0’ bit 13 AD1IF: ADC1 Conversion Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 12 U1TXIF: UART1 Transmitter Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 11 U1RXIF: UART1 Receiver Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 10 SPI1IF: SPI1 Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 9 SPI1EIF: SPI1 Fault Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 8 T3IF: Timer3 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 7 T2IF: Timer2 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 6 OC2IF: Output Compare Channel 2 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 5 IC2IF: Input Capture Channel 2 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 4 Unimplemented: Read as ‘0’ bit 3 T1IF: Timer1 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 2 OC1IF: Output Compare Channel 1 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DS70283B-page 72 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-5: IFS0: INTERRUPT FLAG STATUS REGISTER 0 (CONTINUED) bit 1 IC1IF: Input Capture Channel 1 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 0 INT0IF: External Interrupt 0 Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred © 2007 Microchip Technology Inc. Preliminary DS70283B-page 73 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-6: IFS1: INTERRUPT FLAG STATUS REGISTER 1 U-0 U-0 R/W-0 U-0 U-0 U-0 U-0 U-0 — — INT2IF — — — — — bit 15 bit 8 R/W-0 R/W-0 U-0 R/W-0 R/W-0 U-0 R/W-0 R/W-0 IC8IF IC7IF — INT1IF CNIF — MI2C1IF SI2C1IF bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-14 Unimplemented: Read as ‘0’ bit 13 INT2IF: External Interrupt 2 Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 12-8 Unimplemented: Read as ‘0’ bit 7 IC8IF: Input Capture Channel 8 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 6 IC7IF: Input Capture Channel 7 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 5 Unimplemented: Read as ‘0’ bit 4 INT1IF: External Interrupt 1 Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 3 CNIF: Input Change Notification Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 2 Unimplemented: Read as ‘0’ bit 1 MI2C1IF: I2C1 Master Events Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 0 SI2C1IF: I2C1 Slave Events Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DS70283B-page 74 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-7: IFS3: INTERRUPT FLAG STATUS REGISTER 3 R/W-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 U-0 FLTA1IF — — — — QEIIF PWM1IF — bit 15 bit 8 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 FLTA1IF: PWM1 Fault A Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 14-11 Unimplemented: Read as ‘0’ bit 10 QEIIF: QEI Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 9 PWM1IF: PWM1 Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 8-0 Unimplemented: Read as ‘0’ © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 75 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-8: IFS4: INTERRUPT FLAG STATUS REGISTER 4 U-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 U-0 — — — — — FLTA2IF PWM2IF — bit 15 bit 8 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — U1EIF — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-11 Unimplemented: Read as ‘0’ bit 10 FLTA2IF: PWM2 Fault A Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 9 PWM2IF: PWM2 Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 8-2 Unimplemented: Read as ‘0’ bit 1 U1EIF: UART1 Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred bit 0 Unimplemented: Read as ‘0’ DS70283B-page 76 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-9: IEC0: INTERRUPT ENABLE CONTROL REGISTER 0 U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 — — AD1IE U1TXIE U1RXIE SPI1IE SPI1EIE T3IE bit 15 bit 8 R/W-0 R/W-0 R/W-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 T2IE OC2IE IC2IE — T1IE OC1IE IC1IE INT0IE bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-14 Unimplemented: Read as ‘0’ bit 13 AD1IE: ADC1 Conversion Complete Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 12 U1TXIE: UART1 Transmitter Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 11 U1RXIE: UART1 Receiver Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 10 SPI1IE: SPI1 Event Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 9 SPI1EIE: SPI1 Event Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 8 T3IE: Timer3 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 7 T2IE: Timer2 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 6 OC2IE: Output Compare Channel 2 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 5 IC2IE: Input Capture Channel 2 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 4 Unimplemented: Read as ‘0’ bit 3 T1IE: Timer1 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 2 OC1IE: Output Compare Channel 1 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 77 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-9: IEC0: INTERRUPT ENABLE CONTROL REGISTER 0 (CONTINUED) bit 1 IC1IE: Input Capture Channel 1 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 0 INT0IE: External Interrupt 0 Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled DS70283B-page 78 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-10: IEC1: INTERRUPT ENABLE CONTROL REGISTER 1 U-0 U-0 R/W-0 U-0 U-0 U-0 U-0 U-0 — — INT2IE — — — — — bit 15 bit 8 R/W-0 R/W-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 IC8IE IC7IE — INT1IE CNIE — MI2C1IE SI2C1IE bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-14 Unimplemented: Read as ‘0’ bit 13 INT2IE: External Interrupt 2 Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 12-8 Unimplemented: Read as ‘0’ bit 7 IC8IE: Input Capture Channel 8 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 6 IC7IE: Input Capture Channel 7 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 5 Unimplemented: Read as ‘0’ bit 4 INT1IE: External Interrupt 1 Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 3 CNIE: Input Change Notification Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 2 Unimplemented: Read as ‘0’ bit 1 MI2C1IE: I2C1 Master Events Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 0 SI2C1IE: I2C1 Slave Events Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 79 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-11: IEC3: INTERRUPT ENABLE CONTROL REGISTER 3 R/W-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 U-0 FLTA1IE — — — — QEIIE PWM1IE — bit 15 bit 8 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 FLTA1IE: PWM1 Fault A Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 14-11 Unimplemented: Read as ‘0’ bit 10 QEIIE: QEI Event Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 9 PWM1IE: PWM1 Error Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 8-0 Unimplemented: Read as ‘0’ DS70283B-page 80 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-12: IEC4: INTERRUPT ENABLE CONTROL REGISTER 4 U-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 U-0 — — — — — FLA2IE PWM2IE — bit 15 bit 8 U-0 U-0 U-0 U-0 U-0 U-0 R/W-0 U-0 — — — — — — U1EIE — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-11 Unimplemented: Read as ‘0’ bit 10 FLA2IE: PWM2 Fault A Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 9 PWM2IE: PWM2 Error Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 8-2 Unimplemented: Read as ‘0’ bit 1 U1EIE: UART1 Error Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled bit 0 Unimplemented: Read as ‘0’ © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 81 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-13: U-0 IPC0: INTERRUPT PRIORITY CONTROL REGISTER 0 R/W-1 — R/W-0 R/W-0 T1IP<2:0> U-0 R/W-1 — R/W-0 R/W-0 OC1IP<2:0> bit 15 bit 8 U-0 R/W-1 — R/W-0 IC1IP<2:0> R/W-0 U-0 R/W-1 — R/W-0 R/W-0 INT0IP<2:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 Unimplemented: Read as ‘0’ bit 14-12 T1IP<2:0>: Timer1 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 11 Unimplemented: Read as ‘0’ bit 10-8 OC1IP<2:0>: Output Compare Channel 1 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 7 Unimplemented: Read as ‘0’ bit 6-4 IC1IP<2:0>: Input Capture Channel 1 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 3 Unimplemented: Read as ‘0’ bit 2-0 INT0IP<2:0>: External Interrupt 0 Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled DS70283B-page 82 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-14: U-0 IPC1: INTERRUPT PRIORITY CONTROL REGISTER 1 R/W-1 — R/W-0 R/W-0 T2IP<2:0> U-0 R/W-1 — R/W-0 R/W-0 OC2IP<2:0> bit 15 bit 8 U-0 R/W-1 — R/W-0 IC2IP<2:0> R/W-0 U-0 U-1 U-0 U-0 — — — — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 Unimplemented: Read as ‘0’ bit 14-12 T2IP<2:0>: Timer2 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 11 Unimplemented: Read as ‘0’ bit 10-8 OC2IP<2:0>: Output Compare Channel 2 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 7 Unimplemented: Read as ‘0’ bit 6-4 IC2IP<2:0>: Input Capture Channel 2 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 3-0 Unimplemented: Read as ‘0’ © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 83 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-15: U-0 IPC2: INTERRUPT PRIORITY CONTROL REGISTER 2 R/W-1 — R/W-0 R/W-0 U1RXIP<2:0> U-0 R/W-1 — R/W-0 R/W-0 SPI1IP<2:0> bit 15 bit 8 U-0 R/W-1 — R/W-0 SPI1EIP<2:0> R/W-0 U-0 — R/W-1 R/W-0 R/W-0 T3IP<2:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 Unimplemented: Read as ‘0’ bit 14-12 U1RXIP<2:0>: UART1 Receiver Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 11 Unimplemented: Read as ‘0’ bit 10-8 SPI1IP<2:0>: SPI1 Event Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 7 Unimplemented: Read as ‘0’ bit 6-4 SPI1EIP<2:0>: SPI1 Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 3 Unimplemented: Read as ‘0’ bit 2-0 T3IP<2:0>: Timer3 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled DS70283B-page 84 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-16: IPC3: INTERRUPT PRIORITY CONTROL REGISTER 3 U-0 U-0 U-0 U-0 U-0 R/W-1 R/W-0 R/W-0 — — — — — — — — bit 15 bit 8 U-0 R/W-1 — R/W-0 AD1IP<2:0> R/W-0 U-0 R/W-1 — R/W-0 R/W-0 U1TXIP<2:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-7 Unimplemented: Read as ‘0’ bit 6-4 AD1IP<2:0>: ADC1 Conversion Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 3 Unimplemented: Read as ‘0’ bit 2-0 U1TXIP<2:0>: UART1 Transmitter Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 85 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-17: U-0 IPC4: INTERRUPT PRIORITY CONTROL REGISTER 4 R/W-1 — R/W-0 R/W-0 CNIP<2:0> U-0 U-0 U-0 U-0 — — — — bit 15 bit 8 U-0 R/W-1 — R/W-0 MI2C1IP<2:0> R/W-0 U-0 — R/W-1 R/W-0 R/W-0 SI2C1IP<2:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 Unimplemented: Read as ‘0’ bit 14-12 CNIP<2:0>: Change Notification Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 11-7 Unimplemented: Read as ‘0’ bit 6-4 MI2C1IP<2:0>: I2C1 Master Events Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 3 Unimplemented: Read as ‘0’ bit 2-0 SI2C1IP<2:0>: I2C1 Slave Events Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled DS70283B-page 86 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-18: U-0 IPC5: INTERRUPT PRIORITY CONTROL REGISTER 5 R/W-1 — R/W-0 R/W-0 IC8IP<2:0> U-0 R/W-1 — R/W-0 R/W-0 IC7IP<2:0> bit 15 bit 8 U-0 U-1 U-0 U-0 U-0 — — — — — R/W-1 R/W-0 R/W-0 INT1IP<2:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 Unimplemented: Read as ‘0’ bit 14-12 IC8IP<2:0>: Input Capture Channel 8 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 11 Unimplemented: Read as ‘0’ bit 10-8 IC7IP<2:0>: Input Capture Channel 7 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 7-3 Unimplemented: Read as ‘0’ bit 2-0 INT1IP<2:0>: External Interrupt 1 Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 87 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-19: IPC7: INTERRUPT PRIORITY CONTROL REGISTER 7 U-0 U-1 U-0 U-0 U-0 U-1 U-0 U-0 — — — — — — — — bit 15 bit 8 U-0 R/W-1 — R/W-0 INT2IP<2:0> R/W-0 U-0 U-0 U-0 U-0 — — — — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-7 Unimplemented: Read as ‘0’ bit 6-4 INT2IP<2:0>: External Interrupt 2 Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 3-0 Unimplemented: Read as ‘0’ DS70283B-page 88 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-20: IPC14: INTERRUPT PRIORITY CONTROL REGISTER 14 U-0 U-0 U-0 U-0 U-0 — — — — — R/W-1 R/W-0 R/W-0 QEIIP<2:0> bit 15 bit 8 U-0 R/W-1 — R/W-0 PWM1IP<2:0> R/W-0 U-0 U-0 U-0 U-0 — — — — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-12 Unimplemented: Read as ‘0’ bit 10-8 QEIIP<2:0>: QEI Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 7 Unimplemented: Read as ‘0’ bit 6-4 PWM1IP<2:0>: PWM1 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 3-0 Unimplemented: Read as ‘0’ © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 89 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-21: U-0 IPC15: INTERRUPT PRIORITY CONTROL REGISTER 15 R/W-1 — R/W-0 R/W-0 FLTA1IP<2:0> U-0 U-0 U-0 U-0 — — — — bit 15 bit 8 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 Unimplemented: Read as ‘0’ bit 14-12 FLTA1IP<2:0>: PWM1 Fault A Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 11-0 Unimplemented: Read as ‘0’ REGISTER 6-22: x = Bit is unknown IPC16: INTERRUPT PRIORITY CONTROL REGISTER 16 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 15 bit 8 U-0 R/W-1 — R/W-0 U1EIP<2:0> R/W-0 U-0 U-0 U-0 U-0 — — — — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-7 Unimplemented: Read as ‘0’ bit 6-4 U1EIP<2:0>: UART1 Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 3-0 Unimplemented: Read as ‘0’ DS70283B-page 90 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-23: IPC18: INTERRUPT PRIORITY CONTROL REGISTER 18 U-0 U-0 U-0 U-0 U-0 — — — — — R/W-0 R/W-0 R/W-0 FLTA2IP<2:0> bit 15 bit 8 U-0 R/W-1 — R/W-0 PWM2IP<2:0> R/W-0 U-0 U-0 U-0 U-0 — — — — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-11 Unimplemented: Read as ‘0’ bit 8-10 FLTA2IP<2:0>: PWM2 Fault A Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 6-4 PWM2IP<2:0>: PWM2 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) • • • 001 = Interrupt is priority 1 000 = Interrupt source is disabled bit 3-0 Unimplemented: Read as ‘0’ © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 91 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 6-24: INTTREG: INTERRUPT CONTROL AND STATUS REGISTER U-0 U-0 U-0 U-0 — — — — R-0 R-0 R-0 R-0 ILR<3:0> bit 15 bit 8 U-0 R-0 R-0 R-0 — R-0 R-0 R-0 R-0 VECNUM<6:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-12 Unimplemented: Read as ‘0’ bit 11-8 ILR: New CPU Interrupt Priority Level bits 1111 = CPU Interrupt Priority Level is 15 • • • 0001 = CPU Interrupt Priority Level is 1 0000 = CPU Interrupt Priority Level is 0 bit 7 Unimplemented: Read as ‘0’ bit 6-0 VECNUM: Vector Number of Pending Interrupt bits 0111111 = Interrupt Vector pending is number 135 • • • 0000001 = Interrupt Vector pending is number 9 0000000 = Interrupt Vector pending is number 8 DS70283B-page 92 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 6.4 Interrupt Setup Procedures 6.4.1 6.4.3 INITIALIZATION To configure an interrupt source at initialization: 1. 2. Set the NSTDIS bit (INTCON1<15>) if nested interrupts are not desired. Select the user-assigned priority level for the interrupt source by writing the control bits in the appropriate IPCx register. The priority level will depend on the specific application and type of interrupt source. If multiple priority levels are not desired, the IPCx register control bits for all enabled interrupt sources can be programmed to the same non-zero value. Note: 3. 4. At a device Reset, the IPCx registers are initialized such that all user interrupt sources are assigned to priority level 4. Clear the interrupt flag status bit associated with the peripheral in the associated IFSx register. Enable the interrupt source by setting the interrupt enable control bit associated with the source in the appropriate IECx register. 6.4.2 TRAP SERVICE ROUTINE A Trap Service Routine (TSR) is coded like an ISR, except that the appropriate trap status flag in the INTCON1 register must be cleared to avoid re-entry into the TSR. 6.4.4 INTERRUPT DISABLE All user interrupts can be disabled using this procedure: 1. Push the current SR value onto the software stack using the PUSH instruction. Force the CPU to priority level 7 by inclusive ORing the value OEh with SRL. 2. To enable user interrupts, the POP instruction can be used to restore the previous SR value. Note: Only user interrupts with a priority level of 7 or lower can be disabled. Trap sources (level 8-level 15) cannot be disabled. The DISI instruction provides a convenient way to disable interrupts of priority levels 1-6 for a fixed period of time. Level 7 interrupt sources are not disabled by the DISI instruction. INTERRUPT SERVICE ROUTINE The method used to declare an ISR and initialize the IVT with the correct vector address depends on the programming language (C or assembler) and the language development tool suite used to develop the application. In general, the user application must clear the interrupt flag in the appropriate IFSx register for the source of interrupt that the ISR handles. Otherwise, program will re-enter the ISR immediately after exiting the routine. If the ISR is coded in assembly language, it must be terminated using a RETFIE instruction to unstack the saved PC value, SRL value and old CPU priority level. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 93 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 94 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 7.0 OSCILLATOR CONFIGURATION Note: This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The dsPIC33FJ32MC202/204 dsPIC33FJ16MC304 oscillator system provides: and • External and internal oscillator options as clock sources FIGURE 7-1: • An on-chip Phase-Locked Loop (PLL) to scale the internal operating frequency to the required system clock frequency • An internal FRC oscillator that can also be used with the PLL, thereby allowing full-speed operation without any external clock generation hardware • Clock switching between various clock sources • Programmable clock postscaler for system power savings • A Fail-Safe Clock Monitor (FSCM) that detects clock failure and takes fail-safe measures • A Clock Control register (OSCCON) • Nonvolatile Configuration bits for main oscillator selection. A simplified diagram of the oscillator system is shown in Figure 7-1. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 OSCILLATOR SYSTEM DIAGRAM dsPIC33F Primary Oscillator S3 OSCI PLL(1) S1 XTPLL, HSPLL, ECPLL, FRCPLL DOZE<2:0> S2 DOZE XT, HS, EC OSCO S1/S3 FCY ÷ 2 FRCDIV FOSC FRC Oscillator FRCDIVN S7 FRCDIV<2:0> TUN<5:0> ÷ 16 FRCDIV16 FRC LPRC LPRC Oscillator Secondary Oscillator SOSC SOSCO S6 S0 S5 S4 LPOSCEN SOSCI Clock Fail S7 Clock Switch Reset NOSC<2:0> FNOSC<2:0> WDT, PWRT, FSCM Timer 1 Note 1: See Figure 7-2 for PLL details. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 95 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 7.1 CPU Clocking System The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices provide seven system clock options: • • • • • • • Fast RC (FRC) Oscillator FRC Oscillator with PLL Primary (XT, HS or EC) Oscillator Primary Oscillator with PLL Secondary (LP) Oscillator Low-Power RC (LPRC) Oscillator FRC Oscillator with postscaler 7.1.1 Instruction execution speed or device operating frequency, FCY, is given by: SYSTEM CLOCK SOURCES The primary oscillator can use one of the following as its clock source: • XT (Crystal): Crystals and ceramic resonators in the range of 3 MHz to 10 MHz. The crystal is connected to the OSC1 and OSC2 pins. • HS (High-Speed Crystal): Crystals in the range of 10 MHz to 40 MHz. The crystal is connected to the OSC1 and OSC2 pins. • EC (External Clock): External clock signal in the range of 0.8 MHz to 64 MHz. The external clock signal is directly applied to the OSC1 pin. The secondary (LP) oscillator is designed for low power and uses a 32.768 kHz crystal or ceramic resonator. The LP oscillator uses the SOSCI and SOSCO pins. The LPRC (Low-Power RC) internal oscIllator runs at a nominal frequency of 32.768 kHz. It is also used as a reference clock by the Watchdog Timer (WDT) and Fail-Safe Clock Monitor (FSCM). The clock signals generated by the FRC and primary oscillators can be optionally applied to an on-chip Phase Locked Loop (PLL) to provide a wide range of output frequencies for device operation. PLL configuration is described in Section 7.1.3 “PLL Configuration”. SYSTEM CLOCK SELECTION The oscillator source used at a device Power-on Reset event is selected using Configuration bit settings. The oscillator Configuration bit settings are located in the Configuration registers in the program memory. (Refer to Section 20.1 “Configuration Bits” for further details.) The Initial Oscillator Selection Configuration bits, FNOSC<2:0> (FOSCSEL<2:0>), and the Primary Oscillator Mode Select Configuration bits, POSCMD<1:0> (FOSC<1:0>), DS70283B-page 96 The Configuration bits allow users to choose among 12 different clock modes, shown in Table 7-1. The output of the oscillator (or the output of the PLL if a PLL mode has been selected) FOSC is divided by 2 to generate the device instruction clock (FCY). FCY defines the operating speed of the device, and speeds up to 40 MHz are supported by the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 architecture. The Fast RC (FRC) internal oscillator runs at a nominal frequency of 7.37 MHz. User software can tune the FRC frequency. User software can optionally specify a factor (ranging from 1:2 to 1:256) by which the FRC clock frequency is divided. This factor is selected using the FRCDIV<2:0> (CLKDIV<10:8>) bits. 7.1.2 select the oscillator source that is used at a Power-on Reset. The FRC primary oscillator is the default (unprogrammed) selection. EQUATION 7-1: DEVICE OPERATING FREQUENCY FCY = FOSC/2 7.1.3 PLL CONFIGURATION The primary oscillator and internal FRC oscillator can optionally use an on-chip PLL to obtain higher speeds of operation. The PLL provides significant flexibility in selecting the device operating speed. A block diagram of the PLL is shown in Figure 7-2. The output of the primary oscillator or FRC, denoted as ‘FIN’, is divided down by a prescale factor (N1) of 2, 3, ... or 33 before being provided to the PLL’s Voltage Controlled Oscillator (VCO). The input to the VCO must be selected in the range of 0.8 MHz to 8 MHz. The prescale factor ‘N1’ is selected using the PLLPRE<4:0> bits (CLKDIV<4:0>). The PLL Feedback Divisor, selected using the PLLDIV<8:0> bits (PLLFBD<8:0>), provides a factor ‘M,’ by which the input to the VCO is multiplied. This factor must be selected such that the resulting VCO output frequency is in the range of 100 MHz to 200 MHz. The VCO output is further divided by a postscale factor ‘N2.’ This factor is selected using the PLLPOST<1:0> bits (CLKDIV<7:6>). ‘N2’ can be either 2, 4 or 8, and must be selected such that the PLL output frequency (FOSC) is in the range of 12.5 MHz to 80 MHz, which generates device operating speeds of 6.25-40 MIPS. For a primary oscillator or FRC oscillator, output ‘FIN’, the PLL output ‘FOSC’ is given by: EQUATION 7-2: Preliminary FOSC CALCULATION M ( N1*N2 ) FOSC = FIN* © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 EQUATION 7-3: For example, suppose a 10 MHz crystal is being used with the selected oscillator mode of XT with PLL. • If PLLPRE<4:0> = 0, then N1 = 2. This yields a VCO input of 10/2 = 5 MHz, which is within the acceptable range of 0.8-8 MHz. • If PLLDIV<8:0> = 0x1E, then M = 32. This yields a VCO output of 5 x 32 = 160 MHz, which is within the 100-200 MHz ranged needed. • If PLLPOST<1:0> = 0, then N2 = 2. This provides a Fosc of 160/2 = 80 MHz. The resultant device operating speed is 80/2 = 40 MIPS. FIGURE 7-2: FCY = FOSC 2 = XT WITH PLL MODE EXAMPLE 10000000 * 32 ( ) = 40 MIPS 2 2*2 1 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 PLL BLOCK DIAGRAM 0.8-8.0 MHz Here Source (Crystal, External Clock or Internal RC) PLLPRE 100-200 MHz Here VCO X 12.5-80 MHz Here FOSC PLLPOST PLLDIV Divide by 2-33 Divide by 2-513 TABLE 7-1: Divide by 2, 4, 8 CONFIGURATION BIT VALUES FOR CLOCK SELECTION Oscillator Mode Oscillator Source POSCMD<1:0> FNOSC<2:0> Note Fast RC Oscillator with Divide-by-N (FRCDIVN) Internal xx 111 1, 2 Fast RC Oscillator with Divide-by-16 (FRCDIV16) Internal xx 110 1 Low-Power RC Oscillator (LPRC) Internal xx 101 1 1 Secondary (Timer1) Oscillator (SOSC) Secondary xx 100 Primary Oscillator (HS) with PLL (HSPLL) Primary 10 011 Primary Oscillator (XT) with PLL (XTPLL) Primary 01 011 Primary Oscillator (EC) with PLL (ECPLL) Primary 00 011 Primary Oscillator (HS) Primary 10 010 Primary Oscillator (XT) Primary 01 010 Primary Oscillator (EC) Primary 00 010 1 Fast RC Oscillator with PLL (FRCPLL) Internal xx 001 1 Fast RC Oscillator (FRC) Internal xx 000 1 Note 1: 2: 1 OSC2 pin function is determined by the OSCIOFNC Configuration bit. This is the default oscillator mode for an unprogrammed (erased) device. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 97 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 7-1: OSCCON: OSCILLATOR CONTROL REGISTER U-0 R-0 — R-0 R-0 COSC<2:0> U-0 R/W-y — R/W-y R/W-y NOSC<2:0> bit 15 bit 8 R/W-0 R/W-0 R-0 U-0 R/C-0 U-0 R/W-0 R/W-0 CLKLOCK IOLOCK LOCK — CF — LPOSCEN OSWEN bit 7 bit 0 Legend: y = Value set from Configuration bits on POR R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 Unimplemented: Read as ‘0’ bit 14-12 COSC<2:0>: Current Oscillator Selection bits (read-only) 000 = Fast RC oscillator (FRC) 001 = Fast RC oscillator (FRC) with PLL 010 = Primary oscillator (XT, HS, EC) 011 = Primary oscillator (XT, HS, EC) with PLL 100 = Secondary oscillator (SOSC) 101 = Low-Power RC oscillator (LPRC) 110 = Fast RC oscillator (FRC) with Divide-by-16 111 = Fast RC oscillator (FRC) with Divide-by-n bit 11 Unimplemented: Read as ‘0’ bit 10-8 NOSC<2:0>: New Oscillator Selection bits 000 = Fast RC oscillator (FRC) 001 = Fast RC oscillator (FRC) with PLL 010 = Primary oscillator (XT, HS, EC) 011 = Primary oscillator (XT, HS, EC) with PLL 100 = Secondary oscillator (SOSC) 101 = Low-Power RC oscillator (LPRC) 110 = Fast RC oscillator (FRC) with Divide-by-16 111 = Fast RC oscillator (FRC) with Divide-by-n bit 7 CLKLOCK: Clock Lock Enable bit If clock switching is enabled and FSCM is disabled, (FOSC<FCKSM> = 0b01) 1 = Clock switching is disabled, system clock source is locked 0 = Clock switching is enabled, system clock source can be modified by clock switching bit 6 IOLOCK: Peripheral Pin Select Lock bit 1 = Peripherial pin select is locked, write to peripheral pin select registers not allowed 0 = Peripherial pin select is not locked, write to peripheral pin select registers allowed bit 5 LOCK: PLL Lock Status bit (read-only) 1 = Indicates that PLL is in lock, or PLL start-up timer is satisfied 0 = Indicates that PLL is out of lock, start-up timer is in progress or PLL is disabled bit 4 Unimplemented: Read as ‘0’ bit 3 CF: Clock Fail Detect bit (read/clear by application) 1 = FSCM has detected clock failure 0 = FSCM has not detected clock failure bit 2 Unimplemented: Read as ‘0’ DS70283B-page 98 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 7-1: OSCCON: OSCILLATOR CONTROL REGISTER (CONTINUED) bit 1 LPOSCEN: Secondary (LP) Oscillator Enable bit 1 = Enable secondary oscillator 0 = Disable secondary oscillator bit 0 OSWEN: Oscillator Switch Enable bit 1 = Request oscillator switch to selection specified by NOSC<2:0> bits 0 = Oscillator switch is complete © 2007 Microchip Technology Inc. Preliminary DS70283B-page 99 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 7-2: R/W-0 CLKDIV: CLOCK DIVISOR REGISTER R/W-0 ROI R/W-0 R/W-0 R/W-0 R/W-1 DOZEN(1) DOZE<2:0> R/W-0 R/W-0 FRCDIV<2:0> bit 15 bit 8 R/W-0 R/W-1 PLLPOST<1:0> U-0 R/W-0 R/W-0 — R/W-0 R/W-0 R/W-0 PLLPRE<4:0> bit 7 bit 0 Legend: y = Value set from Configuration bits on POR R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 ROI: Recover on Interrupt bit 1 = Interrupts will clear the DOZEN bit and the processor clock/peripheral clock ratio is set to 1:1 0 = Interrupts have no effect on the DOZEN bit bit 14-12 DOZE<2:0>: Processor Clock Reduction Select bits 000 = FCY/1 001 = FCY/2 010 = FCY/4 011 = FCY/8 (default) 100 = FCY/16 101 = FCY/32 110 = FCY/64 111 = FCY/128 bit 11 DOZEN: DOZE Mode Enable bit(1) 1 = DOZE<2:0> field specifies the ratio between the peripheral clocks and the processor clocks 0 = Processor clock/peripheral clock ratio forced to 1:1 bit 10-8 FRCDIV<2:0>: Internal Fast RC Oscillator Postscaler bits 000 = FRC divide by 1 (default) 001 = FRC divide by 2 010 = FRC divide by 4 011 = FRC divide by 8 100 = FRC divide by 16 101 = FRC divide by 32 110 = FRC divide by 64 111 = FRC divide by 256 bit 7-6 PLLPOST<1:0>: PLL VCO Output Divider Select bits (also denoted as ‘N2’, PLL postscaler) 00 = Output/2 01 = Output/4 (default) 10 = Reserved 11 = Output/8 bit 5 Unimplemented: Read as ‘0’ bit 4-0 PLLPRE<4:0>: PLL Phase Detector Input Divider bits (also denoted as ‘N1’, PLL prescaler) 00000 = Input/2 (default) 00001 = Input/3 • • • 11111 = Input/33 Note 1: This bit is cleared when the ROI bit is set and an interrupt occurs. DS70283B-page 100 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 7-3: PLLFBD: PLL FEEDBACK DIVISOR REGISTER U-0 U-0 U-0 U-0 U-0 U-0 U-0 R/W-0(1) — — — — — — — PLLDIV<8> bit 15 bit 8 R/W-0 R/W-0 R/W-1 R/W-1 R/W-0 R/W-0 R/W-0 R/W-0 PLLDIV<7:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-9 Unimplemented: Read as ‘0’ bit 8-0 PLLDIV<8:0>: PLL Feedback Divisor bits (also denoted as ‘M’, PLL multiplier) 000000000 = 2 000000001 = 3 000000010 = 4 • • • 000110000 = 50 (default) • • • 111111111 = 513 © 2007 Microchip Technology Inc. Preliminary DS70283B-page 101 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 7-4: OSCTUN: FRC OSCILLATOR TUNING REGISTER U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 15 bit 8 U-0 U-0 — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 TUN<5:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-6 Unimplemented: Read as ‘0’ bit 5-0 TUN<5:0>: FRC Oscillator Tuning bits 011111 = Center frequency + 11.625% 011110 = Center frequency + 11.25% (8.23 MHz) • • • 000001 = Center frequency + 0.375% (7.40 MHz) 000000 = Center frequency (7.37 MHz nominal) 111111 = Center frequency -0.375% (7.345 MHz) • • • 100001 = Center frequency -11.625% (6.52 MHz) 100000 = Center frequency -12% (6.49 MHz) DS70283B-page 102 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 7.2 Clock Switching Operation Applications are free to switch among any of the four clock sources (Primary, LP, FRC and LPRC) under software control at any time. To limit the possible side effects of this flexibility, dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices have a safeguard lock built into the switch process. Note: 7.2.1 Primary Oscillator mode has three different submodes (XT, HS and EC), which are determined by the POSCMD<1:0> Configuration bits. While an application can switch to and from Primary Oscillator mode in software, it cannot switch among the different primary submodes without reprogramming the device. ENABLING CLOCK SWITCHING To enable clock switching, the FCKSM1 Configuration bit in the Configuration register must be programmed to ‘0’. (Refer to Section 20.1 “Configuration Bits” for further details.) If the FCKSM1 Configuration bit is unprogrammed (‘1’), the clock switching function and Fail-Safe Clock Monitor function are disabled. This is the default setting. The NOSC control bits (OSCCON<10:8>) do not control the clock selection when clock switching is disabled. However, the COSC bits (OSCCON<14:12>) reflect the clock source selected by the FNOSC Configuration bits. The OSWEN control bit (OSCCON<0>) has no effect when clock switching is disabled. It is held at ‘0’ at all times. 7.2.2 Performing sequence: 1. 2. 3. 4. 5. Once the basic sequence is completed, the system clock hardware responds automatically as follows: 1. The clock switching hardware compares the COSC status bits with the new value of the NOSC control bits. If they are the same, the clock switch is a redundant operation. In this case, the OSWEN bit is cleared automatically and the clock switch is aborted. If a valid clock switch has been initiated, the LOCK (OSCCON<5>) and the CF (OSCCON<3>) status bits are cleared. The new oscillator is turned on by the hardware if it is not currently running. If a crystal oscillator must be turned on, the hardware waits until the Oscillator Start-up Timer (OST) expires. If the new source is using the PLL, the hardware waits until a PLL lock is detected (LOCK = 1). The hardware waits for 10 clock cycles from the new clock source and then performs the clock switch. The hardware clears the OSWEN bit to indicate a successful clock transition. In addition, the NOSC bit values are transferred to the COSC status bits. The old clock source is turned off at this time, with the exception of LPRC (if WDT or FSCM are enabled) or LP (if LPOSCEN remains set). 2. 3. 4. 5. 6. Note 1: The processor continues to execute code throughout the clock switching sequence. Timing-sensitive code should not be executed during this time. 2: Direct clock switches between any primary oscillator mode with PLL and FRCPLL mode are not permitted. This applies to clock switches in either direction. In these instances, the application must switch to FRC mode as a transition clock source between the two PLL modes. OSCILLATOR SWITCHING SEQUENCE a clock switch requires this basic If desired, read the COSC bits (OSCCON<14:12>) to determine the current oscillator source. Perform the unlock sequence to allow a write to the OSCCON register high byte. Write the appropriate value to the NOSC control bits (OSCCON<10:8>) for the new oscillator source. Perform the unlock sequence to allow a write to the OSCCON register low byte. Set the OSWEN bit (OSCCON<0>) to initiate the oscillator switch. 7.3 Fail-Safe Clock Monitor (FSCM) The Fail-Safe Clock Monitor (FSCM) allows the device to continue to operate even in the event of an oscillator failure. The FSCM function is enabled by programming. If the FSCM function is enabled, the LPRC internal oscillator runs at all times (except during Sleep mode) and is not subject to control by the Watchdog Timer. In the event of an oscillator failure, the FSCM generates a clock failure trap event and switches the system clock over to the FRC oscillator. Then the application program can either attempt to restart the oscillator or execute a controlled shutdown. The trap can be treated as a warm Reset by simply loading the Reset address into the oscillator fail trap vector. If the PLL multiplier is used to scale the system clock, the internal FRC is also multiplied by the same factor on clock failure. Essentially, the device switches to FRC with PLL on a clock failure. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 103 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 104 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 8.0 Note: POWER-SAVING FEATURES 8.2 This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices provide the ability to manage power consumption by selectively managing clocking to the CPU and the peripherals. In general, a lower clock frequency and a reduction in the number of circuits being clocked constitutes lower consumed power. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices can manage power consumption in four different ways: • • • • Clock frequency Instruction-based Sleep and Idle modes Software-controlled Doze mode Selective peripheral control in software Combinations of these methods can be used to selectively tailor an application’s power consumption while still maintaining critical application features, such as timing-sensitive communications. 8.1 Clock Frequency and Clock Switching dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices allow a wide range of clock frequencies to be selected under application control. If the system clock configuration is not locked, users can choose lowpower or high-precision oscillators by simply changing the NOSC bits (OSCCON<10:8>). The process of changing a system clock during operation, as well as limitations to the process, are discussed in more detail in Section 7.0 “Oscillator Configuration”. Instruction-Based Power-Saving Modes dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices have two special power-saving modes that are entered through the execution of a special PWRSAV instruction. Sleep mode stops clock operation and halts all code execution. Idle mode halts the CPU and code execution, but allows peripheral modules to continue operation. The assembler syntax of the PWRSAV instruction is shown in Example 8-1. Note: SLEEP_MODE and IDLE_MODE are constants defined in the assembler include file for the selected device. Sleep and Idle modes can be exited as a result of an enabled interrupt, WDT time-out or a device Reset. When the device exits these modes, it is said to wake-up. 8.2.1 SLEEP MODE The following occur in Sleep mode: • The system clock source is shut down. If an on-chip oscillator is used, it is turned off. • The device current consumption is reduced to a minimum, provided that no I/O pin is sourcing current. • The Fail-Safe Clock Monitor does not operate, since the system clock source is disabled. • The LPRC clock continues to run in Sleep mode if the WDT is enabled. • The WDT, if enabled, is automatically cleared prior to entering Sleep mode. • Some device features or peripherals may continue to operate. This includes items such as the input change notification on the I/O ports, or peripherals that use an external clock input. • Any peripheral that requires the system clock source for its operation is disabled. The device will wake-up from Sleep mode on any of the these events: • Any interrupt source that is individually enabled • Any form of device Reset • A WDT time-out On wake-up from Sleep mode, the processor restarts with the same clock source that was active when Sleep mode was entered. EXAMPLE 8-1: PWRSAV INSTRUCTION SYNTAX PWRSAV #SLEEP_MODE PWRSAV #IDLE_MODE ; Put the device into SLEEP mode ; Put the device into IDLE mode © 2007 Microchip Technology Inc. Preliminary DS70283B-page 105 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 8.2.2 IDLE MODE The following occur in Idle mode: • The CPU stops executing instructions. • The WDT is automatically cleared. • The system clock source remains active. By default, all peripheral modules continue to operate normally from the system clock source, but can also be selectively disabled (see Section 8.4 “Peripheral Module Disable”). • If the WDT or FSCM is enabled, the LPRC also remains active. The device will wake from Idle mode on any of these events: • Any interrupt that is individually enabled • Any device Reset • A WDT time-out Doze mode is enabled by setting the DOZEN bit (CLKDIV<11>). The ratio between peripheral and core clock speed is determined by the DOZE<2:0> bits (CLKDIV<14:12>). There are eight possible configurations, from 1:1 to 1:128, with 1:1 being the default setting. Programs can use Doze mode to selectively reduce power consumption in event-driven applications. This allows clock-sensitive functions, such as synchronous communications, to continue without interruption while the CPU idles, waiting for something to invoke an interrupt routine. An automatic return to full-speed CPU operation on interrupts can be enabled by setting the ROI bit (CLKDIV<15>). By default, interrupt events have no effect on Doze mode operation. On wake-up from Idle mode, the clock is reapplied to the CPU and instruction execution begins immediately, starting with the instruction following the PWRSAV instruction, or the first instruction in the ISR. For example, suppose the device is operating at 20 MIPS and the CAN module has been configured for 500 kbps based on this device operating speed. If the device is placed in Doze mode with a clock frequency ratio of 1:4, the CAN module continues to communicate at the required bit rate of 500 kbps, but the CPU now starts executing instructions at a frequency of 5 MIPS. 8.2.3 8.4 INTERRUPTS COINCIDENT WITH POWER SAVE INSTRUCTIONS Any interrupt that coincides with the execution of a PWRSAV instruction is held off until entry into Sleep or Idle mode has completed. The device then wakes up from Sleep or Idle mode. 8.3 Doze Mode The preferred strategies for reducing power consumption are changing clock speed and invoking one of the power-saving modes. In some circumstances, this may not be practical. For example, it may be necessary for an application to maintain uninterrupted synchronous communication, even while it is doing nothing else. Reducing system clock speed can introduce communication errors, while using a power-saving mode can stop communications completely. The Peripheral Module Disable (PMD) registers provide a method to disable a peripheral module by stopping all clock sources supplied to that module. When a peripheral is disabled using the appropriate PMD control bit, the peripheral is in a minimum power consumption state. The control and status registers associated with the peripheral are also disabled, so writes to those registers will have no effect and read values will be invalid. A peripheral module is enabled only if both the associated bit in the PMD register is cleared and the peripheral is supported by the specific dsPIC® DSC variant. If the peripheral is present in the device, it is enabled in the PMD register by default. Note: Doze mode is a simple and effective alternative method to reduce power consumption while the device is still executing code. In this mode, the system clock continues to operate from the same source and at the same speed. Peripheral modules continue to be clocked at the same speed, while the CPU clock speed is reduced. Synchronization between the two clock domains is maintained, allowing the peripherals to access the SFRs while the CPU executes code at a slower rate. DS70283B-page 106 Peripheral Module Disable Preliminary If a PMD bit is set, the corresponding module is disabled after a delay of one instruction cycle. Similarly, if a PMD bit is cleared, the corresponding module is enabled after a delay of one instruction cycle (assuming the module control registers are already configured to enable module operation). © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 9.0 Note: I/O PORTS This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. All of the device pins (except VDD, VSS, MCLR and OSC1/CLKI) are shared among the peripherals and the parallel I/O ports. All I/O input ports feature Schmitt Trigger inputs for improved noise immunity. 9.1 Parallel I/O (PIO) Ports Generally a parallel I/O port that shares a pin with a peripheral is subservient to the peripheral. The peripheral’s output buffer data and control signals are provided to a pair of multiplexers. The multiplexers select whether the peripheral or the associated port has ownership of the output data and control signals of the I/O pin. The logic also prevents “loop through,” in which a port’s digital output can drive the input of a peripheral that shares the same pin. Figure 9-1 shows how ports are shared with other peripherals and the associated I/O pin to which they are connected. FIGURE 9-1: When a peripheral is enabled and the peripheral is actively driving an associated pin, the use of the pin as a general purpose output pin is disabled. The I/O pin can be read, but the output driver for the parallel port bit is disabled. If a peripheral is enabled, but the peripheral is not actively driving a pin, that pin can be driven by a port. All port pins have three registers directly associated with their operation as digital I/O. The data direction register (TRISx) determines whether the pin is an input or an output. If the data direction bit is a ‘1’, then the pin is an input. All port pins are defined as inputs after a Reset. Reads from the latch (LATx) read the latch. Writes to the latch write the latch. Reads from the port (PORTx) read the port pins, while writes to the port pins write the latch. Any bit and its associated data and control registers that are not valid for a particular device will be disabled. That means the corresponding LATx and TRISx registers and the port pin will read as zeros. When a pin is shared with another peripheral or function that is defined as an input only, it is nevertheless regarded as a dedicated port because there is no other competing source of outputs. BLOCK DIAGRAM OF A TYPICAL SHARED PORT STRUCTURE Peripheral Module Output Multiplexers Peripheral Input Data Peripheral Module Enable Peripheral Output Enable Peripheral Output Data PIO Module WR TRIS Output Enable 0 1 Output Data 0 Read TRIS Data Bus I/O 1 D Q I/O Pin CK TRIS Latch D WR LAT + WR Port Q CK Data Latch Read LAT Input Data Read Port © 2007 Microchip Technology Inc. Preliminary DS70283B-page 107 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 9.1.1 OPEN-DRAIN CONFIGURATION 9.2.1 In addition to the PORT, LAT and TRIS registers for data control, each port pin can also be individually configured for either digital or open-drain output. This is controlled by the Open-Drain Control register, ODCx, associated with each port. Setting any of the bits configures the corresponding pin to act as an open-drain output. The open-drain feature allows the generation of outputs higher than VDD (e.g., 5V) on any desired digital-only pins by using external pull-up resistors. The maximum open-drain voltage allowed is the same as the maximum VIH specification. 9.2 Configuring Analog Port Pins The AD1PCFG and TRIS registers control the operation of the analog-to-digital (A/D) port pins. The port pins that are to function as analog inputs must have their corresponding TRIS bit set (input). If the TRIS bit is cleared (output), the digital output level (VOH or VOL) will be converted. When the PORT register is read, all pins configured as analog input channels will read as cleared (a low level). Pins configured as digital inputs will not convert an analog input. Analog levels on any pin defined as a digital input (including the ANx pins) can cause the input buffer to consume current that exceeds the device specifications. One instruction cycle is required between a port direction change or port write operation and a read operation of the same port. Typically this instruction would be an NOP. An example is shown in Example 9-1. 9.3 MOV MOV NOP btss 0xFF00, W0 W0, TRISBB PORTB, #13 DS70283B-page 108 Input Change Notification The input change notification function of the I/O ports allows the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices to generate interrupt requests to the processor in response to a change-ofstate on selected input pins. This feature can detect input change-of-states even in Sleep mode, when the clocks are disabled. Depending on the device pin count, up to 31 external signals (CNx pin) can be selected (enabled) for generating an interrupt request on a change-of-state. Four control registers are associated with the CN module. The CNEN1 and CNEN2 registers contain the interrupt enable control bits for each of the CN input pins. Setting any of these bits enables a CN interrupt for the corresponding pins. Each CN pin also has a weak pull-up connected to it. The pull-ups act as a current source connected to the pin, and eliminate the need for external resistors when push-button or keypad devices are connected. The pull-ups are enabled separately using the CNPU1 and CNPU2 registers, which contain the control bits for each of the CN pins. Setting any of the control bits enables the weak pull-ups for the corresponding pins. Note: EXAMPLE 9-1: I/O PORT WRITE/READ TIMING Pull-ups on change notification pins should always be disabled when the port pin is configured as a digital output. PORT WRITE/READ EXAMPLE ; ; ; ; Configure PORTB<15:8> as inputs and PORTB<7:0> as outputs Delay 1 cycle Next Instruction Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 9.4 Peripheral Pin Select Peripheral pin select configuration enables peripheral set selection and placement on a wide range of I/O pins. By increasing the pinout options available on a particular device, programmers can better tailor the microcontroller to their entire application, rather than trimming the application to fit the device. The peripheral pin select configuration feature operates over a fixed subset of digital I/O pins. Programmers can independently map the input and/or output of most digital peripherals to any one of these I/O pins. Peripheral pin select is performed in software, and generally does not require the device to be reprogrammed. Hardware safeguards are included that prevent accidental or spurious changes to the peripheral mapping, once it has been established. 9.4.1 AVAILABLE PINS The peripheral pin select feature is used with a range of up to 26 pins. The number of available pins depends on the particular device and its pin count. Pins that support the peripheral pin select feature include the designation “RPn” in their full pin designation, where "RP" designates a remappable peripheral and “n” is the remappable pin number. 9.4.2 AVAILABLE PERIPHERALS The peripherals managed by the peripheral pin select feature are all digital-only peripherals. These include: • General serial communications (UART and SPI) • General purpose timer clock inputs • Timer-related peripherals (input capture and output compare) • Interrupt-on-change inputs In comparison, some digital-only peripheral modules are never included in the peripheral pin select feature. This is because the peripheral’s function requires special I/O circuitry on a specific port and cannot be easily connected to multiple pins. These modules include I2C. A similar requirement excludes all modules with analog inputs, such as the Analog-to-Digital Converter (ADC). Remappable peripherals are not associated with a default I/O pin. The peripheral must always be assigned to a specific I/O pin before it can be used. In contrast, non remappable peripherals are always available on a default pin, assuming that the peripheral is active and not conflicting with another peripheral. 9.4.2.1 Peripheral Pin Select Function Priority When a remappable peripheral is active on a given I/O pin, it takes priority over all other digital I/O and digital communication peripherals associated with the pin. Priority is given regardless of the type of peripheral that is mapped. Remappable peripherals never take priority over any analog functions associated with the pin. 9.4.3 CONTROLLING PERIPHERAL PIN SELECT Peripheral pin select features are controlled through two sets of special function registers: one to map peripheral inputs, and one to map outputs. Because they are separately controlled, a particular peripheral’s input and output (if the peripheral has both) can be placed on any selectable function pin without constraint. The association of a peripheral to a peripheral selectable pin is handled in two different ways, depending on whether an input or output is being mapped. 9.4.3.1 Input Mapping The inputs of the peripheral pin select options are mapped on the basis of the peripheral. A control register associated with a peripheral dictates the pin it will be mapped to. The RPINRx registers are used to configure peripheral input mapping (see Register 9-1 through Register 9-13). Each register contains sets of 5-bit fields, with each set associated with one of the remappable peripherals. Programming a given peripheral’s bit field with an appropriate 5-bit value maps the RPn pin with that value to that peripheral. For any given device, the valid range of values for any bit field corresponds to the maximum number of peripheral pin selections supported by the device. Figure 9-2 Illustrates remappable pin selection for U1RX input. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 109 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 9-2: REMAPPABLE MUX INPUT FOR U1RX U1RXR<4:0> 0 RP0 1 RP1 2 U1RX input to peripheral RP2 25 RP25 SELECTABLE INPUT SOURCES (MAPS INPUT TO FUNCTION)(1) TABLE 9-1: Function Name Register Configuration Bits INT1 RPINR0 INT1R<4:0> External Interrupt 2 INT2 RPINR1 INT2R<4:0> Timer 2 External Clock T2CK RPINR3 T2CKR<4:0> Timer 3 External Clock Input Name External Interrupt 1 T3CK RPINR3 T3CKR<4:0> Input Capture 1 IC1 RPINR7 IC1R<4:0> Input Capture 2 IC2 RPINR7 IC2R<4:0> Input Capture 7 IC7 RPINR10 IC7R<4:0> Input Capture 8 IC8 RPINR10 IC8R<4:0> OCFA RPINR11 OCFAR<4:0> PWM1 Fault FLTA1 RPINR12 FLTA1R<4:0> PWM2 Fault FLTA2 RPINR13 FLTA2R<4:0> QEI Phase A QEA RPINR14 QEAR<4:0> QEI Phase B QEB RPINR14 QEBR<4:0> Output Compare Fault A QEI Index INDX RPINR15 INDXR<4:0> UART1 Receive U1RX RPINR18 U1RXR<4:0> U1CTS RPINR18 U1CTSR<4:0> SPI1 Data Input SDI1 RPINR20 SDI1R<4:0> SPI1 Clock Input SCK1 RPINR20 SCK1R<4:0> SS1 RPINR21 SS1R<4:0> UART1 Clear To Send SPI1 Slave Select Input Note 1: Unless otherwise noted, all inputs use the Schmitt input buffers. DS70283B-page 110 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 9.4.3.2 Output Mapping value of the bit field corresponds to one of the peripherals, and that peripheral’s output is mapped to the pin (see Table 9-2 and Figure 9-3). In contrast to inputs, the outputs of the peripheral pin select options are mapped on the basis of the pin. In this case, a control register associated with a particular pin dictates the peripheral output to be mapped. The RPORx registers are used to control output mapping. Like the RPINRx registers, each register contains sets of 5-bit fields, with each set associated with one RPn pin (see Register 9-14 through Register 9-26). The FIGURE 9-3: The list of peripherals for output mapping also includes a null value of 00000 because of the mapping technique. This permits any given pin to remain unconnected from the output of any of the pin selectable peripherals. MULTIPLEXING OF REMAPPABLE OUTPUT FOR RPn RPnR<4:0> default U1TX Output enable 0 3 U1RTS Output enable 4 Output enable OC2 Output enable UPDN Output enable default U1TX Output U1RTS Output 19 26 0 3 4 RPn Output Data OC2 Output UPDN Output TABLE 9-2: 19 26 OUTPUT SELECTION FOR REMAPPABLE PIN (RPn) Function RPnR<4:0> NULL 00000 Output Name RPn tied to default port pin U1TX 00011 RPn tied to UART1 Transmit U1RTS 00100 RPn tied to UART1 Ready To Send SDO1 00111 RPn tied to SPI1 Data Output SCK1OUT 01000 RPn tied to SPI1 Clock Output SS1OUT 01001 RPn tied to SPI1 Slave Select Output OC1 10010 RPn tied to Output Compare 1 OC2 10011 RPn tied to Output Compare 2 UPDN 11010 RPn tied to QEI direction (UPDN) status © 2007 Microchip Technology Inc. Preliminary DS70283B-page 111 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 9.4.3.3 Peripheral Mapping 9.4.4.2 The control schema of peripheral select pins is not limited to a small range of fixed peripheral configurations. There are no mutual or hardware-enforced lockouts between any of the peripheral mapping SFRs. Literally any combination of peripheral mappings across any or all of the RPn pins is possible. This includes both many-to-one and one-to-many mappings of peripheral inputs and outputs to pins. While such mappings may be technically possible from a configuration point of view, they may not be supportable electrically. 9.4.4 CONTROLLING CONFIGURATION CHANGES Because peripheral remapping can be changed during run time, some restrictions on peripheral remapping are needed to prevent accidental configuration changes. dsPIC33F devices include three features to prevent alterations to the peripheral map: • Control register lock sequence • Continuous state monitoring • Configuration bit pin select lock 9.4.4.1 Control Register Lock Continuous State Monitoring In addition to being protected from direct writes, the contents of the RPINRx and RPORx registers are constantly monitored in hardware by shadow registers. If an unexpected change in any of the registers occurs (such as cell disturbances caused by ESD or other external events), a configuration mismatch Reset will be triggered. 9.4.4.3 Configuration Bit Pin Select Lock As an additional level of safety, the device can be configured to prevent more than one write session to the RPINRx and RPORx registers. The IOL1WAY (FOSC<IOL1WAY>) configuration bit blocks the IOLOCK bit from being cleared after it has been set once. If IOLOCK remains set, the register unlock procedure will not execute, and the peripheral pin select control registers cannot be written to. The only way to clear the bit and re-enable peripheral remapping is to perform a device Reset. In the default (unprogrammed) state, IOL1WAY is set, restricting users to one write session. Programming IOL1WAY allows user applications unlimited access (with the proper use of the unlock sequence) to the peripheral pin select registers. Under normal operation, writes to the RPINRx and RPORx registers are not allowed. Attempted writes appear to execute normally, but the contents of the registers remain unchanged. To change these registers, they must be unlocked in hardware. The register lock is controlled by the IOLOCK bit (OSCCON<6>). Setting IOLOCK prevents writes to the control registers; clearing IOLOCK allows writes. 9.4.5 To set or clear IOLOCK, a specific command sequence must be executed: The main consideration is that the peripheral pin selects are not available on default pins in the device’s default (Reset) state. More specifically, since all RPINRx and RPORx registers reset to 0000h, this means all peripheral pin select inputs are tied to RP0, while all peripheral pin select outputs are disconnected. This means that before any other application code is executed, the user application must initialize the device with the proper peripheral configuration. 1. 2. 3. Write 0x46 to OSCCON<7:0>. Write 0x57 to OSCCON<7:0>. Clear (or set) IOLOCK as a single operation. Note: MPLAB® C30 provides built-in C language functions for unlocking the OSCCON register: __builtin_write_OSCCONL(value) __builtin_write_OSCCONH(value) See MPLAB Help for more information. Unlike the similar sequence with the oscillator’s LOCK bit, IOLOCK remains in one state until changed. This allows all of the peripheral pin selects to be configured with a single unlock sequence followed by an update to all control registers, then locked with a second lock sequence. DS70283B-page 112 CONSIDERATIONS FOR PERIPHERAL PIN SELECTION The ability to control peripheral pin selection introduces several considerations into application design, including several common peripherals that are available only as remappable peripherals. 9.4.5.1 Initialization and Locks Since the IOLOCK bit resets in the unlocked state, it is not necessary to execute the unlock sequence after the device has come out of Reset. For the sake of application safety, however, it is always a good idea to set IOLOCK and lock the configuration after writing to the control registers. The unlock sequence must be executed as an assembly-language routine, in the same manner as changes to the oscillator configuration, because the unlock sequence is timing-critical. If the bulk of the application is written in C or another high-level language, the unlock sequence should be performed by writing inline assembler. Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 9.4.5.2 Choosing the Configuration EXAMPLE 9-2: Choosing the configuration requires review of all peripheral pin selects and their pin assignments, especially those that will not be used in the application. In all cases, unused pin selectable peripherals should be disabled completely. Unused peripherals should have their inputs assigned to an unused RPn pin function. I/O pins with unused RPn functions should be configured with the null peripheral output. The assignment of a peripheral to a particular pin does not automatically perform any other configuration of the pin’s I/O circuitry. This means adding a pin selectable output to a pin can inadvertently drive an existing peripheral input when the output is driven. Programmers must be familiar with the behavior of other fixed peripherals that share a remappable pin, and know when to enable or disable them. To be safe, fixed digital peripherals that share the same pin should be disabled when not in use. 9.4.5.3 9.4.5.4 Analog Functions A final consideration is that peripheral pin select functions neither override analog inputs nor reconfigure pins with analog functions for digital I/O. If a pin is configured as an analog input on device Reset, it must be explicitly reconfigured as digital I/O when used with a peripheral pin select. 9.4.5.5 //************************************* // Unlock Registers //************************************* asm volatile ( "mov #OSCCONL, w1 \n" "mov #0x46, w2 \n" "mov #0x57, w3 \n" "mov.b w2, [w1] \n" "mov.b w3, [w1] \n" "bclr OSCCON, 6"); //*************************** // Configure Input Functions // (See Table 9-1) //*************************** //*************************** // Assign U1Rx To Pin RP0 //*************************** RPINR18bits.U1RXR = 0; Pin Operation Configuring a remappable pin for a specific peripheral does not automatically turn that feature on. The peripheral must be specifically configured for operation and enabled, as if it were tied to a fixed pin. Where this happens in the application code (immediately following device Reset and peripheral configuration, or inside the main application routine) depends on the peripheral and its use in the application. Configuration Example Example 9-2 shows a configuration for bidirectional communication with flow control using UART1. The following input and output functions are used: • Input Functions: U1RX, U1CTS • Output Functions: U1TX, U1RTS © 2007 Microchip Technology Inc. CONFIGURING UART1 INPUT AND OUTPUT FUNCTIONS //*************************** // Assign U1CTS To Pin RP1 //*************************** RPINR18bits.U1CTSR = 1; //*************************** // Configure Output Functions // (See Table 9-2) //*************************** //*************************** // Assign U1Tx To Pin RP2 //*************************** RPOR1bits.RP2R = 3; //*************************** // Assign U1RTS To Pin RP3 //*************************** RPOR1bits.RP3R = 4; //************************************* // Lock Registers //************************************* asm volatile ( "mov #OSCCONL, w1 \n" "mov #0x46, w2 \n" "mov #0x57, w3 \n" "mov.b w2, [w1] \n" "mov.b w3, [w1] \n" "bset OSCCON, 6"); Preliminary DS70283B-page 113 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 9.5 Peripheral Pin Select Registers The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 family of devices implement 21 registers for remappable peripheral configuration: • Input Remappable Peripheral Registers (13) • Output Remappable Peripheral Registers (8) Note: Input and Output Register values can only be changed if OSCCON[IOLOCK] = 0. See Section 9.4.4.1 “Control Register Lock” for a specific command sequence. REGISTER 9-1: RPINR0: PERIPHERAL PIN SELECT INPUT REGISTER 0 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 INT1R<4:0> bit 15 bit 8 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 INT1R<4:0>: Assign External Interrupt 1 (INTR1) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 bit 7-0 Unimplemented: Read as ‘0’ DS70283B-page 114 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-2: RPINR1: PERIPHERAL PIN SELECT INPUT REGISTER 1 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 INT2R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-5 Unimplemented: Read as ‘0’ bit 4-0 INTR2R<4:0>: Assign External Interrupt 2 (INTR2) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 © 2007 Microchip Technology Inc. Preliminary DS70283B-page 115 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-3: RPINR3: PERIPHERAL PIN SELECT INPUT REGISTER 3 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 T3CKR<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 T2CKR<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 T3CKR<4:0>: Assign Timer3 External Clock (T3CK) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 T2CKR<4:0>: Assign Timer2 External Clock (T2CK) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 DS70283B-page 116 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-4: RPINR7: PERIPHERAL PIN SELECT INPUT REGISTER 7 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 IC2R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 IC1R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 IC2R<4:0>: Assign Input Capture 2 (IC2) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 IC1R<4:0>: Assign Input Capture 1 (IC1) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 © 2007 Microchip Technology Inc. Preliminary DS70283B-page 117 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-5: RPINR10: PERIPHERAL PIN SELECT INPUT REGISTERS 10 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 IC8R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 IC7R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 IC8R<4:0>: Assign Input Capture 8 (IC8) to the corresponding pin RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 IC7R<4:0>: Assign Input Capture 7 (IC7) to the corresponding pin RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 DS70283B-page 118 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-6: RPINR11: PERIPHERAL PIN SELECT INPUT REGISTER 11 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 OCFAR<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-5 Unimplemented: Read as ‘0’ bit 4-0 OCFAR<4:0>: Assign Output Capture A (OCFA) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 REGISTER 9-7: RPINR12: PERIPHERAL PIN SELECT INPUT REGISTER 12 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 FLTA1R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-5 Unimplemented: Read as ‘0’ bit 4-0 FLTA1R<4:0>: Assign PWM1 Fault (FLTA1) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 © 2007 Microchip Technology Inc. Preliminary DS70283B-page 119 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-8: RPINR13: PERIPHERAL PIN SELECT INPUT REGISTER 13 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 FLTA2R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-5 Unimplemented: Read as ‘0’ bit 4-0 FLTA2R<4:0>: Assign PWM2 Fault (FLTA2) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 DS70283B-page 120 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-9: RPINR14: PERIPHERAL PIN SELECT OUTPUT REGISTERS 14 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 QEA1R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 QEB1R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 QEA1R<4:0>: Assign B (QEB) to the corresponding pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 QEB1R<4:0>: Assign A(QEA) to the corresponding pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 © 2007 Microchip Technology Inc. Preliminary x = Bit is unknown DS70283B-page 121 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-10: RPINR15: PERIPHERAL PIN SELECT INPUT REGISTER 15 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 INDX1R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-5 Unimplemented: Read as ‘0’ bit 4-0 INDX1R<4:0>: Assign QEI INDEX (INDX) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 DS70283B-page 122 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-11: RPINR18: PERIPHERAL PIN SELECT INPUT REGISTER 18 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 U1CTSR<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 U1RXR<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 U1CTSR<4:0>: Assign UART1 Clear to Send (U1CTS) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 U1RXR<4:0>: Assign UART1 Receive (U1RX) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 © 2007 Microchip Technology Inc. Preliminary DS70283B-page 123 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-12: RPINR20: PERIPHERAL PIN SELECT INPUT REGISTER 20 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 SCK1R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 SDI1R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 SCK1R<4:0>: Assign SPI1 Clock Input (SCK1IN) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 SDI1R<4:0>: Assign SPI1 Data Input (SDI1) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 DS70283B-page 124 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-13: RPINR21: PERIPHERAL PIN SELECT INPUT REGISTER 21 U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 15 bit 8 U-0 U-0 U-0 — — — R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 SS1R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-5 Unimplemented: Read as ‘0’ bit 4-0 SS1R<4:0>: Assign SPI1 Slave Select Input (SS1IN) to the corresponding RPn pin bits 11111 = Input tied VSS 11001 = Input tied to RP25 . . . 00001 = Input tied to RP1 00000 = Input tied to RP0 © 2007 Microchip Technology Inc. Preliminary DS70283B-page 125 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-14: RPOR0: PERIPHERAL PIN SELECT OUTPUT REGISTERS 0 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP1R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP0R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP1R<4:0>: Peripheral Output Function is Assigned to RP1 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP0R<4:0>: Peripheral Output Function is Assigned to RP0 Output Pin bits (see Table 9-2 for peripheral function numbers) REGISTER 9-15: RPOR1: PERIPHERAL PIN SELECT OUTPUT REGISTERS 1 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP3R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP2R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP3R<4:0>: Peripheral Output Function is Assigned to RP3 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP2R<4:0>: Peripheral Output Function is Assigned to RP2 Output Pin bits (see Table 9-2 for peripheral function numbers) DS70283B-page 126 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-16: RPOR2: PERIPHERAL PIN SELECT OUTPUT REGISTERS 2 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP5R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP4R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP5R<4:0>: Peripheral Output Function is Assigned to RP5 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP4R<4:0>: Peripheral Output Function is Assigned to RP4 Output Pin bits (see Table 9-2 for peripheral function numbers) REGISTER 9-17: RPOR3: PERIPHERAL PIN SELECT OUTPUT REGISTERS 3 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP7R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP6R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP7R<4:0>: Peripheral Output Function is Assigned to RP7 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP6R<4:0>: Peripheral Output Function is Assigned to RP6 Output Pin bits (see Table 9-2 for peripheral function numbers) © 2007 Microchip Technology Inc. Preliminary DS70283B-page 127 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-18: RPOR4: PERIPHERAL PIN SELECT OUTPUT REGISTERS 0 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP9R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP8R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP9R<4:0>: Peripheral Output Function is Assigned to RP9 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP8R<4:0>: Peripheral Output Function is Assigned to RP8 Output Pin bits (see Table 9-2 for peripheral function numbers) REGISTER 9-19: RPOR5: PERIPHERAL PIN SELECT OUTPUT REGISTERS 5 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP11R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP10R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP11R<4:0>: Peripheral Output Function is Assigned to RP11 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP10R<4:0>: Peripheral Output Function is Assigned to RP10 Output Pin bits (see Table 9-2 for peripheral function numbers) DS70283B-page 128 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-20: RPOR6: PERIPHERAL PIN SELECT OUTPUT REGISTERS 6 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP13R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP12R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP13R<4:0>: Peripheral Output Function is Assigned to RP13 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP12R<4:0>: Peripheral Output Function is Assigned to RP12 Output Pin bits (see Table 9-2 for peripheral function numbers) REGISTER 9-21: RPOR7: PERIPHERAL PIN SELECT OUTPUT REGISTERS 7 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP15R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP14R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP15R<4:0>: Peripheral Output Function is Assigned to RP15 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP14R<4:0>: Peripheral Output Function is Assigned to RP14 Output Pin bits (see Table 9-2 for peripheral function numbers) © 2007 Microchip Technology Inc. Preliminary DS70283B-page 129 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-22: RPOR8: PERIPHERAL PIN SELECT OUTPUT REGISTERS 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP17R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP16R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP17R<4:0>: Peripheral Output Function is Assigned to RP17 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP16R<4:0>: Peripheral Output Function is Assigned to RP16 Output Pin bits (see Table 9-2 for peripheral function numbers) REGISTER 9-23: RPOR9: PERIPHERAL PIN SELECT OUTPUT REGISTERS 9 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP19R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP18R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP19R<4:0>: Peripheral Output Function is Assigned to RP19 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP18R<4:0>: Peripheral Output Function is Assigned to RP18 Output Pin bits (see Table 9-2 for peripheral function numbers) DS70283B-page 130 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-24: RPOR10: PERIPHERAL PIN SELECT OUTPUT REGISTERS 10 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP21R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP20R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP21R<4:0>: Peripheral Output Function is Assigned to RP21 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP20R<4:0>: Peripheral Output Function is Assigned to RP20 Output Pin bits (see Table 9-2 for peripheral function numbers) REGISTER 9-25: RPOR11: PERIPHERAL PIN SELECT OUTPUT REGISTERS 11 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP23R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP22R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP23R<4:0>: Peripheral Output Function is Assigned to RP23 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP22R<4:0>: Peripheral Output Function is Assigned to RP22 Output Pin bits (see Table 9-2 for peripheral function numbers) © 2007 Microchip Technology Inc. Preliminary DS70283B-page 131 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 9-26: RPOR12: PERIPHERAL PIN SELECT OUTPUT REGISTERS 12 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP25R<4:0> bit 15 bit 8 U-0 U-0 U-0 — — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 RP24R<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12-8 RP25R<4:0>: Peripheral Output Function is Assigned to RP25 Output Pin bits (see Table 9-2 for peripheral function numbers) bit 7-5 Unimplemented: Read as ‘0’ bit 4-0 RP24R<4:0>: Peripheral Output Function is Assigned to RP24 Output Pin bits (see Table 9-2 for peripheral function numbers) DS70283B-page 132 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 10.0 Note: TIMER1 Figure 10-1 presents a block diagram of the 16-bit timer module. This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. To configure Timer1 for operation: 1. 2. 3. 4. 5. The Timer1 module is a 16-bit timer, which can serve as the time counter for the real-time clock, or operate as a free-running interval timer/counter. Timer1 can operate in three modes: 6. Set the TON bit (= 1) in the T1CON register. Select the timer prescaler ratio using the TCKPS<1:0> bits in the T1CON register. Set the Clock and Gating modes using the TCS and TGATE bits in the T1CON register. Set or clear the TSYNC bit in T1CON to select synchronous or asynchronous operation. Load the timer period value into the PR1 register. If interrupts are required, set the interrupt enable bit, T1IE. Use the priority bits, T1IP<2:0>, to set the interrupt priority. • 16-bit Timer • 16-bit Synchronous Counter • 16-bit Asynchronous Counter Timer1 also supports these features: • Timer gate operation • Selectable prescaler settings • Timer operation during CPU Idle and Sleep modes • Interrupt on 16-bit Period register match or falling edge of external gate signal FIGURE 10-1: 16-BIT TIMER1 MODULE BLOCK DIAGRAM TCKPS<1:0> SOSCO/ T1CK 1x SOSCEN SOSCI Gate Sync 01 TCY 00 Prescaler 1, 8, 64, 256 TGATE TCS TGATE Set T1IF 2 TON 1 Q D 0 Q CK Reset 0 TMR1 1 Equal Comparator Sync TSYNC PR1 © 2007 Microchip Technology Inc. Preliminary DS70283B-page 133 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 10-1: T1CON: TIMER1 CONTROL REGISTER R/W-0 U-0 R/W-0 U-0 U-0 U-0 U-0 U-0 TON — TSIDL — — — — — bit 15 bit 8 U-0 R/W-0 — TGATE R/W-0 R/W-0 TCKPS<1:0> U-0 R/W-0 R/W-0 U-0 — TSYNC TCS — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 TON: Timer1 On bit 1 = Starts 16-bit Timer1 0 = Stops 16-bit Timer1 bit 14 Unimplemented: Read as ‘0’ bit 13 TSIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode bit 12-7 Unimplemented: Read as ‘0’ bit 6 TGATE: Timer1 Gated Time Accumulation Enable bit When T1CS = 1: This bit is ignored. When T1CS = 0: 1 = Gated time accumulation enabled 0 = Gated time accumulation disabled bit 5-4 TCKPS<1:0> Timer1 Input Clock Prescale Select bits 11 = 1:256 10 = 1:64 01 = 1:8 00 = 1:1 bit 3 Unimplemented: Read as ‘0’ bit 2 TSYNC: Timer1 External Clock Input Synchronization Select bit When TCS = 1: 1 = Synchronize external clock input 0 = Do not synchronize external clock input When TCS = 0: This bit is ignored. bit 1 TCS: Timer1 Clock Source Select bit 1 = External clock from pin T1CK (on the rising edge) 0 = Internal clock (FCY) bit 0 Unimplemented: Read as ‘0’ DS70283B-page 134 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 11.0 Note: TIMER2/3 FEATURE 11.1 This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The Timer2/3 feature has three 2-bit timers that can also be configured as two independent 16-bit timers with selectable operating modes. To configure the Timer2/3 feature timers for 32-bit operation: 1. 2. 3. 4. 5. As a 32-bit timer, the Timer2/3 feature permits operation in three modes: 6. • Two Independent 16-bit timers (e.g., Timer2 and Timer3) with all 16-bit operating modes (except Asynchronous Counter mode) • Single 32-bit timer (Timer2/3) • Single 32-bit synchronous counter (Timer2/3) 32-bit Operation Set the T32 control bit. Select the prescaler ratio for Timer2 using the TCKPS<1:0> bits. Set the Clock and Gating modes using the corresponding TCS and TGATE bits. Load the timer period value. PR3 contains the most significant word of the value, while PR2 contains the least significant word. If interrupts are required, set the interrupt enable bit, T3IE. Use the priority bits, T3IP<2:0>, to set the interrupt priority. While Timer2 controls the timer, the interrupt appears as a Timer3 interrupt. Set the corresponding TON bit. The timer value at any point is stored in the register pair, TMR3:TMR2, which always contains the most significant word of the count, while TMR2 contains the least significant word. The Timer2/3 feature also supports: • • • • • Timer gate operation Selectable prescaler settings Timer operation during Idle and Sleep modes Interrupt on a 32-bit period register match Time base for Input Capture and Output Compare modules (Timer2 and Timer3 only) • ADC1 event trigger (Timer2/3 only) Individually, all eight of the 16-bit timers can function as synchronous timers or counters. They also offer the features listed above, except for the event trigger. The operating modes and enabled features are determined by setting the appropriate bit(s) in the T2CON, T3CON registers. T2CON registers are shown in generic form in Register 11-1. T3CON registers are shown in Register 11-2. 11.2 16-bit Operation To configure any of the timers for individual 16-bit operation: 1. 2. 3. 4. 5. 6. Clear the T32 bit corresponding to that timer. Select the timer prescaler ratio using the TCKPS<1:0> bits. Set the Clock and Gating modes using the TCS and TGATE bits. Load the timer period value into the PRx register. If interrupts are required, set the interrupt enable bit, TxIE. Use the priority bits, TxIP<2:0>, to set the interrupt priority. Set the TON bit. For 32-bit timer/counter operation, Timer2 is the least significant word, and Timer3 is the most significant word of the 32-bit timers. Note: For 32-bit operation, T3CON control bits are ignored. Only T2CON control bits are used for setup and control. Timer2 clock and gate inputs are used for the 32-bit timer modules, but an interrupt is generated with the Timer3 interrupt flags. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 135 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TIMER2/3 (32-BIT) BLOCK DIAGRAM(1) FIGURE 11-1: 1x T2CK Gate Sync 01 TCY 00 Prescaler 1, 8, 64, 256 TGATE TCS TGATE Q 1 Set T3IF Q 0 Equal D CK PR2 PR3 ADC Event Trigger(2) TCKPS<1:0> 2 TON Comparator MSb LSb TMR3 Reset TMR2 Sync 16 Read TMR2 Write TMR2 16 TMR3HLD 16 16 Data Bus<15:0> Note 1: 2: The 32-bit timer control bit, T32, must be set for 32-bit timer/counter operation. All control bits are respective to the T2CON register. The ADC event trigger is available only on Timer2/3. DS70283B-page 136 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 11-2: TIMER2 (16-BIT) BLOCK DIAGRAM T2CK 1x Gate Sync TON TCKPS<1:0> 2 Prescaler 1, 8, 64, 256 01 00 TGATE TCS TCY 1 Set T2IF 0 Reset Equal Q D Q CK TGATE Sync TMR2 Comparator PR2 © 2007 Microchip Technology Inc. Preliminary DS70283B-page 137 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 11-1: T2CON CONTROL REGISTER R/W-0 U-0 R/W-0 U-0 U-0 U-0 U-0 U-0 TON — TSIDL — — — — — bit 15 bit 8 U-0 R/W-0 — TGATE R/W-0 R/W-0 TCKPS<1:0> R/W-0 U-0 R/W-0 U-0 T32(1) — TCS — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 TON: Timer2 On bit When T32 = 1: 1 = Starts 32-bit Timer2/3 0 = Stops 32-bit Timer2/3 When T32 = 0: 1 = Starts 16-bit Timer2 0 = Stops 16-bit Timer2 bit 14 Unimplemented: Read as ‘0’ bit 13 TSIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode bit 12-7 Unimplemented: Read as ‘0’ bit 6 TGATE: Timer2 Gated Time Accumulation Enable bit When TCS = 1: This bit is ignored. When TCS = 0: 1 = Gated time accumulation enabled 0 = Gated time accumulation disabled bit 5-4 TCKPS<1:0>: Timer2 Input Clock Prescale Select bits 11 = 1:256 10 = 1:64 01 = 1:8 00 = 1:1 bit 3 T32: 32-bit Timer Mode Select bit(1) 1 = Timer2 and Timer3 form a single 32-bit timer 0 = Timer2 and Timer3 act as two 16-bit timers bit 2 Unimplemented: Read as ‘0’ bit 1 TCS: Timer2 Clock Source Select bit 1 = External clock from pin T2CK (on the rising edge) 0 = Internal clock (FCY) bit 0 Unimplemented: Read as ‘0’ Note 1: x = Bit is unknown In 32-bit mode, T3CON control bits do not affect 32-bit timer operation. DS70283B-page 138 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 11-2: T3CON CONTROL REGISTER R/W-0 U-0 R/W-0 U-0 U-0 U-0 U-0 U-0 TON(1) — TSIDL(1) — — — — — bit 15 bit 8 U-0 R/W-0 — TGATE(1) R/W-0 R/W-0 TCKPS<1:0>(1) U-0 U-0 R/W-0 U-0 — — TCS(1) — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 TON: Timer3 On bit(1) 1 = Starts 16-bit Timer3 0 = Stops 16-bit Timer3 bit 14 Unimplemented: Read as ‘0’ bit 13 TSIDL: Stop in Idle Mode bit(1) 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode bit 12-7 Unimplemented: Read as ‘0’ bit 6 TGATE: Timer3 Gated Time Accumulation Enable bit(1) When TCS = 1: This bit is ignored. When TCS = 0: 1 = Gated time accumulation enabled 0 = Gated time accumulation disabled bit 5-4 TCKPS<1:0>: Timer3 Input Clock Prescale Select bits(1) 11 = 1:256 10 = 1:64 01 = 1:8 00 = 1:1 bit 3-2 Unimplemented: Read as ‘0’ bit 1 TCS: Timer3 Clock Source Select bit(1) 1 = External clock from pin T3CK (on the rising edge) 0 = Internal clock (FCY) bit 0 Unimplemented: Read as ‘0’ Note 1: x = Bit is unknown When 32-bit operation is enabled (T2CON<3> = 1), these bits have no effect on Timer3 operation; all timer functions are set through T2CON. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 139 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 140 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 12.0 INPUT CAPTURE Note: 3. This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The input capture module is useful in applications requiring frequency (period) and pulse measurement. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices support up to eight input capture channels. The input capture module captures the 16-bit value of the selected Time Base register when an event occurs at the ICx pin. The events that cause a capture event are listed below in three categories: Prescaler Capture Event modes: - Capture timer value on every 4th rising edge of input at ICx pin - Capture timer value on every 16th rising edge of input at ICx pin Each input capture channel can select one of two 16-bit timers (Timer2 or Timer3) for the time base. The selected timer can use either an internal or external clock. Other operational features include: • Device wake-up from capture pin during CPU Sleep and Idle modes • Interrupt on input capture event • 4-word FIFO buffer for capture values - Interrupt optionally generated after 1, 2, 3 or 4 buffer locations are filled • Use of input capture to provide additional sources of external interrupts 1. Simple Capture Event modes: - Capture timer value on every falling edge of input at ICx pin - Capture timer value on every rising edge of input at ICx pin 2. Capture timer value on every edge (rising and falling) FIGURE 12-1: INPUT CAPTURE BLOCK DIAGRAM From 16-bit Timers TMR2 TMR3 16 16 1 Edge Detection Logic and Clock Synchronizer Prescaler Counter (1, 4, 16) ICx Pin ICM<2:0> (ICxCON<2:0>) Mode Select ICTMR (ICxCON<7>) FIFO 3 0 FIFO R/W Logic ICOV, ICBNE (ICxCON<4:3>) ICxBUF ICxI<1:0> ICxCON System Bus Interrupt Logic Set Flag ICxIF (in IFSn Register) Note: An ‘x’ in a signal, register or bit name denotes the number of the capture channel. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 141 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 12.1 Input Capture Registers REGISTER 12-1: ICxCON: INPUT CAPTURE x CONTROL REGISTER U-0 U-0 R/W-0 U-0 U-0 U-0 U-0 U-0 — — ICSIDL — — — — — bit 15 bit 8 R/W-0 R/W-0 ICTMR R/W-0 ICI<1:0> R-0, HC R-0, HC ICOV ICBNE R/W-0 R/W-0 R/W-0 ICM<2:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-14 Unimplemented: Read as ‘0’ bit 13 ICSIDL: Input Capture Module Stop in Idle Control bit 1 = Input capture module will halt in CPU Idle mode 0 = Input capture module will continue to operate in CPU Idle mode bit 12-8 Unimplemented: Read as ‘0’ bit 7 ICTMR: Input Capture Timer Select bits 1 = TMR2 contents are captured on capture event 0 = TMR3 contents are captured on capture event bit 6-5 ICI<1:0>: Select Number of Captures per Interrupt bits 11 = Interrupt on every fourth capture event 10 = Interrupt on every third capture event 01 = Interrupt on every second capture event 00 = Interrupt on every capture event bit 4 ICOV: Input Capture Overflow Status Flag bit (read-only) 1 = Input capture overflow occurred 0 = No input capture overflow occurred bit 3 ICBNE: Input Capture Buffer Empty Status bit (read-only) 1 = Input capture buffer is not empty, at least one more capture value can be read 0 = Input capture buffer is empty bit 2-0 ICM<2:0>: Input Capture Mode Select bits 111 =Input capture functions as interrupt pin only when device is in Sleep or Idle mode (Rising edge detect only, all other control bits are not applicable.) 110 =Unused (module disabled) 101 =Capture mode, every 16th rising edge 100 =Capture mode, every 4th rising edge 011 =Capture mode, every rising edge 010 =Capture mode, every falling edge 001 =Capture mode, every edge (rising and falling) (ICI<1:0> bits do not control interrupt generation for this mode.) 000 =Input capture module turned off DS70283B-page 142 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 13.0 Note: 13.1 OUTPUT COMPARE This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. Setup for Single Output Pulse Generation When the OCM control bits (OCxCON<2:0>) are set to ‘100’, the selected output compare channel initializes the OCx pin to the low state and generates a single output pulse. To generate a single output pulse, the following steps are required. These steps assume timer source is initially turned off but this is not a requirement for the module operation. 1. Determine the instruction clock cycle time. Take into account the frequency of the external clock to the timer source (if one is used) and the timer prescaler settings. 2. Calculate time to the rising edge of the output pulse relative to the TMRy start value (0000h). 3. Calculate the time to the falling edge of the pulse based on the desired pulse width and the time to the rising edge of the pulse. 4. Write the value computed in step 2 into the Output Compare register, OCxR, and the value computed in step 3 into the Output Compare Secondary register, OCxRS. 5. Set Timer Period register, PRy, to a value equal to or greater than value in OCxRS, the Output Compare Secondary register. 6. Set the OCM bits to ‘100’ and the OCTSEL (OCxCON<3>) bit to the desired timer source. The OCx pin state will now be driven low. 7. Set the TON (TyCON<15>) bit to ‘1’, which enables the compare time base to count. Upon the first match between TMRy and OCxR, the OCx pin will be driven high. When the incrementing timer, TMRy, matches the Output Compare Secondary register, OCxRS, the second and trailing edge (high-to-low) of the pulse is driven onto the OCx pin. No additional pulses are driven onto the OCx pin and it remains at low. As a result of the second compare match event, the OCxIF interrupt flag bit is set. This will result in an interrupt if it is enabled by setting the OCxIE bit. For further information on peripheral interrupts, refer to Section 6.0 “Interrupt Controller”. 8. To initiate another single pulse output, change the Timer and Compare register settings, if needed, © 2007 Microchip Technology Inc. and then issue a write to set the OCM bits to ‘100’. Disabling and re-enabling the timer, and clearing the TMRy register, are not required, but may be advantageous for defining a pulse from a known event time boundary. The output compare module does not have to be disabled after the falling edge of the output pulse. Another pulse can be initiated by rewriting the value of the OCxCON register. 13.2 Setup for Continuous Output Pulse Generation When the OCM control bits (OCxCON<2:0>) are set to ‘101’, the selected output compare channel initializes the OCx pin to the low state and generates output pulses on each and every compare match event. To configure the module for generation of a continuous stream of output pulses, the following steps are required. These steps assume timer source is initially turned off but this is not a requirement for the module operation. 1. Determine the instruction clock cycle time. Take into account the frequency of the external clock to the timer source (if one is used) and the timer prescaler settings. 2. Calculate time to the rising edge of the output pulse relative to the TMRy start value (0000h). 3. Calculate the time to the falling edge of the pulse, based on the desired pulse width and the time to the rising edge of the pulse. 4. Write the values computed in step 2 into the Output Compare register, OCxR, and value computed in step 3 into the Output Compare Secondary register, OCxRS. 5. Set Timer Period register, PRy, to a value equal to or greater than value in OCxRS, the Output Compare Secondary register. 6. Set the OCM bits to ‘101’ and the OCTSEL bit to the desired timer source. The OCx pin state will now be driven low. 7. Enable the compare time base by setting the TON (TyCON<15>) bit to ‘1’. Upon the first match between TMRy and OCxR, the OCx pin will be driven high. When the compare time base, TMRy, matches the Output Compare Secondary register, OCxRS, the second and trailing edge (high-to-low) of the pulse is driven onto the OCx pin. As a result of the second compare match event, the OCxIF interrupt flag bit is set. When the compare time base and the value in its respective Timer Period register match, the TMRy register resets to 0x0000 and resumes counting. These events repeat and a continuous stream of pulses is generated indefinitely. The OCxIF flag is set on each OCxRS-TMRy compare match event. Preliminary DS70283B-page 143 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 13.3 Pulse-Width Modulation Mode EQUATION 13-1: Use the following steps when configuring the output compare module for PWM operation: 1. Set the PWM period by writing to the selected Timer Period register (PRy). Set the PWM duty cycle by writing to the OCxRS register. Write the OxCR register with the initial duty cycle. Enable interrupts, if required, for the timer and output compare modules. The output compare interrupt is required for PWM Fault pin utilization. Configure the output compare module for one of two PWM operation modes by writing to the Output Compare Mode bits, OCM<2:0> (OCxCON<2:0>). Set the TMRy prescale value and enable the time base by setting TON = 1 (TxCON<15>). 2. 3. 4. 5. 6. Note: 13.3.1 The OCxR register should be initialized before the output compare module is first enabled. The OCxR register becomes a read-only duty cycle register when the module is operated in the PWM modes. The value held in OCxR will become the PWM duty cycle for the first PWM period. The contents of the Output Compare Secondary register, OCxRS, will not be transferred into OCxR until a time base period match occurs. PWM PERIOD The PWM period is specified by writing to PRy, the Timer Period register. The PWM period can be calculated using Equation 13-1: EQUATION 13-2: PWM Period = [(PRy) + 1] • TCY • (Timer Prescale Value) where: PWM Frequency = 1/[PWM Period] Note: 13.3.2 2. PWM DUTY CYCLE Some important boundary parameters of the PWM duty cycle include: • If the Output Compare register, OCxR, is loaded with 0000h, the OCx pin will remain low (0% duty cycle). • If OCxR is greater than PRy (Timer Period register), the pin will remain high (100% duty cycle). • If OCxR is equal to PRy, the OCx pin will be low for one time base count value and high for all other count values. See Example 13-1 for PWM mode timing details. Tables 13-1 through 13-3 show example PWM frequencies and resolutions for a device operating at 4, 16, and 40 MIPS. CALCULATION FOR MAXIMUM PWM RESOLUTION Maximum PWM Resolution (bits) = 1. A PRy value of N will produce a PWM period of N + 1 time base count cycles. For example, a value of 7 written into the PRy register will yield a period consisting of eight time base cycles. Specify the PWM duty cycle by writing to the OCxRS register. The OCxRS register can be written to at any time, but the duty cycle value is not latched into OCxR until a match between PRy and TMRy occurs (i.e., the period is complete). This provides a double buffer for the PWM duty cycle and is essential for glitchless PWM operation. In the PWM mode, OCxR is a read-only register. log10 EXAMPLE 13-1: CALCULATING THE PWM PERIOD ( FF ) CY PWM log10(2) bits PWM PERIOD AND DUTY CYCLE CALCULATIONS Find the Timer Period register value for a desired PWM frequency that is 52.08 kHz, where FCY = 16 MHz and a Timer2 prescaler setting of 1:1. TCY = 62.5 ns PWM Period = 1/PWM Frequency = 1/52.08 kHz = 19.2 μs PWM Period = (PR2 + 1) • TCY • (Timer2 Prescale Value) 19.2 μs = (PR2 + 1) • 62.5 ns • 1 PR2 = 306 Find the maximum resolution of the duty cycle that can be used with a 52.08 kHz frequency and a 32 MHz device clock rate: PWM Resolution = log10 (FCY/FPWM)/log102) bits = (log10 (16 MHz/52.08 kHz)/log102) bits = 8.3 bits DS70283B-page 144 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 13-1: EXAMPLE PWM FREQUENCIES AND RESOLUTIONS AT 4 MIPS (FCY = 4 MHz) PWM Frequency 7.6 Hz 61 Hz 122 Hz 977 Hz 3.9 kHz 31.3 kHz 125 kHz Timer Prescaler Ratio 8 1 1 1 1 1 1 Period Register Value FFFFh FFFFh 7FFFh 0FFFh 03FFh 007Fh 001Fh 16 16 15 12 10 7 5 Resolution (bits) TABLE 13-2: EXAMPLE PWM FREQUENCIES AND RESOLUTIONS AT 16 MIPS (FCY = 16 MHz) PWM Frequency 30.5 Hz 244 Hz 488 Hz 3.9 kHz 15.6 kHz 125 kHz 500 kHz Timer Prescaler Ratio 8 1 1 1 1 1 1 Period Register Value FFFFh FFFFh 7FFFh 0FFFh 03FFh 007Fh 001Fh 16 16 15 12 10 7 5 Resolution (bits) TABLE 13-3: EXAMPLE PWM FREQUENCIES AND RESOLUTIONS AT 40 MIPS (FCY = 40 MHz) PWM Frequency 76 Hz 610 Hz 1.22 Hz 9.77 kHz 39 kHz 313 kHz 1.25 MHz Timer Prescaler Ratio 8 1 1 1 1 1 1 Period Register Value FFFFh FFFFh 7FFFh 0FFFh 03FFh 007Fh 001Fh 16 16 15 12 10 7 5 Resolution (bits) FIGURE 13-1: OUTPUT COMPARE MODULE BLOCK DIAGRAM Set Flag bit OCxIF(1) OCxRS(1) Output Logic OCxR(1) 3 OCM2:OCM0 Mode Select Comparator 0 16 OCTSEL 1 0 S Q R OCx(1) Output Enable OCFA(2) 1 16 TMR register inputs from time bases(3) Period match signals from time bases(3) Note 1: Where ‘x’ is shown, reference is made to the registers associated with the respective output compare channels 1 through 8. 2: OCFA pin controls OC1-OC2 channels. 3: TMR2/TMR3 can be selected via OCTSEL (OCxCON<3>) bit. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 145 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 13-1: OCxCON: OUTPUT COMPARE x CONTROL REGISTER U-0 U-0 R/W-0 U-0 U-0 U-0 U-0 U-0 — — OCSIDL — — — — — bit 15 bit 8 U-0 U-0 U-0 R-0 HC R/W-0 — — — OCFLT OCTSEL R/W-0 R/W-0 R/W-0 OCM<2:0> bit 7 bit 0 Legend: HC = Cleared in Hardware HS = Set in Hardware R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-14 Unimplemented: Read as ‘0’ bit 13 OCSIDL: Stop Output Compare in Idle Mode Control bit 1 = Output Compare x will halt in CPU Idle mode 0 = Output Compare x will continue to operate in CPU Idle mode bit 12-5 Unimplemented: Read as ‘0’ bit 4 OCFLT: PWM Fault Condition Status bit 1 = PWM Fault condition has occurred (cleared in hardware only) 0 = No PWM Fault condition has occurred (This bit is only used when OCM<2:0> = 111.) bit 3 OCTSEL: Output Compare Timer Select bit 1 = Timer3 is the clock source for Compare x 0 = Timer2 is the clock source for Compare x bit 2-0 OCM<2:0>: Output Compare Mode Select bits 111 = PWM mode on OCx, Fault pin enabled 110 = PWM mode on OCx, Fault pin disabled 101 = Initialize OCx pin low, generate continuous output pulses on OCx pin 100 = Initialize OCx pin low, generate single output pulse on OCx pin 011 = Compare event toggles OCx pin 010 = Initialize OCx pin high, compare event forces OCx pin low 001 = Initialize OCx pin low, compare event forces OCx pin high 000 = Output compare channel is disabled DS70283B-page 146 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 14.0 Note: MOTOR CONTROL PWM MODULE 14.1 This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 device supports up to two dedicated Pulse Width Modulation (PWM) modules. The PWM1 module is a 6-channel PWM generator, and the PWM2 module is a 2-channel PWM generator. The PWM module has the following features: This module simplifies the task of generating multiple synchronized PWM outputs. The following power and motion control applications are supported by the PWM module: • • • • 3-Phase AC Induction Motor Switched Reluctance (SR) Motor Brushless DC (BLDC) Motor Uninterruptible Power Supply (UPS) This module contains three duty cycle generators, numbered 1 through 3. The module has six PWM output pins, numbered PWM1H1/PWM1L1 through PWM1H3/PWM1L3. The six I/O pins are grouped into high/low numbered pairs, denoted by the suffix H or L, respectively. For complementary loads, the low PWM pins are always the complement of the corresponding high I/O pin. 14.2 • • • • • Up to 16-bit resolution On-the-fly PWM frequency changes Edge and Center-Aligned Output modes Single Pulse Generation mode Interrupt support for asymmetrical updates in Center-Aligned mode • Output override control for Electrically Commutative Motor (ECM) operation or BLDC • Special Event comparator for scheduling other peripheral events • Fault pins to optionally drive each of the PWM output pins to a defined state PWM1: 6-Channel PWM Module PWM2: 2-Channel PWM Module This module provides an additional pair of complimentary PWM outputs that can be used for: • Independent PFC correction in a motor system • Induction cooking This module contains a duty cycle generator that provides two PWM outputs, numbered PWM2H1/ PWM2L1. Duty cycle updates configurable to be immediate or synchronized to the PWM time base © 2007 Microchip Technology Inc. Preliminary DS70283B-page 147 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 14-1: 6-CHANNEL PWM MODULE BLOCK DIAGRAM (PWM1) PWM1CON1 PWM Enable and Mode SFRs PWM1CON2 P1DTCON1 Dead-Time Control SFRs P1DTCON2 P1FLTACON Fault Pin Control SFRs P1OVDCON PWM Manual Control SFR PWM Generator # 3 16-bit Data Bus P1DC3 Buffer P1DC3 Comparator PWM Generator #2 P1TMR Channel 3 Dead-Time Generator and Override Logic PWM1H3 Channel 2 Dead-Time Generator and Override Logic PWM1H2 PWM1L3 Output PWM1L2 Driver Comparator PWM Generator #1 Channel 1 Dead-Time Generator and Override Logic P1TPER Block PWM1H1 PWM1L1 P1TPER Buffer FLTA1 P1TCON Special Event Postscaler Comparator SEVTDIR P1SECMP Special Event Trigger PTDIR PWM Time Base Note: Details of PWM Generator #1and #2 not shown for clarity. DS70283B-page 148 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 14-2: 2-CHANNEL PWM MODULE BLOCK DIAGRAM (PWM2) PWM2CON1 PWM Enable and Mode SFRs PWM2CON2 P2DTCON1 Dead-Time Control SFRs P2DTCON2 P2FLTACON Fault Pin Control SFRs P2OVDCON PWM Manual Control SFR PWM Generator # 1 16-bit Data Bus P2DC1Buffer P2DC1 Comparator PWM2H1 Channel 1 Dead-Time Generator and Override Logic PWM2L1 P2TMR Output Driver Comparator Block P2TPER P2TPER Buffer FLTA2 P2TCON Comparator SEVTDIR P2SECMP Special Event Postscaler Special Event Trigger PTDIR PWM Time Base © 2007 Microchip Technology Inc. Preliminary DS70283B-page 149 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 14.3 PWM Time Base 14.3.1 The PWM time base is provided by a 15-bit timer with a prescaler and postscaler. The time base is accessible via the PXTMR SFR. PXTMR<15> is a read-only status bit, PTDIR, that indicates the present count direction of the PWM time base. • If PTDIR is cleared, PXTMR is counting upward. • If PTDIR is set, PxTMR is counting downward. The PWM time base is configured using the PxTCON SFR. The time base is enabled or disabled by setting or clearing the PTEN bit in the PXTCON SFR. PXTMR is not cleared when the PTEN bit is cleared in software. The PXTPER SFR sets the counting period for PXTMR. The user application must write a 15-bit value to PXTPER<14:0>. When the value in PXTMR<14:0> matches the value in PXTPER<14:0>, the time base will either reset to ‘0’ or reverse the count direction on the next occurring clock cycle. The action taken depends on the operating mode of the time base. Note: If the PWM Period register is set to 0x0000, the timer will stop counting and the interrupt and Special Event Trigger will not be generated, even if the special event value is also 0x0000. The module will not update the PWM Period register if it is already at 0x0000; therefore, the user application must disable the module in to update the PWM Period register. The PWM time base can be configured for four different modes of operation: FREE-RUNNING MODE In Free-Running mode, the PWM time base counts upwards until the value in the PWM Time Base Period register (PXTPER) is matched. The PXTMR register is reset on the following input clock edge, and the time base will continue to count upward as long as the PTEN bit remains set. When the PWM time base is in the Free-Running mode (PTMOD<1:0> = 00), an interrupt event is generated each time a match with the PXTPER register occurs and the PXTMR register is reset to zero. The postscaler selection bits can be used in this mode of the timer to reduce the frequency of interrupt events. 14.3.2 SINGLE-SHOT MODE In Single-Shot mode, the PWM time base begins counting upward when the PTEN bit is set. When the value in the PXTMR register matches the PXTPER register, the PXTMR register will be reset on the following input clock edge, and the PTEN bit will be cleared by the hardware to halt the time base. When the PWM time base is in Single-Shot mode (PTMOD<1:0> = 01), an interrupt event is generated when a match with the PXTPER register occurs. The PxTMR register is reset to zero on the following input clock edge and the PTEN bit is cleared. The postscaler selection bits have no effect in this mode of the timer. 14.3.3 CONTINUOUS UP/DOWN COUNT MODES Free-Running mode Single-Shot mode Continuous Up/Down Count mode Continuous Up/Down Count mode with interrupts for double updates In Continuous Up/Down Count modes, the PWM time base counts upward until the value in the PXTPER register is matched. The timer will begin counting downwards on the following input clock edge. The PTDIR bit in the PXTMR SFR is read-only and indicates the counting direction. The PTDIR bit is set when the timer counts downward. These four modes are selected by the PTMOD<1:0> bits in the PXTCON SFR. The Up/Down Count modes support center-aligned PWM generation. The SingleShot mode allows the PWM module to support pulse control of certain Electronically Commutative Motors (ECMs). In the Up/Down Count mode (PTMOD<1:0> = 10), an interrupt event is generated each time the value of the PXTMR register becomes zero and the PWM time base begins to count upward. The postscaler selection bits can be used in this mode of the timer to reduce the frequency of interrupt events. • • • • The interrupt signals generated by the PWM time base depend on the mode selection bits (PTMOD<1:0>) and the postscaler bits (PTOPS<3:0>) in the PXTCON SFR. DS70283B-page 150 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 14.3.4 14.4 DOUBLE UPDATE MODE In Double Update mode (PTMOD<1:0> = 11), an interrupt event is generated each time the PXTMR register is equal to zero, as well as each time a period match occurs. The postscaler selection bits have no effect in this mode of the timer. Double Update mode provides two additional functions: • The control loop bandwidth is doubled because the PWM duty cycles can be updated twice per period. • Asymmetrical center-aligned PWM waveforms can be generated, which can be useful for minimizing output waveform distortion in certain motor control applications. Note: 14.3.5 Programming a value of 0x0001 in the PWM Period register could generate a continuous interrupt pulse and must be avoided. PWM TIME BASE PRESCALER PXTPER is a 15-bit register used to set the counting period for the PWM time base. PXTPER is a doublebuffered register. The PXTPER buffer contents are loaded into the PXTPER register at the following instants: • Free-Running and Single-Shot modes: When the PXTMR register is reset to zero after a match with the PxTPER register. • Up/Down Count modes: When the PxTMR register is zero. The value held in the PxTPER buffer is automatically loaded into the PxTPER register when the PWM time base is disabled (PTEN = 0). The PWM period Equation 14-1: EQUATION 14-1: can be determined using PWM PERIOD TPWM = TCY • (PXTPER + 1) • (PXTMR Prescale Value) The input clock to PXTMR (FOSC/4) has prescaler options of 1:1, 1:4, 1:16 or 1:64, selected by control bits PTCKPS<1:0> in the PXTCON SFR. The prescaler counter is cleared when any of the following occur: • A write to the PXTMR register • A write to the PXTCON register • Any device Reset If the PWM time base is configured for one of the Up/ Down Count modes, the PWM period will be twice the value provided by Equation 14-1. The maximum resolution (in bits) for a given device oscillator and PWM frequency can be determined using Equation 14-2: The PXTMR register is not cleared when PXTCON is written. 14.3.6 PWM Period EQUATION 14-2: PWM TIME BASE POSTSCALER The match output of PXTMR can optionally be postscaled through a 4-bit postscaler (which gives a 1:1 to 1:16 scaling). The postscaler counter is cleared when any of the following occur: • A write to the PXTMR register • A write to the PXTCON register • Any device Reset The PXTMR register is not cleared when PXTCON is written. PWM RESOLUTION Resolution = 14.5 log (2 • TPWM/TCY) log (2) Edge-Aligned PWM Edge-aligned PWM signals are produced by the module when the PWM time base is in Free-Running or SingleShot mode. For edge-aligned PWM outputs, the output has a period specified by the value in PxTPER and a duty cycle specified by the appropriate Duty Cycle register (see Figure 14-3). The PWM output is driven active at the beginning of the period (PxTMR = 0) and is driven inactive when the value in the Duty Cycle register matches PxTMR. If the value in a particular Duty Cycle register is zero, the output on the corresponding PWM pin is inactive for the entire PWM period. In addition, the output on the PWM pin is active for the entire PWM period if the value in the Duty Cycle register is greater than the value held in the PxTPER register. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 151 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 14-3: 14.7 EDGE-ALIGNED PWM New Duty Cycle Latched Three 16-bit Special Function Registers (PxDC1, PxDC2, PxDC3) are used to specify duty cycle values for the PWM module. PxTPER PXTMR Value The value in each Duty Cycle register determines the amount of time that the PWM output is active. The Duty Cycle registers are 16 bits wide. The Least Significant bit (LSb) of a Duty Cycle register determines whether the PWM edge occurs in the beginning. Thus the PWM resolution is effectively doubled. 0 Duty Cycle 14.7.1 Period 14.6 PWM Duty Cycle Comparison Units Center-Aligned PWM Center-aligned PWM signals are produced by the module when the PWM time base is configured in an Up/Down Count mode (see Figure 14-4). The PWM compare output is driven to the active state when the value of the Duty Cycle register matches the value of PxTMR and the PWM time base is counting downward (PTDIR = 1). The PWM compare output is driven to the inactive state when the PWM time base is counting upward (PTDIR = 0) and the value in the PxTMR register matches the duty cycle value. If the value in a particular Duty Cycle register is zero, the output on the corresponding PWM pin is inactive for the entire PWM period. In addition, the output on the PWM pin is active for the entire PWM period if the value in the Duty Cycle register is equal to the value held in the PxTPER register. FIGURE 14-4: CENTER-ALIGNED PWM Period/2 PxTPER PTMR Value Duty Cycle DUTY CYCLE REGISTER BUFFERS The three PWM Duty Cycle registers are doublebuffered to allow glitchless updates of the PWM outputs. For each duty cycle, there is a Duty Cycle register that is accessible by the user application and a second Duty Cycle register that holds the actual compare value used in the present PWM period. For edge-aligned PWM output, a new duty cycle value will be updated whenever a match with the PxTPER register occurs and PxTMR is reset. The contents of the duty cycle buffers are automatically loaded into the Duty Cycle registers when the PWM time base is disabled (PTEN = 0) and the UDIS bit is cleared in PWMxCON2. When the PWM time base is in the Up/Down Count mode, new duty cycle values are updated when the value of the PxTMR register is zero, and the PWM time base begins to count upward. The contents of the duty cycle buffers are automatically loaded into the Duty Cycle registers when the PWM time base is disabled (PTEN = 0). When the PWM time base is in the Up/Down Count mode with double updates, new duty cycle values are updated when the value of the PxTMR register is zero, and when the value of the PxTMR register matches the value in the PxTPER register. The contents of the duty cycle buffers are automatically loaded into the Duty Cycle registers when the PWM time base is disabled (PTEN = 0). 0 Period DS70283B-page 152 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 14.7.2 DUTY CYCLE IMMEDIATE UPDATES When the Immediate Update Enable bit is set (IUE = 1), any write to the Duty Cycle registers updates the new duty cycle value immediately. This feature gives programmers the option to allow immediate updates of the active PWM Duty Cycle registers instead of waiting for the end of the current time base period. Duty cycle update effects are as follows: • If the PWM output is active at the time the new duty cycle is written and the new duty cycle is less than the current time base value, the PWM pulse width will be shortened. • If the PWM output is active at the time the new duty cycle is written and the new duty cycle is greater than the current time base value, the PWM pulse width will be lengthened. • If the PWM output is inactive at the time the new duty cycle is written and the new duty cycle is greater than the current time base value, the PWM output will become active immediately and will remain active for the new written duty cycle value. System stability is improved in closed-loop servo applications by reducing the delay between system observation and the issuance of system corrective commands when immediate updates are enabled (IUE = 1). 14.8 Complementary PWM Operation In the Complementary mode of operation, each pair of PWM outputs is obtained by a complementary PWM signal. A dead time can be inserted during device switching, when both outputs are inactive for a short period (refer to Section 14.9 “Dead-Time Generators”). In Complementary mode, the duty cycle comparison units are assigned to the PWM outputs as follows: Complementary mode is selected for each PWM I/O pin pair by clearing the appropriate PMODx bit in the PWMxCON1 SFR. The PWM I/O pins are set to Complementary mode by default upon a device Reset. 14.9 Dead-Time Generators Dead-time generation can be provided when any of the PWM I/O pin pairs are operating in Complementary Output mode. The PWM outputs use push-pull drive circuits. Power output devices cannot switch instantaneously, so some amount of time must be provided between the turn-off event of one PWM output in a complementary pair and the turn-on event of the other transistor. The PWM module allows two different dead times to be programmed. These two dead times can be used in one of two methods to increase user flexibility: • The PWM output signals can be optimized for different turn-off times in the high side and low side transistors in a complementary pair of transistors. The first dead time is inserted between the turn-off event of the lower transistor of the complementary pair and the turn-on event of the upper transistor. The second dead time is inserted between the turn-off event of the upper transistor and the turn-on event of the lower transistor. • The two dead times can be assigned to individual PWM I/O pin pairs. This operating mode allows the PWM module to drive different transistor/load combinations with each complementary PWM I/O pin pair. 14.9.1 DEAD-TIME GENERATORS Each complementary output pair for the PWM module has a 6-bit down counter that is used to produce the dead-time insertion. As shown in Figure 14-5, each dead-time unit has a rising and falling edge detector connected to the duty cycle comparison output. • PxDC1 register controls PWM1H/PWM1L outputs • PxDC2 register controls PWM2H/PWM2L outputs • PxDC3 register controls PWM3H/PWM3L outputs FIGURE 14-5: DEAD-TIME TIMING DIAGRAM Duty Cycle Generator PWMxH PWMxL Time Selected by DTSxA bit (A or B) © 2007 Microchip Technology Inc. Time Selected by DTSxI bit (A or B) Preliminary DS70283B-page 153 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 14.9.2 14.10 Independent PWM Output DEAD-TIME ASSIGNMENT The PxDTCON2 SFR contains control bits that allow the dead times to be assigned to each of the complementary outputs. Table 14-1 summarizes the function of each dead-time selection control bit. TABLE 14-1: DEAD-TIME SELECTION BITS Bit Function DTS1A Selects PWMxL1/PWMxH1 active edge dead time. DTS1I Selects PWMxL1/PWMxH1 inactive edge dead time. DTS2A Selects PWMxL2/PWMxH2 active edge dead time. DTS2I Selects PWMxL2/PWMxH2 inactive edge dead time. DTS3A Selects PWMxL3/PWMxH3 active edge dead time. DTS3I 14.9.3 Selects PWMxL3/PWMxH3 inactive edge dead time. DEAD-TIME RANGES The amount of dead time provided by each dead-time unit is selected by specifying the input clock prescaler value and a 6-bit unsigned value. The amount of dead time provided by each unit can be set independently. Four input clock prescaler selections have been provided to allow a suitable range of dead times, based on the device operating frequency. The clock prescaler option can be selected independently for each of the two dead-time values. The dead-time clock prescaler values are selected using the DTAPS<1:0> and DTBPS<1:0> control bits in the PxDTCON1 SFR. One of four clock prescaler options (TCY, 2 TCY, 4 TCY or 8 TCY) can be selected for each of the dead-time values. After the prescaler values are selected, the dead time for each unit is adjusted by loading two 6-bit unsigned values into the PxDTCON1 SFR. The dead-time unit prescalers are cleared on the following events: • On a load of the down timer due to a duty cycle comparison edge event. • On a write to the PxDTCON1 or PxDTCON2 registers. • On any device Reset. Note: The user application should not modify the PxDTCON1 or PxDTCON2 values while the PWM module is operating (PTEN = 1). Unexpected results can occur. DS70283B-page 154 Independent PWM Output mode is required for driving certain types of loads. A particular PWM output pair is in the Independent Output mode when the corresponding PMODx bit in the PWMxCON1 register is set. No dead-time control is implemented between adjacent PWM I/O pins when the module is operating in the Independent PWM Output mode and both I/O pins are allowed to be active simultaneously. In the Independent PWM Output mode, each duty cycle generator is connected to both of the PWM I/O pins in an output pair. By using the associated Duty Cycle register and the appropriate bits in the PxOVDCON register, the programmer can select the following signal output options for each PWM I/O pin operating in this mode: • I/O pin outputs PWM signal • I/O pin inactive • I/O pin active 14.11 Single Pulse PWM Operation The PWM module produces single pulse outputs when the PxTCON control bits PTMOD<1:0> = 10. Only edge-aligned outputs can be produced in the Single Pulse mode. In Single Pulse mode, the PWM I/O pin(s) are driven to the active state when the PTEN bit is set. When a match with a Duty Cycle register occurs, the PWM I/O pin is driven to the inactive state. When a match with the PxTPER register occurs, the PxTMR register is cleared, all active PWM I/O pins are driven to the inactive state, the PTEN bit is cleared and an interrupt is generated. 14.12 PWM Output Override The PWM output override bits allow the user application to manually drive the PWM I/O pins to specified logic states, independent of the duty cycle comparison units. All control bits associated with the PWM output override function are contained in the PxOVDCON register. The upper half of the PxOVDCON register contains eight bits, POVDxH<4:1> and POVDxL<4:1>, that determine which PWM I/O pins will be overridden. The lower half of the PxOVDCON register contains eight bits, POUTxH<4:1> and POUTxL<4:1>, that determine the state of the PWM I/O pins when a particular output is overridden via the POVD bits. 14.12.1 COMPLEMENTARY OUTPUT MODE When a PWMxL pin is driven active via the PxOVDCON register, the output signal is forced to be the complement of the corresponding PWMxH pin in the pair. Dead-time insertion is still performed when PWM channels are overridden manually. Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 14.12.2 OVERRIDE SYNCHRONIZATION 14.14.1 FAULT PIN ENABLE BITS If the OSYNC bit in the PWMxCON2 register is set, all output overrides performed via the PxOVDCON register are synchronized to the PWM time base. Synchronous output overrides occur at the following times: The PxFLTACON SFR have four control bits that determine whether a particular pair of PWM I/O pins is to be controlled by the Fault input pin. To enable a specific PWM I/O pin pair for Fault overrides, the corresponding bit should be set in the PxFLTACON register. • Edge-Aligned mode – When PxTMR is zero • Center-Aligned modes – When PxTMR is zero and the value of PxTMR matches PxTPER If all enable bits are cleared in the PxFLTACON register, the corresponding Fault input pin has no effect on the PWM module and the pin can be used as a general purpose interrupt or I/O pin. 14.13 PWM Output and Polarity Control Note: Three device Configuration bits are associated with the PWM module that provide PWM output pin control: • HPOL Configuration bit • LPOL Configuration bit • PWMPIN Configuration bit These three bits in the FPOR Configuration register (see Section 20.0 “Special Features”) work in conjunction with the eight PWM Enable bits (PENxH<4:1>, PENxL<4:1>) located in the PWMxCON1 SFR. The Configuration bits and PWM Enable bits ensure that the PWM pins are in the correct states after a device Reset occurs. The PWMPIN configuration fuse allows the PWM module outputs to be optionally enabled on a device Reset. If PWMPIN = 0, the PWM outputs are driven to their inactive states at Reset. If PWMPIN = 1 (default), the PWM outputs will be tri-stated. The HPOL bit specifies the polarity for the PWMxH outputs. The LPOL bit specifies the polarity for the PWMxL outputs. 14.13.1 OUTPUT PIN CONTROL The PENxH<4:1> and PENxL<4:1> control bits in the PWMxCON1 SFR enable each high PWM output pin and each low PWM output pin, respectively. If a particular PWM output pin is not enabled, it is treated as a general purpose I/O pin. 14.14.2 The Fault pin logic can operate independent of the PWM logic. If all the enable bits in the PxFLTACON registers are cleared, then the Fault pin(s) could be used as general purpose interrupt pin(s). Each Fault pin has an interrupt vector, interrupt flag bit and interrupt priority bits associated with it. FAULT STATES The PxFLTACON Special Function Registers have eight bits each that determine the state of each PWM I/O pin when it is overridden by a Fault input. When these bits are cleared, the PWM I/O pin is driven to the inactive state. If the bit is set, the PWM I/O pin is driven to the active state. The active and inactive states are referenced to the polarity defined for each PWM I/O pin (HPOL and LPOL polarity control bits). A special case exists when a PWM module I/O pair is in the Complementary mode and both pins are programmed to be active on a Fault condition. The PWMxH pin always has priority in the Complementary mode, so that both I/O pins cannot be driven active simultaneously. 14.14.3 FAULT PIN PRIORITY If both Fault input pins have been assigned to control a particular PWM I/O pin, the Fault state programmed for the Fault A input pin takes priority over the Fault B input pin. 14.14 PWM Fault Pins There is one Fault pin (FLTAx) associated with the PWM module. When asserted, this pin can optionally drive each of the PWM I/O pins to a defined state. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 155 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 14.14.4 FAULT INPUT MODES Each of the Fault input pins has two modes of operation: • Latched Mode: When the Fault pin is driven low, the PWM outputs go to the states defined in the PxFLTACON registers. The PWM outputs remain in this state until the Fault pin is driven high and the corresponding interrupt flag has been cleared in software. When both of these actions have occurred, the PWM outputs return to normal operation at the beginning of the next PWM cycle or half-cycle boundary. If the interrupt flag is cleared before the Fault condition ends, the PWM module waits until the Fault pin is no longer asserted to restore the outputs. • Cycle-by-Cycle Mode: When the Fault input pin is driven low, the PWM outputs remain in the defined Fault states for as long as the Fault pin is held low. After the Fault pin is driven high, the PWM outputs return to normal operation at the beginning of the following PWM cycle or half-cycle boundary. The operating mode for each Fault input pin is selected using the FLTAM control bits in the PxFLTACON Special Function Registers. Each of the Fault pins can be controlled manually in software. 14.15 PWM Update Lockout For a complex PWM application, the user application may need to write up to three Duty Cycle registers and the PWM Time Base Period register, PxTPER, at a given time. In some applications, it is important that all buffer registers be written before the new duty cycle and period values are loaded for use by the module. The PWM update lockout feature is enabled by setting the UDIS control bit in the PWM1CON2 SFR. The UDIS bit affects all Duty Cycle Buffer registers and the PWM Time Base Period register, PxTPER. No duty cycle changes or period value changes will have effect while UDIS = 1. If the IUE bit is set, any change to the Duty Cycle registers will be immediately updated regardless of the UDIS bit state. The PWM Period register (PxTPER) updates are not affected by the IUE control bit. The PWM Special Event Trigger has an SFR named PxSECMP, and five control bits to control its operation. The PxTMR value for which a Special Event Trigger should occur is loaded into the PxSECMP register. When the PWM time base is in Up/Down Count mode, an additional control bit is required to specify the counting phase for the Special Event Trigger. The count phase is selected using the SEVTDIR control bit in the PxSECMP SFR: • If the SEVTDIR bit is cleared, the Special Event Trigger occurs on the upward counting cycle of the PWM time base. • If the SEVTDIR bit is set, the Special Event Trigger occurs on the downward count cycle of the PWM time base. The SEVTDIR control bit has no effect unless the PWM time base is configured for an Up/Down Count mode. 14.16.1 SPECIAL EVENT TRIGGER POSTSCALER The PWM Special Event Trigger has a postscaler that allows a 1:1 to 1:16 postscale ratio. The postscaler is configured by writing the SEVOPS<3:0> control bits in the PWMxCON2 SFR. The special event output postscaler is cleared on the following events: • Any write to the PxSECMP register • Any device Reset 14.17 PWM Operation During CPU Sleep Mode The Fault A and Fault B input pins can wake the CPU from Sleep mode. The PWM module generates an interrupt if either of the Fault pins is driven low while in Sleep mode. 14.18 PWM Operation During CPU Idle Mode The PxTCON SFR contains a PTSIDL control bit. This bit determines if the PWM module will continue to operate or stop when the device enters Idle mode. If PTSIDL = 0, the module will continue to operate. If PTSIDL = 1, the module will stop operation as long as the CPU remains in Idle mode. 14.16 PWM Special Event Trigger The PWM module has a Special Event Trigger that allows ADC conversions to be synchronized to the PWM time base. The ADC sampling and conversion time can be programmed to occur at any point within the PWM period. The Special Event Trigger allows the programmer to minimize the delay between the time when ADC conversion results are acquired and the time when the duty cycle value is updated. DS70283B-page 156 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-1: PxTCON: PWM TIME BASE CONTROL REGISTER R/W-0 U-0 R/W-0 U-0 U-0 U-0 U-0 U-0 PTEN — PTSIDL — — — — — bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PTOPS<3:0> R/W-0 R/W-0 PTCKPS<1:0> R/W-0 PTMOD<1:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 PTEN: PWM Time Base Timer Enable bit 1 = PWM time base is on 0 = PWM time base is off bit 14 Unimplemented: Read as ‘0’ bit 13 PTSIDL: PWM Time Base Stop in Idle Mode bit 1 = PWM time base halts in CPU Idle mode 0 = PWM time base runs in CPU Idle mode bit 12-8 Unimplemented: Read as ‘0’ bit 7-4 PTOPS<3:0>: PWM Time Base Output Postscale Select bits 1111 = 1:16 postscale • • • 0001 = 1:2 postscale 0000 = 1:1 postscale bit 3-2 PTCKPS<1:0>: PWM Time Base Input Clock Prescale Select bits 11 = PWM time base input clock period is 64 TCY (1:64 prescale) 10 = PWM time base input clock period is 16 TCY (1:16 prescale) 01 = PWM time base input clock period is 4 TCY (1:4 prescale) 00 = PWM time base input clock period is TCY (1:1 prescale) bit 1-0 PTMOD<1:0>: PWM Time Base Mode Select bits 11 = PWM time base operates in a Continuous Up/Down Count mode with interrupts for double PWM updates 10 = PWM time base operates in a Continuous Up/Down Count mode 01 = PWM time base operates in Single Pulse mode 00 = PWM time base operates in a Free-Running mode © 2007 Microchip Technology Inc. Preliminary DS70283B-page 157 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-2: R-0 PxTMR: PWM TIMER COUNT VALUE REGISTER R/W-0 R/W-0 R/W-0 PTDIR R/W-0 R/W-0 R/W-0 R/W-0 PTMR<14:8> bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PTMR<7:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 PTDIR: PWM Time Base Count Direction Status bit (read-only) 1 = PWM time base is counting down 0 = PWM time base is counting up bit 14-0 PTMR <14:0>: PWM Time Base Register Count Value bits REGISTER 14-3: U-0 PxTPER: PWM TIME BASE PERIOD REGISTER R/W-0 R/W-0 R/W-0 — R/W-0 R/W-0 R/W-0 R/W-0 PTPER<14:8> bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PTPER<7:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 Unimplemented: Read as ‘0’ bit 14-0 PTPER<14:0>: PWM Time Base Period Value bits DS70283B-page 158 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-4: R/W-0 PxSECMP: SPECIAL EVENT COMPARE REGISTER R/W-0 R/W-0 R/W-0 SEVTDIR(1) R/W-0 R/W-0 R/W-0 R/W-0 SEVTCMP<14:8>(2) bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 SEVTCMP<7:0>(2) bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 SEVTDIR: Special Event Trigger Time Base Direction bit(1) 1 = A Special Event Trigger will occur when the PWM time base is counting downward 0 = A Special Event Trigger will occur when the PWM time base is counting upward bit 14-0 SEVTCMP<14:0>: Special Event Compare Value bits(2) Note 1: 2: SEVTDIR is compared with PTDIR (PXTMR<15>) to generate the Special Event Trigger. PxSECMP<14:0> is compared with PXTMR<14:0> to generate the Special Event Trigger. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 159 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-5: PWMxCON1: PWM CONTROL REGISTER 1(2) U-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 R/W-0 — — — — — PMOD3 PMOD2 PMOD1 bit 15 bit 8 U-0 R/W-1 R/W-1 R/W-1 U-0 R/W-1 R/W-1 R/W-1 — PEN3H(1) PEN2H(1) PEN1H(1) — PEN3L(1) PEN2L(1) PEN1L(1) bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-11 Unimplemented: Read as ‘0’ bit 10-8 PMOD4:PMOD1: PWM I/O Pair Mode bits 1 = PWM I/O pin pair is in the Independent PWM Output mode 0 = PWM I/O pin pair is in the Complementary Output mode bit 7 Unimplemented: Read as ‘0’ bit 6-4 PEN3H:PEN1H: PWMxH I/O Enable bits(1) 1 = PWMxH pin is enabled for PWM output 0 = PWMxH pin disabled, I/O pin becomes general purpose I/O bit 3 Unimplemented: Read as ‘0’ bit 2-0 PEN3L:PEN1L: PWMxL I/O Enable bits(1) 1 = PWMxL pin is enabled for PWM output 0 = PWMxL pin disabled, I/O pin becomes general purpose I/O Note 1: 2: x = Bit is unknown Reset condition of the PENxH and PENxL bits depends on the value of the PWMPIN Configuration bit in the FPOR Configuration register. PWM2 supports only 1 PWM I/O pin pair. DS70283B-page 160 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-6: PWMxCON2: PWM CONTROL REGISTER 2 U-0 U-0 U-0 U-0 — — — — R/W-0 R/W-0 R/W-0 R/W-0 SEVOPS<3:0> bit 15 bit 8 U-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 R/W-0 — — — — — IUE OSYNC UDIS bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-12 Unimplemented: Read as ‘0’ bit 11-8 SEVOPS<3:0>: PWM Special Event Trigger Output Postscale Select bits 1111 = 1:16 postscale • • • 0001 = 1:2 postscale 0000 = 1:1 postscale bit 7-3 Unimplemented: Read as ‘0’ bit 2 IUE: Immediate Update Enable bit 1 = Updates to the active PxDC registers are immediate 0 = Updates to the active PxDC registers are synchronized to the PWM time base bit 1 OSYNC: Output Override Synchronization bit 1 = Output overrides via the PxOVDCON register are synchronized to the PWM time base 0 = Output overrides via the PxOVDCON register occur on next TCY boundary bit 0 UDIS: PWM Update Disable bit 1 = Updates from Duty Cycle and Period Buffer registers are disabled 0 = Updates from Duty Cycle and Period Buffer registers are enabled © 2007 Microchip Technology Inc. Preliminary DS70283B-page 161 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-7: R/W-0 PxDTCON1: DEAD-TIME CONTROL REGISTER 1 R/W-0 R/W-0 R/W-0 R/W-0 DTBPS<1:0> R/W-0 R/W-0 R/W-0 DTB<5:0> bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 DTAPS<1:0> R/W-0 R/W-0 R/W-0 DTA<5:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-14 DTBPS<1:0>: Dead-Time Unit B Prescale Select bits 11 = Clock period for Dead-Time Unit B is 8 TCY 10 = Clock period for Dead-Time Unit B is 4 TCY 01 = Clock period for Dead-Time Unit B is 2 TCY 00 = Clock period for Dead-Time Unit B is TCY bit 13-8 DTB<5:0>: Unsigned 6-bit Dead-Time Value for Dead-Time Unit B bits bit 7-6 DTAPS<1:0>: Dead-Time Unit A Prescale Select bits 11 = Clock period for Dead-Time Unit A is 8 TCY 10 = Clock period for Dead-Time Unit A is 4 TCY 01 = Clock period for Dead-Time Unit A is 2 TCY 00 = Clock period for Dead-Time Unit A is TCY bit 5-0 DTA<5:0>: Unsigned 6-bit Dead-Time Value for Dead-Time Unit A bits DS70283B-page 162 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-8: PxDTCON2: DEAD-TIME CONTROL REGISTER 2 (1) U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — — bit 15 bit 8 U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 — — DTS3A DTS3I DTS2A DTS2I DTS1A DTS1I bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-6 Unimplemented: Read as ‘0’ bit 5 DTS3A: Dead-Time Select for PWM3 Signal Going Active bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A bit 4 DTS3I: Dead-Time Select for PWM3 Signal Going Inactive bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A bit 3 DTS2A: Dead-Time Select for PWM2 Signal Going Active bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A bit 2 DTS2I: Dead-Time Select for PWM2 Signal Going Inactive bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A bit 1 DTS1A: Dead-Time Select for PWM1 Signal Going Active bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A bit 0 DTS1I: Dead-Time Select for PWM1 Signal Going Inactive bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A Note 1: x = Bit is unknown PWM2 supports only 1 PWM I/O pin pair. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 163 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-9: PxFLTACON: FAULT A CONTROL REGISTER(1) U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 — — FAOV3H FAOV3L FAOV2H FAOV2L FAOV1H FAOV1L bit 15 bit 8 R/W-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 R/W-0 FLTAM — — — — FAEN3 FAEN2 FAEN1 bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-14 Unimplemented: Read as ‘0’ bit 13-8 FAOVxH<3:1>:FAOVxL<3:1>: Fault Input A PWM Override Value bits 1 = The PWM output pin is driven active on an external Fault input event 0 = The PWM output pin is driven inactive on an external Fault input event bit 7 FLTAM: Fault A Mode bit 1 = The Fault A input pin functions in the Cycle-by-Cycle mode 0 = The Fault A input pin latches all control pins to the programmed states in PxFLTACON<13:8> bit 6-3 Unimplemented: Read as ‘0’ bit 2 FAEN3: Fault Input A Enable bit 1 = PWMxH3/PWMxL3 pin pair is controlled by Fault Input A 0 = PWMxH3/PWMxL3 pin pair is not controlled by Fault Input A bit 1 FAEN2: Fault Input A Enable bit 1 = PWMxH2/PWMxL2 pin pair is controlled by Fault Input A 0 = PWMxH2/PWMxL2 pin pair is not controlled by Fault Input A bit 0 FAEN1: Fault Input A Enable bit 1 = PWMxH1/PWMxL1 pin pair is controlled by Fault Input A 0 = PWMxH1/PWMxL1 pin pair is not controlled by Fault Input A Note 1: PWM2 supports only 1 PWM I/O pin pair. DS70283B-page 164 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-10: PxOVDCON: OVERRIDE CONTROL REGISTER(1) U-0 U-0 R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 R/W-1 — — POVD3H POVD3L POVD2H POVD2L POVD1H POVD1L bit 15 bit 8 U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 — — POUT3H POUT3L POUT2H POUT2L POUT1H POUT1L bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-14 Unimplemented: Read as ‘0’ bit 13-8 POVDxH<3:1>:POVDxL<3:1>: PWM Output Override bits 1 = Output on PWMx I/O pin is controlled by the PWM generator 0 = Output on PWMx I/O pin is controlled by the value in the corresponding POUTxH:POUTxL bit bit 7-6 Unimplemented: Read as ‘0’ bit 5-0 POUTxH<3:1>:POUTxL<3:1>: PWM Manual Output bits 1 = PWMx I/O pin is driven active when the corresponding POVDxH:POVDxL bit is cleared 0 = PWMx I/O pin is driven inactive when the corresponding POVDxH:POVDxL bit is cleared Note 1: PWM2 supports only 1 PWM I/O pin pair. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 165 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-11: PxDC1: PWM DUTY CYCLE REGISTER 1 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PDC1<15:8> bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PDC1<7:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-0 x = Bit is unknown PDC1<15:0>: PWM Duty Cycle #1 Value bits REGISTER 14-12: P1DC2: PWM DUTY CYCLE REGISTER 2 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PDC2<15:8> bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PDC2<7:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-0 x = Bit is unknown PDC2<15:0>: PWM Duty Cycle #2 Value bits DS70283B-page 166 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 14-13: P1DC3: PWM DUTY CYCLE REGISTER 3 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PDC3<15:8> bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PDC3<7:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-0 x = Bit is unknown PDC3<15:0>: PWM Duty Cycle #3 Value bits © 2007 Microchip Technology Inc. Preliminary DS70283B-page 167 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 168 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 15.0 QUADRATURE ENCODER INTERFACE (QEI) MODULE Note: The operational features of the QEI include: • Three input channels for two phase signals and index pulse • 16-bit up/down position counter • Count direction status • Position Measurement (x2 and x4) mode • Programmable digital noise filters on inputs • Alternate 16-bit Timer/Counter mode • Quadrature Encoder Interface interrupts This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. These operating modes are determined by setting the appropriate bits, QEIM<2:0> in (QEICON<10:8>). Figure 15-1 depicts the Quadrature Encoder Interface block diagram. This section describes the Quadrature Encoder Interface (QEI) module and associated operational modes. The QEI module provides the interface to incremental encoders for obtaining mechanical position data. FIGURE 15-1: QUADRATURE ENCODER INTERFACE BLOCK DIAGRAM TQCKPS<1:0> Sleep Input TQCS TCY 2 0 Synchronize Det Prescaler 1, 8, 64, 256 1 1 QEIM<2:0> 0 CK QEA Programmable Digital Filter UPDN_SRC 0 QEICON<11> 2 Quadrature Encoder Interface Logic QEB Programmable Digital Filter INDX Programmable Digital Filter Q 16-bit Up/Down Counter (POSCNT) Reset Comparator/ Zero Detect Equal 3 QEIM<2:0> Mode Select 1 QEIIF Event Flag Q D TQGATE Max Count Register (MAXCNT) 3 PCDOUT 0 UPDN 1 Existing Pin Logic Up/Down © 2007 Microchip Technology Inc. Preliminary DS70283B-page 169 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 15.1 Quadrature Encoder Interface Logic A typical incremental (or optical) encoder has three outputs: Phase A, Phase B and an index pulse. These signals are useful and often required in position and speed control of ACIM and SR motors. The two channels, Phase A (QEA) and Phase B (QEB), have a unique relationship. If Phase A leads Phase B, the direction of the motor is deemed positive or forward. If Phase A lags Phase B, the direction of the motor is deemed negative or reverse. A third channel, termed index pulse, occurs once per revolution and is used as a reference to establish an absolute position. The index pulse coincides with Phase A and Phase B, both low. 15.2 16-bit Up/Down Position Counter Mode The 16-bit up/down counter counts up or down on every count pulse, which is generated by the difference of the Phase A and Phase B input signals. The counter acts as an integrator whose count value is proportional to position. The direction of the count is determined by the UPDN signal, which is generated by the Quadrature Encoder Interface logic. 15.2.1 POSITION COUNTER ERROR CHECKING Position counter error checking in the QEI is provided for and indicated by the CNTERR bit (QEICON<15>). The error checking applies only when the position counter is configured for Reset on the Index Pulse modes (QEIM<2:0> = 110 or 100). In these modes, the contents of the POSCNT register are compared with the values (0xFFFF or MAXCNT + 1, depending on direction). If the POSRES bit is set to ‘1’, the position counter is reset when the index pulse is detected. If the POSRES bit is set to ‘0’, the position counter is not reset when the index pulse is detected. The position counter continues counting up or down, and is reset on the rollover or underflow condition. The interrupt is still generated on the detection of the index pulse and not on the position counter overflow/ underflow. 15.2.3 COUNT DIRECTION STATUS The QEI logic generates a UPDN signal, based upon the relationship between Phase A and Phase B. In addition to the output pin, the state of this internal UPDN signal is supplied to an SFR bit, UPDN (QEICON<11>), as a read-only bit. To place the state of this signal on an I/O pin, the SFR bit, PCDOUT (QEICON<6>), must be set to ‘1’. 15.3 Position Measurement Mode Two measurement modes are supported, x2 and x4. These modes are selected by the QEIM<2:0> mode select bits located in SFR QEICON<10:8>. When control bits QEIM<2:0> = 100 or 101, the x2 Measurement mode is selected and the QEI logic only looks at the Phase A input for the position counter increment rate. Every rising and falling edge of the Phase A signal causes the position counter to be incremented or decremented. The Phase B signal is still used for the determination of the counter direction. Within the x2 Measurement mode, there are two variations of how the position counter is reset: • Position counter reset by detection of index pulse, QEIM<2:0> = 100 • Position counter reset by match with MAXCNT, QEIM<2:0> = 101 If these values are detected, the CNTERR bit is set, generating an error condition, and a QEI counter error interrupt is generated. The QEI counter error interrupt can be disabled by setting the CEID bit (DFLTCON<8>). When control bits QEIM<2:0> = 110 or 111, the x4 Measurement mode is selected and the QEI logic looks at both edges of the Phase A and Phase B input signals. Every edge of both signals causes the position counter to increment or decrement. The position counter continues to count encoder edges after an error has been detected. The POSCNT register continues to count up/down until a natural rollover/ underflow. No interrupt is generated for the natural rollover/underflow event. Within the x4 Measurement mode, the position counter can be reset two ways: The CNTERR bit is a read/write bit and is reset in software by the user application. 15.2.2 POSITION COUNTER RESET • Position counter reset by detection of index pulse, QEIM<2:0> = 110. • Position counter reset by match with MAXCNT, QEIM<2:0> = 111. The x4 Measurement mode provides for finer resolution data (more position counts) for determining motor position. The Position Counter Reset Enable bit, POSRES (QEI<2>), controls whether the position counter is reset when the index pulse is detected. This bit is applicable only when QEIM<2:0> = 100 or 110. DS70283B-page 170 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 15.4 Programmable Digital Noise Filters The digital noise filter section of the module is responsible for rejecting noise on the incoming capture or quadrature signals. Schmitt Trigger inputs and a 3clock cycle delay filter combine to reject low-level noise and large, short-duration noise spikes that typically occur in noise prone applications, such as a motor system. In addition, control bit UPDN_SRC, (in QEICON<0>), determines whether the timer count direction state is based on the logic state written into the UPDN control/ status bit (QEICON<11>) or the QEB pin state: • When UPDN_SRC = 1, the timer count direction is controlled from the QEB pin. • When UPDN_SRC = 0, the timer count direction is controlled by the UPDN bit. Note: The filter ensures that the filtered output signal is not permitted to change until a stable value has been registered for three consecutive clock cycles. For the QEA, QEB and INDX pins, the clock divide frequency for the digital filter is programmed by bits QECK<2:0> (DFLTCON<6:4>), and are derived from the base instruction cycle, TCY. 15.6 This alternate timer does not support the External Asynchronous Counter mode of operation. If the program uses an external clock source, the clock will automatically be synchronized to the internal instruction cycle. QEI Module Operation During CPU Sleep Mode To enable the filter output for channels QEA, QEB and INDX, the QEOUT bit must be ‘1’. The filter network for all channels is disabled on POR. During CPU Sleep mode, the following are true for the QEI module: 15.5 • The QEI module is halted. • The timer does not operate because the internal clocks are disabled. Alternate 16-bit Timer/Counter When the QEI module is not configured for the QEI mode, QEIM<2:0> = 001, the module can be configured as a simple 16-bit timer/counter. The setup and control of the auxiliary timer is accomplished through the QEICON SFR register. This timer functions identically to Timer1. The QEA pin is used as the timer clock input. When configured as a timer, the POSCNT register serves as the Timer Count register, and the MAXCNT register serves as the Period register. When a Timer/ Period register match occurs, the QEI interrupt flag is asserted. The only difference between the general purpose timers and this timer is the external up/down input select. When the UPDN pin is asserted high, the timer increments up. When the UPDN pin is asserted low, the timer is decremented. Note: 15.7 QEI Module Operation During CPU Idle Mode Since the QEI module can function as a Quadrature Encoder Interface, or as a 16-bit timer, this section describes operation of the module in both modes. 15.7.1 QEI OPERATION DURING CPU IDLE MODE When the CPU is placed in Idle mode, the QEI module will operate if QEISIDL (QEICON<13>) = 0. This bit defaults to a logic ‘0’ upon executing POR. To halt the QEI module during CPU Idle mode, QEISIDL should be set to ‘1’. Changing the operational mode (for example, from QEI to timer or vice versa) will not affect the Timer/Position Count register contents. The UPDN control/status bit (QEICON<11>) can be used to select the count direction state of the Timer register. When UPDN = 1, the timer counts up. When UPDN = 0, the timer counts down. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 171 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 15.7.2 TIMER OPERATION DURING CPU IDLE MODE When the CPU is placed in Idle mode and the QEI module is configured in 16-bit Timer mode, the 16-bit timer will operate if QEISIDL (QEICON<13>) = 0. This bit defaults to a logic ‘0’ upon executing POR. To halt the timer module during CPU Idle mode, QEISIDL should be set to ‘1’. If the QEISIDL bit is cleared, the timer will function normally as if CPU Idle mode had not been entered. 15.8 Quadrature Encoder Interface Interrupts The Quadrature Encoder Interface can generate an interrupt on occurrence of the following events: • • • • • 15.9 Control and Status Registers The QEI module has four user-accessible registers, accessible in either Byte or Word mode: • Control/Status Register (QEICON) – Allows control of the QEI operation and status flags indicating the module state. • Digital Filter Control Register (DFLTCON) – Allows control of the digital input filter operation. • Position Count Register (POSCNT) – Allows reading and writing of the 16-bit position counter. • Maximum Count Register (MAXCNT) – Holds a value that is compared to the POSCNT counter in some operations. Note: 16-bit up/down position counter rollover/underflow Detection of qualified index pulse CNTERR bit is set Timer period match event (overflow/underflow) Gate accumulation event The POSCNT register allows byte accesses,. However, reading the register in Byte mode can result in partially updated values in subsequent reads. Either use Word mode reads/writes, or ensure that the counter is not counting during Byte operations. The QEI Interrupt Flag bit, QEIIF in the IFS3 register, is asserted upon occurrence of any of these events. The QEIIF bit must be cleared in software. Enabling an interrupt is accomplished via the respective enable bit, QEIIE, in the IEC3 register. DS70283B-page 172 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 15-1: QEICON: QEI CONTROL REGISTER R/W-0 U-0 R/W-0 R-0 R/W-0 CNTERR — QEISIDL INDEX UPDN R/W-0 R/W-0 R/W-0 QEIM<2:0> bit 15 bit 8 R/W-0 R/W-0 R/W-0 SWPAB PCDOUT TQGATE R/W-0 R/W-0 TQCKPS<1:0> R/W-0 R/W-0 R/W-0 POSRES TQCS UPDN_SRC bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 x = Bit is unknown CNTERR: Count Error Status Flag bit 1 = Position count error has occurred 0 = No position count error has occurred Note: CNTERR flag only applies when QEIM<2:0> = ‘110’ or ‘100’. bit 14 Unimplemented: Read as ‘0’ bit 13 QEISIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode bit 12 INDEX: Index Pin State Status bit (Read-Only) 1 = Index pin is High 0 = Index pin is Low bit 11 UPDN: Position Counter Direction Status bit 1 = Position Counter Direction is positive (+) 0 = Position Counter Direction is negative (-) (Read-only bit when QEIM<2:0> = ‘1XX’) (Read/Write bit when QEIM<2:0> = ‘001’) bit 10-8 QEIM<2:0>: Quadrature Encoder Interface Mode Select bits 111 = Quadrature Encoder Interface enabled (x4 mode) with position counter reset by match (MAXCNT) 110 = Quadrature Encoder Interface enabled (x4 mode) with Index Pulse reset of position counter 101 = Quadrature Encoder Interface enabled (x2 mode) with position counter reset by match (MAXCNT) 100 = Quadrature Encoder Interface enabled (x2 mode) with Index Pulse reset of position counter 011 = Unused (Module disabled) 010 = Unused (Module disabled) 001 = Starts 16-bit Timer 000 = Quadrature Encoder Interface/Timer off bit 7 SWPAB: Phase A and Phase B Input Swap Select bit 1 = Phase A and Phase B inputs swapped 0 = Phase A and Phase B inputs not swapped bit 6 PCDOUT: Position Counter Direction State Output Enable bit 1 = Position Counter Direction Status Output Enable (QEI logic controls state of I/O pin) 0 = Position Counter Direction Status Output Disabled (Normal I/O pin operation) bit 5 TQGATE: Timer Gated Time Accumulation Enable bit 1 = Timer gated time accumulation enabled 0 = Timer gated time accumulation disabled © 2007 Microchip Technology Inc. Preliminary DS70283B-page 173 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 15-1: QEICON: QEI CONTROL REGISTER (CONTINUED) bit 4-3 TQCKPS<1:0>: Timer Input Clock Prescale Select bits 11 = 1:256 prescale value 10 = 1:64 prescale value 01 = 1:8 prescale value 00 = 1:1 prescale value (Prescaler utilized for 16-bit Timer mode only) bit 2 POSRES: Position Counter Reset Enable bit 1 = Index Pulse resets Position Counter 0 = Index Pulse does not reset Position Counter bit 1 TQCS: Timer Clock Source Select bit 1 = External clock from pin QEA (on the rising edge) 0 = Internal clock (TCY) bit 0 UPDN_SRC: Position Counter Direction Selection Control bit 1 = QEB pin state defines position counter direction 0 = Control/Status bit, UPDN (QEICON<11>), defines timer counter (POSCNT) direction Note: Note: DS70283B-page 174 Bit applies only when QEIM<2:0> = 100 or 110. When configured for QEI mode, control bit is a ‘don’t care’. Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 15-2: DFLTCON: DIGITAL FILTER CONTROL REGISTER U-0 U-0 U-0 U-0 U-0 — — — — — R/W-0 R/W-0 R/W-0 IMV<2:0> CEID bit 15 bit 8 R/W-0 R/W-0 U-0 U-0 U-0 U-0 QEOUT QECK<2:0> — — — — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-11 Unimplemented: Read as ‘0’ bit 10-9 IMV<1:0>: Index Match Value bits – These bits allow the user application to specify the state of the QEA and QEB input pins during an Index pulse when the POSCNT register is to be reset. In 4X Quadrature Count Mode: IMV1= Required State of Phase B input signal for match on index pulse IMV0= Required State of Phase A input signal for match on index pulse In 2X Quadrature Count Mode: IMV1= Selects Phase input signal for Index state match (0 = Phase A, 1 = Phase B) IMV0= Required state of the selected Phase input signal for match on index pulse bit 8 CEID: Count Error Interrupt Disable bit 1 = Interrupts due to count errors are disabled 0 = Interrupts due to count errors are enabled bit 7 QEOUT: QEA/QEB/INDX Pin Digital Filter Output Enable bit 1 = Digital filter outputs enabled 0 = Digital filter outputs disabled (normal pin operation) bit 6-4 QECK<2:0>: QEA/QEB/INDX Digital Filter Clock Divide Select Bits 111 = 1:256 Clock Divide 110 = 1:128 Clock Divide 101 = 1:64 Clock Divide 100 = 1:32 Clock Divide 011 = 1:16 Clock Divide 010 = 1:4 Clock Divide 001 = 1:2 Clock Divide 000 = 1:1 Clock Divide bit 3-0 Unimplemented: Read as ‘0’ © 2007 Microchip Technology Inc. Preliminary DS70283B-page 175 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 176 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 16.0 Note: SERIAL PERIPHERAL INTERFACE (SPI) 16.3 This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The Serial Peripheral Interface (SPI) module is a synchronous serial interface useful for communicating with other peripheral or microcontroller devices. These peripheral devices can be serial EEPROMs, shift registers, display drivers, analog-to-digital converters, etc. The SPI module is compatible with SPI and SIOP from Motorola®. Each SPI module consists of a 16-bit shift register, SPIxSR (where x = 1 or 2), used for shifting data in and out, and a buffer register, SPIxBUF. A control register, SPIxCON, configures the module. Additionally, a status register, SPIxSTAT, indicates status conditions. Transmit writes are also double-buffered. The user application writes to SPIxBUF. When the Master or Slave transfer is completed, the contents of the shift register (SPIxSR) are moved to the receive buffer. If any transmit data has been written to the buffer register, the contents of the transmit buffer are moved to SPIxSR. The received data is thus placed in SPIxBUF and the transmit data in SPIxSR is ready for the next transfer. Note: 16.4 SDIx (serial data input) SDOx (serial data output) SCKx (shift clock input or output) SSx (active low slave select). 1. 2. In Master mode operation, SCK is a clock output. In Slave mode, it is a clock input. 16.1 3. 4. 5. Interrupts A series of 8 or 16 clock pulses shift out bits from the SPIxSR to SDOx pin and simultaneously shift in data from the SDIx pin. An interrupt is generated when the transfer is complete and the corresponding interrupt flag bit (SPI1IF) is set. This interrupt can be disabled through an interrupt enable bit (SPI1IE). 16.2 Both the transmit buffer (SPIxTXB) and the receive buffer (SPIxRXB) are mapped to the same register address, SPIxBUF. Do not perform read-modify-write operations (such as bit-oriented instructions) on the SPIxBUF register. SPI Setup: Master Mode To set up the SPI module for the Master mode of operation: The serial interface consists of 4 pins: • • • • Transmit Operations If using interrupts: a) Clear the SPIxIF bit in the respective IFSn register. b) Set the SPIxIE bit in the respective IECn register. c) Write the SPIxIP bits in the respective IPCn register to set the interrupt priority. Write the desired settings to the SPIxCON register with MSTEN (SPIxCON1<5>) = 1. Clear the SPIROV bit (SPIxSTAT<6>). Enable SPI operation by setting the SPIEN bit (SPIxSTAT<15>). Write the data to be transmitted to the SPIxBUF register. Transmission (and reception) will start as soon as data is written to the SPIxBUF register. Receive Operations The receive operation is double-buffered. When a complete byte is received, it is transferred from SPIxSR to SPIxBUF. If the receive buffer is full when new data is being transferred from SPIxSR to SPIxBUF, the module sets the SPIROV bit, indicating an overflow condition. The transfer of the data from SPIxSR to SPIxBUF is not completed, and the new data is lost. The module will not respond to SCL transitions while SPIROV is ‘1’, effectively disabling the module until SPIxBUF is read by user software. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 177 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 16.5 SPI Setup: Slave Mode 3. To set up the SPI module for the Slave mode of operation: 1. 2. Clear the SPIxBUF register. If using interrupts: a) Clear the SPIxIF bit in the respective IFSn register. b) Set the SPIxIE bit in the respective IECn register. c) Write the SPIxIP bits in the respective IPCn register to set the interrupt priority. FIGURE 16-1: 4. 5. 6. 7. The SPI module generates an interrupt indicating completion of a byte or word transfer, as well as a separate interrupt for all SPI error conditions. SPI MODULE BLOCK DIAGRAM SCKx SSx Write the desired settings to the SPIxCON1 and SPIxCON2 registers with MSTEN (SPIxCON1<5>) = 0. Clear the SMP bit. If the CKE bit is set, then set the SSEN bit (SPIxCON1<7>) to enable the SSx pin. Clear the SPIROV bit (SPIxSTAT<6>). Enable SPI operation by setting the SPIEN bit (SPIxSTAT<15>). 1:1 to 1:8 Secondary Prescaler Sync Control 1:1/4/16/64 Primary Prescaler Select Edge Control Clock SPIxCON1<1:0> Shift Control SPIxCON1<4:2> SDOx Enable Master Clock bit 0 SDIx FCY SPIxSR Transfer Transfer SPIxRXB SPIxTXB SPIxBUF Read SPIxBUF Write SPIxBUF 16 Internal Data Bus DS70283B-page 178 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 16-2: SPI MASTER/SLAVE CONNECTION PROCESSOR 1 (SPI Master) PROCESSOR 2 (SPI Slave) SDOx SDIx Serial Receive Buffer (SPIxRXB) Serial Receive Buffer (SPIxRXB) SDIx Shift Register (SPIxSR) SDOx LSb MSb MSb LSb Serial Transmit Buffer (SPIxTXB) Serial Transmit Buffer (SPIxTXB) SPI Buffer (SPIxBUF)(2) Shift Register (SPIxSR) Serial Clock SCKx SCKx SPI Buffer (SPIxBUF)(2) SSx(1) (MSTEN (SPIxCON1<5>) = 1) Note (SSEN (SPIxCON1<7>) = 1 and MSTEN (SPIxCON1<5>) = 0) 1: Using the SSx pin in Slave mode of operation is optional. 2: User application must write transmit data to or read received data from SPIxBUF. The SPIxTXB and SPIxRXB registers are memory mapped to SPIxBUF. FIGURE 16-3: SPI MASTER, FRAME MASTER CONNECTION DIAGRAM PROCESSOR 2 dsPIC33F SDOx SDIx SDIx SDOx Serial Clock SCKx SSx FIGURE 16-4: Frame Sync Pulse SCKx SSx SPI MASTER, FRAME SLAVE CONNECTION DIAGRAM PROCESSOR 2 dsPIC33F SDIx SDOx SDOx SDIx SCKx SSx © 2007 Microchip Technology Inc. Serial Clock Frame Sync Pulse Preliminary SCKx SSx DS70283B-page 179 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 16-5: SPI SLAVE, FRAME MASTER CONNECTION DIAGRAM PROCESSOR 2 dsPIC33F SDIx SDOx SDOx SDIx Serial Clock SCKx SSx FIGURE 16-6: SCKx SSx Frame Sync Pulse SPI SLAVE, FRAME SLAVE CONNECTION DIAGRAM PROCESSOR 2 dsPIC33F SDIx SDOx SDOx SDIx Serial Clock SCKx SSx EQUATION 16-1: SSx Frame Sync Pulse RELATIONSHIP BETWEEN DEVICE AND SPI CLOCK SPEED FSCK = TABLE 16-1: SCKx FCY Primary Prescaler * Secondary Prescaler SAMPLE SCKx FREQUENCIES Secondary Prescaler Settings FCY = 40 MHz Primary Prescaler Settings 1:1 2:1 4:1 6:1 8:1 1:1 Invalid Invalid 10000 6666.67 5000 4:1 10000 5000 2500 1666.67 1250 16:1 2500 1250 625 416.67 312.50 64:1 625 312.5 156.25 104.17 78.125 1:1 5000 2500 1250 833 625 FCY = 5 MHz Primary Prescaler Settings Note: 4:1 1250 625 313 208 156 16:1 313 156 78 52 39 64:1 78 39 20 13 10 SCKx frequencies shown in kHz. DS70283B-page 180 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 16-1: SPIxSTAT: SPIx STATUS AND CONTROL REGISTER R/W-0 U-0 R/W-0 U-0 U-0 U-0 U-0 U-0 SPIEN — SPISIDL — — — — — bit 15 bit 8 U-0 R/C-0 U-0 U-0 U-0 U-0 R-0 R-0 — SPIROV — — — — SPITBF SPIRBF bit 7 bit 0 Legend: C = Clearable bit R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 SPIEN: SPIx Enable bit 1 = Enables module and configures SCKx, SDOx, SDIx and SSx as serial port pins 0 = Disables module bit 14 Unimplemented: Read as ‘0’ bit 13 SPISIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode bit 12-7 Unimplemented: Read as ‘0’ bit 6 SPIROV: Receive Overflow Flag bit 1 = A new byte/word is completely received and discarded. The user software has not read the previous data in the SPIxBUF register. 0 = No overflow has occurred. bit 5-2 Unimplemented: Read as ‘0’ bit 1 SPITBF: SPIx Transmit Buffer Full Status bit 1 = Transmit not yet started, SPIxTXB is full 0 = Transmit started, SPIxTXB is empty Automatically set in hardware when CPU writes SPIxBUF location, loading SPIxTXB Automatically cleared in hardware when SPIx module transfers data from SPIxTXB to SPIxSR bit 0 SPIRBF: SPIx Receive Buffer Full Status bit 1 = Receive complete, SPIxRXB is full 0 = Receive is not complete, SPIxRXB is empty Automatically set in hardware when SPIx transfers data from SPIxSR to SPIxRXB Automatically cleared in hardware when core reads SPIxBUF location, reading SPIxRXB © 2007 Microchip Technology Inc. Preliminary DS70283B-page 181 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 16-2: SPIXCON1: SPIx CONTROL REGISTER 1 U-0 U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 — — — DISSCK DISSDO MODE16 SMP CKE(1) bit 15 bit 8 R/W-0 R/W-0 R/W-0 SSEN CKP MSTEN R/W-0 R/W-0 R/W-0 R/W-0 SPRE<2:0> R/W-0 PPRE<1:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-13 Unimplemented: Read as ‘0’ bit 12 DISSCK: Disable SCKx pin bit (SPI Master modes only) 1 = Internal SPI clock is disabled, pin functions as I/O 0 = Internal SPI clock is enabled bit 11 DISSDO: Disable SDOx pin bit 1 = SDOx pin is not used by module; pin functions as I/O 0 = SDOx pin is controlled by the module bit 10 MODE16: Word/Byte Communication Select bit 1 = Communication is word-wide (16 bits) 0 = Communication is byte-wide (8 bits) bit 9 SMP: SPIx Data Input Sample Phase bit Master mode: 1 = Input data sampled at end of data output time 0 = Input data sampled at middle of data output time Slave mode: SMP must be cleared when SPIx is used in Slave mode. bit 8 CKE: SPIx Clock Edge Select bit(1) 1 = Serial output data changes on transition from active clock state to Idle clock state (see bit 6) 0 = Serial output data changes on transition from Idle clock state to active clock state (see bit 6) bit 7 SSEN: Slave Select Enable bit (Slave mode) 1 = SSx pin used for Slave mode 0 = SSx pin not used by module. Pin controlled by port function. bit 6 CKP: Clock Polarity Select bit 1 = Idle state for clock is a high level; active state is a low level 0 = Idle state for clock is a low level; active state is a high level bit 5 MSTEN: Master Mode Enable bit 1 = Master mode 0 = Slave mode Note 1: The CKE bit is not used in the Framed SPI modes. Program this bit to ‘0’ for the Framed SPI modes (FRMEN = 1). DS70283B-page 182 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 16-2: SPIXCON1: SPIx CONTROL REGISTER 1 (CONTINUED) bit 4-2 SPRE<2:0>: Secondary Prescale bits (Master mode) 111 = Secondary prescale 1:1 110 = Secondary prescale 2:1 . . . 000 = Secondary prescale 8:1 bit 1-0 PPRE<1:0>: Primary Prescale bits (Master mode) 11 = Primary prescale 1:1 10 = Primary prescale 4:1 01 = Primary prescale 16:1 00 = Primary prescale 64:1 Note 1: The CKE bit is not used in the Framed SPI modes. Program this bit to ‘0’ for the Framed SPI modes (FRMEN = 1). © 2007 Microchip Technology Inc. Preliminary DS70283B-page 183 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 16-3: SPIxCON2: SPIx CONTROL REGISTER 2 R/W-0 R/W-0 R/W-0 U-0 U-0 U-0 U-0 U-0 FRMEN SPIFSD FRMPOL — — — — — bit 15 bit 8 U-0 U-0 U-0 U-0 U-0 U-0 R/W-0 U-0 — — — — — — FRMDLY — bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 FRMEN: Framed SPIx Support bit 1 = Framed SPIx support enabled (SSx pin used as frame sync pulse input/output) 0 = Framed SPIx support disabled bit 14 SPIFSD: Frame Sync Pulse Direction Control bit 1 = Frame sync pulse input (slave) 0 = Frame sync pulse output (master) bit 13 FRMPOL: Frame Sync Pulse Polarity bit 1 = Frame sync pulse is active-high 0 = Frame sync pulse is active-low bit 12-2 Unimplemented: Read as ‘0’ bit 1 FRMDLY: Frame Sync Pulse Edge Select bit 1 = Frame sync pulse coincides with first bit clock 0 = Frame sync pulse precedes first bit clock bit 0 Unimplemented: This bit must not be set to ‘1’ by the user application. DS70283B-page 184 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 17.0 Note: INTER-INTEGRATED CIRCUIT (I2C) This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The Inter-Integrated Circuit (I2C) module provides complete hardware support for both Slave and MultiMaster modes of the I2C serial communication standard, with a 16-bit interface. The I2C module has a 2-pin interface: • The SCLx pin is clock. • The SDAx pin is data. The I 2C module offers the following key features: 2C • I interface supporting both Master and Slave modes of operation. • I2C Slave mode supports 7 and 10-bit address. • I2C Master mode supports 7 and 10-bit address. • I2C port allows bidirectional transfers between master and slaves. • Serial clock synchronization for I2C port can be used as a handshake mechanism to suspend and resume serial transfer (SCLREL control). • I2C supports multi-master operation, detects bus collision and arbitrates accordingly. 17.1 Operating Modes The I2C module can operate either as a slave or a master on an I2C bus. The following types of I2C operation are supported: I2C slave operation with 7-bit address I2C slave operation with 10-bit address I2C master operation with 7 or 10-bit address For details about the communication sequence in each of these modes, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. © 2007 Microchip Technology Inc. I2C Registers I2CxCON and I2CxSTAT are control and status registers, respectively. The I2CxCON register is readable and writable. The lower six bits of I2CxSTAT are read-only. The remaining bits of the I2CSTAT are read/write: • I2CxRSR is the shift register used for shifting data. • I2CxRCV is the receive buffer and the register to which data bytes are written, or from which data bytes are read. • I2CxTRN is the transmit register to which bytes are written during a transmit operation. • The I2CxADD register holds the slave address. • A status bit, ADD10, indicates 10-bit Address mode. • The I2CxBRG acts as the Baud Rate Generator (BRG) reload value. In receive operations, I2CxRSR and I2CxRCV together form a double-buffered receiver. When I2CxRSR receives a complete byte, it is transferred to I2CxRCV, and an interrupt pulse is generated. 17.3 I2C Interrupts The I2C module generates two interrupt flags: • MI2CxIF (I2C Master Events Interrupt flag) • SI2CxIF (I2C Slave Events Interrupt flag). A separate interrupt is generated for all I2C error conditions. 17.4 Baud Rate Generator In I2C Master mode, the reload The hardware fully implements all the master and slave functions of the I2C Standard and Fast mode specifications, as well as 7 and 10-bit addressing. • • • 17.2 value for the Baud Rate Generator (BRG) is located in the I2CxBRG register. When the BRG is loaded with this value, the BRG counts down to zero and stops until another reload has taken place. If clock arbitration is taking place, for example, the BRG is reloaded when the SCLx pin is sampled high. As per the I2C standard, FSCL can be 100 kHz or 400 kHz. However, the user application can specify any baud rate up to 1 MHz. I2CxBRG values of ‘0’ or ‘1’ are illegal. EQUATION 17-1: Preliminary I2CxBRG = SERIAL CLOCK RATE CY ( FFSCL – FCY 10,000,000 )–1 DS70283B-page 185 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 17-1: I2C™ BLOCK DIAGRAM (X = 1) Internal Data Bus I2CxRCV SCLx Read Shift Clock I2CxRSR LSb SDAx Address Match Match Detect Write I2CxMSK Write Read I2CxADD Read Start and Stop Bit Detect Write Start and Stop Bit Generation Control Logic I2CxSTAT Collision Detect Read Write I2CxCON Acknowledge Generation Read Clock Stretching Write I2CxTRN LSb Read Shift Clock Reload Control Write BRG Down Counter I2CxBRG Read TCY/2 DS70283B-page 186 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 17.5 I2C Module Addresses 17.8 The 10-bit I2CxADD register contains the Slave mode addresses. If the A10M bit (I2CxCON<10>) is ‘0’, the address is interpreted by the module as a 7-bit address. When an address is received, it is compared to the 7 Least Significant bits of the I2CxADD register. If the A10M bit is ‘1’, the address is assumed to be a 10-bit address. When an address is received, it is compared with the binary value, ‘11110 A9 A8’ (where A9 and A8 are two Most Significant bits of I2CxADD). If that value matches, the next address will be compared with the Least Significant 8 bits of I2CxADD, as specified in the 10-bit addressing protocol. TABLE 17-1: 7-BIT I2C™ SLAVE ADDRESSES SUPPORTED BY dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 0x00 General call address or Start byte 0x01-0x03 Reserved 0x04-0x07 Hs mode Master codes 0x08-0x77 Valid 7-bit addresses 0x78-0x7b Valid 10-bit addresses (lower 7 bits) 0x7c-0x7f Reserved 17.6 Slave Address Masking The I2CxMSK register (Register 17-3) designates address bit positions as “don’t care” for both 7-bit and 10-bit Address modes. Setting a particular bit location (= 1) in the I2CxMSK register causes the slave module to respond, whether the corresponding address bit value is a ‘0’ or ‘1’. For example, when I2CxMSK is set to ‘00100000’, the Slave module will detect both addresses, ‘0000000’ and ‘00100000’. To enable address masking, the IPMI (Intelligent Peripheral Management Interface) must be disabled by clearing the IPMIEN bit (I2CxCON<11>). 17.7 IPMI Support The control bit IPMIEN enables the module to support the Intelligent Peripheral Management Interface (IPMI). When this bit is set, the module accepts and acts upon all addresses. General Call Address Support The general call address can address all devices. When this address is used, all devices should, in theory, respond with an Acknowledgement. The general call address is one of eight addresses reserved for specific purposes by the I2C protocol. It consists of all ‘0’s with R_W = 0. The general call address is recognized when the General Call Enable (GCEN) bit is set (I2CxCON<7> = 1). When the interrupt is serviced, the source for the interrupt can be checked by reading the contents of the I2CxRCV to determine if the address was device-specific or a general call address. 17.9 Automatic Clock Stretch In Slave modes, the module can synchronize buffer reads and write to the master device by clock stretching. 17.9.1 TRANSMIT CLOCK STRETCHING Both 10-bit and 7-bit Transmit modes implement clock stretching by asserting the SCLREL bit after the falling edge of the ninth clock, if the TBF bit is cleared, indicating the buffer is empty. In Slave Transmit modes, clock stretching is always performed, irrespective of the STREN bit. The user’s ISR must set the SCLREL bit before transmission is allowed to continue. By holding the SCLx line low, the user application has time to service the ISR and load the contents of the I2CxTRN before the master device can initiate another transmit sequence. 17.9.2 RECEIVE CLOCK STRETCHING The STREN bit in the I2CxCON register can be used to enable clock stretching in Slave Receive mode. When the STREN bit is set, the SCLx pin will be held low at the end of each data receive sequence. The user’s ISR must set the SCLREL bit before reception is allowed to continue. By holding the SCLx line low, the user application has time to service the ISR and read the contents of the I2CxRCV before the master device can initiate another receive sequence. This prevents buffer overruns. 17.10 Software Controlled Clock Stretching (STREN = 1) When the STREN bit is ‘1’, the software can clear the SCLREL bit to allow software to control the clock stretching. If the STREN bit is ‘0’, a software write to the SCLREL bit is disregarded and has no effect on the SCLREL bit. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 187 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 17.11 Slope Control 2 The I C standard requires slope control on the SDAx and SCLx signals for Fast mode (400 kHz). The control bit, DISSLW, enables the user application to disable slew rate control if desired. It is necessary to disable the slew rate control for 1 MHz mode. 17.12 Clock Arbitration Clock arbitration occurs when the master deasserts the SCLx pin (SCLx allowed to float high) during any receive, transmit or Restart/Stop condition. When the SCLx pin is allowed to float high, the Baud Rate Generator (BRG) is suspended from counting until the SCLx pin is actually sampled high. When the SCLx pin is sampled high, the BRG is reloaded with the contents of I2CxBRG and begins counting. This process ensures that the SCLx high time will always be at least one BRG rollover count in the event that the clock is held low by an external device. DS70283B-page 188 17.13 Multi-Master Communication, Bus Collision and Bus Arbitration Multi-Master mode support is achieved by bus arbitration. When the master outputs address/data bits onto the SDAx pin, arbitration takes place when the master outputs a ‘1’ on SDAx by letting SDAx float high while another master asserts a ‘0’. When the SCLx pin floats high, data should be stable. If the expected data on SDAx is a ‘1’ and the data sampled on the SDAx pin = 0, then a bus collision has taken place. The master sets the I2C master events interrupt flag and resets the master portion of the I2C port to its Idle state. 17.14 Peripheral Pin Select Limitations The I2C module has limited peripheral pin select functionality. When the ALTI2C bit in the FPOR configuration register is set to ‘1’, I2C module uses SDAx/SLCx pins. When ALTI2C bit is ‘0’, I2C module uses ASDAx/ ASCLx pins. Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 17-1: I2CxCON: I2Cx CONTROL REGISTER R/W-0 U-0 R/W-0 R/W-1 HC R/W-0 R/W-0 R/W-0 R/W-0 I2CEN — I2CSIDL SCLREL IPMIEN A10M DISSLW SMEN bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 HC R/W-0 HC R/W-0 HC R/W-0 HC R/W-0 HC GCEN STREN ACKDT ACKEN RCEN PEN RSEN SEN bit 7 bit 0 Legend: U = Unimplemented bit, read as ‘0’ R = Readable bit W = Writable bit HS = Set in hardware HC = Cleared in hardware -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 I2CEN: I2Cx Enable bit 1 = Enables the I2Cx module and configures the SDAx and SCLx pins as serial port pins 0 = Disables the I2Cx module. All I2C pins are controlled by port functions. bit 14 Unimplemented: Read as ‘0’ bit 13 I2CSIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters an Idle mode 0 = Continue module operation in Idle mode bit 12 SCLREL: SCLx Release Control bit (when operating as I2C slave) 1 = Release SCLx clock 0 = Hold SCLx clock low (clock stretch) If STREN = 1: Bit is R/W (i.e., software can write ‘0’ to initiate stretch and write ‘1’ to release clock). Hardware clear at beginning of slave transmission. Hardware clear at end of slave reception. If STREN = 0: Bit is R/S (i.e., software can only write ‘1’ to release clock). Hardware clear at beginning of slave transmission. bit 11 IPMIEN: Intelligent Peripheral Management Interface (IPMI) Enable bit 1 = IPMI mode is enabled; all addresses Acknowledged 0 = IPMI mode disabled bit 10 A10M: 10-bit Slave Address bit 1 = I2CxADD is a 10-bit slave address 0 = I2CxADD is a 7-bit slave address bit 9 DISSLW: Disable Slew Rate Control bit 1 = Slew rate control disabled 0 = Slew rate control enabled bit 8 SMEN: SMbus Input Levels bit 1 = Enable I/O pin thresholds compliant with SMbus specification 0 = Disable SMbus input thresholds bit 7 GCEN: General Call Enable bit (when operating as I2C slave) 1 = Enable interrupt when a general call address is received in the I2CxRSR (module is enabled for reception) 0 = General call address disabled bit 6 STREN: SCLx Clock Stretch Enable bit (when operating as I2C slave) Used in conjunction with SCLREL bit. 1 = Enable software or receive clock stretching 0 = Disable software or receive clock stretching © 2007 Microchip Technology Inc. Preliminary DS70283B-page 189 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 17-1: I2CxCON: I2Cx CONTROL REGISTER (CONTINUED) bit 5 ACKDT: Acknowledge Data bit (when operating as I2C master, applicable during master receive) Value that will be transmitted when the software initiates an Acknowledge sequence. 1 = Send NACK during Acknowledge 0 = Send ACK during Acknowledge bit 4 ACKEN: Acknowledge Sequence Enable bit (when operating as I2C master, applicable during master receive) 1 = Initiate Acknowledge sequence on SDAx and SCLx pins and transmit ACKDT data bit. Hardware clear at end of master Acknowledge sequence. 0 = Acknowledge sequence not in progress bit 3 RCEN: Receive Enable bit (when operating as I2C master) 1 = Enables Receive mode for I2C. Hardware clear at end of eighth bit of master receive data byte. 0 = Receive sequence not in progress bit 2 PEN: Stop Condition Enable bit (when operating as I2C master) 1 = Initiate Stop condition on SDAx and SCLx pins. Hardware clear at end of master Stop sequence. 0 = Stop condition not in progress bit 1 RSEN: Repeated Start Condition Enable bit (when operating as I2C master) 1 = Initiate Repeated Start condition on SDAx and SCLx pins. Hardware clear at end of master Repeated Start sequence. 0 = Repeated Start condition not in progress bit 0 SEN: Start Condition Enable bit (when operating as I2C master) 1 = Initiate Start condition on SDAx and SCLx pins. Hardware clear at end of master Start sequence. 0 = Start condition not in progress DS70283B-page 190 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 17-2: I2CxSTAT: I2Cx STATUS REGISTER R-0 HSC R-0 HSC U-0 U-0 U-0 R/C-0 HS R-0 HSC R-0 HSC ACKSTAT TRSTAT — — — BCL GCSTAT ADD10 bit 15 bit 8 R/C-0 HS R/C-0 HS R-0 HSC R/C-0 HSC R/C-0 HSC R-0 HSC R-0 HSC R-0 HSC IWCOL I2COV D_A P S R_W RBF TBF bit 7 bit 0 Legend: U = Unimplemented bit, read as ‘0’ R = Readable bit W = Writable bit HS = Set in hardware HSC = Hardware set/cleared -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 ACKSTAT: Acknowledge Status bit (when operating as I2C master, applicable to master transmit operation) 1 = NACK received from slave 0 = ACK received from slave Hardware set or clear at end of slave Acknowledge. bit 14 TRSTAT: Transmit Status bit (when operating as I2C master, applicable to master transmit operation) 1 = Master transmit is in progress (8 bits + ACK) 0 = Master transmit is not in progress Hardware set at beginning of master transmission. Hardware clear at end of slave Acknowledge. bit 13-11 Unimplemented: Read as ‘0’ bit 10 BCL: Master Bus Collision Detect bit 1 = A bus collision has been detected during a master operation 0 = No collision Hardware set at detection of bus collision. bit 9 GCSTAT: General Call Status bit 1 = General call address was received 0 = General call address was not received Hardware set when address matches general call address. Hardware clear at Stop detection. bit 8 ADD10: 10-bit Address Status bit 1 = 10-bit address was matched 0 = 10-bit address was not matched Hardware set at match of 2nd byte of matched 10-bit address. Hardware clear at Stop detection. bit 7 IWCOL: Write Collision Detect bit 1 = An attempt to write the I2CxTRN register failed because the I2C module is busy 0 = No collision Hardware set at occurrence of write to I2CxTRN while busy (cleared by software). bit 6 I2COV: Receive Overflow Flag bit 1 = A byte was received while the I2CxRCV register is still holding the previous byte 0 = No overflow Hardware set at attempt to transfer I2CxRSR to I2CxRCV (cleared by software). bit 5 D_A: Data/Address bit (when operating as I2C slave) 1 = Indicates that the last byte received was data 0 = Indicates that the last byte received was device address Hardware clear at device address match. Hardware set by reception of slave byte. bit 4 P: Stop bit 1 = Indicates that a Stop bit has been detected last 0 = Stop bit was not detected last Hardware set or clear when Start, Repeated Start or Stop detected. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 191 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 17-2: I2CxSTAT: I2Cx STATUS REGISTER (CONTINUED) bit 3 S: Start bit 1 = Indicates that a Start (or Repeated Start) bit has been detected last 0 = Start bit was not detected last Hardware set or clear when Start, Repeated Start or Stop detected. bit 2 R_W: Read/Write Information bit (when operating as I2C slave) 1 = Read – indicates data transfer is output from slave 0 = Write – indicates data transfer is input to slave Hardware set or clear after reception of I 2C device address byte. bit 1 RBF: Receive Buffer Full Status bit 1 = Receive complete, I2CxRCV is full 0 = Receive not complete, I2CxRCV is empty Hardware set when I2CxRCV is written with received byte. Hardware clear when software reads I2CxRCV. bit 0 TBF: Transmit Buffer Full Status bit 1 = Transmit in progress, I2CxTRN is full 0 = Transmit complete, I2CxTRN is empty Hardware set when software writes I2CxTRN. Hardware clear at completion of data transmission. DS70283B-page 192 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 17-3: I2CxMSK: I2Cx SLAVE MODE ADDRESS MASK REGISTER U-0 U-0 U-0 U-0 U-0 U-0 R/W-0 R/W-0 — — — — — — AMSK9 AMSK8 bit 15 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 AMSK7 AMSK6 AMSK5 AMSK4 AMSK3 AMSK2 AMSK1 AMSK0 bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-10 Unimplemented: Read as ‘0’ bit 9-0 AMSKx: Mask for Address bit x Select bit 1 = Enable masking for bit x of incoming message address; bit match not required in this position 0 = Disable masking for bit x; bit match required in this position © 2007 Microchip Technology Inc. Preliminary DS70283B-page 193 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 194 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 18.0 Note: UNIVERSAL ASYNCHRONOUS RECEIVER TRANSMITTER (UART) This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The Universal Asynchronous Receiver Transmitter (UART) module is one of the serial I/O modules available in the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 device family. The UART is a fullduplex asynchronous system that can communicate with peripheral devices, such as personal computers, LIN, RS-232 and RS-485 interfaces. The module also supports a hardware flow control option with the UxCTS and UxRTS pins and also includes an IrDA® encoder and decoder. The primary features of the UART module are: • Full-Duplex, 8- or 9-bit Data Transmission through the UxTX and UxRX pins • Even, Odd or No Parity Options (for 8-bit data) • One or two stop bits FIGURE 18-1: • Hardware flow control option with UxCTS and UxRTS pins • Fully integrated Baud Rate Generator with 16-bit prescaler • Baud rates ranging from 1 Mbps to 15 Mbps at 16 MIPS • 4-deep First-In First-Out (FIFO) Transmit Data buffer • 4-deep FIFO Receive Data buffer • Parity, framing and buffer overrun error detection • Support for 9-bit mode with Address Detect (9th bit = 1) • Transmit and Receive interrupts • A separate interrupt for all UART error conditions • Loopback mode for diagnostic support • Support for sync and break characters • Support for automatic baud rate detection • IrDA encoder and decoder logic • 16x baud clock output for IrDA support A simplified block diagram of the UART module is shown in Figure 18-1. The UART module consists of these key hardware elements: • Baud Rate Generator • Asynchronous Transmitter • Asynchronous Receiver UART SIMPLIFIED BLOCK DIAGRAM Baud Rate Generator IrDA® BCLK Hardware Flow Control UxRTS UxCTS © 2007 Microchip Technology Inc. UART Receiver UxRX UART Transmitter UxTX Preliminary DS70283B-page 195 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 18.1 UART Baud Rate Generator (BRG) The UART module includes a dedicated 16-bit Baud Rate Generator (BRG). The BRGx register controls the period of a free-running 16-bit timer. Equation 18-1 shows the formula for computation of the baud rate with BRGH = 0. EQUATION 18-1: Equation 18-2 shows the formula for computation of the baud rate with BRGH = 1. EQUATION 18-2: Baud Rate = UART BAUD RATE WITH BRGH = 0 BRGx = FCY Baud Rate = 16 • (BRGx + 1) Note: BRGx = Note: FCY –1 16 • Baud Rate FCY denotes the instruction cycle clock frequency (FOSC/2). Example 18-1 shows the calculation of the baud rate error for the following conditions: • FCY = 4 MHz • Desired Baud Rate = 9600 UART BAUD RATE WITH BRGH = 1 FCY 4 • (BRGx + 1) FCY –1 4 • Baud Rate FCY denotes the instruction cycle clock frequency (FOSC/2). The maximum baud rate (BRGH = 1) possible is FCY/4 (for BRGx = 0), and the minimum baud rate possible is FCY/(4 * 65536). Writing a new value to the BRGx register causes the BRG timer to be reset (cleared). This ensures the BRG does not wait for a timer overflow before generating the new baud rate. The maximum baud rate (BRGH = 0) possible is FCY/16 (for BRGx = 0), and the minimum baud rate possible is FCY/(16 * 65536). EXAMPLE 18-1: BAUD RATE ERROR CALCULATION (BRGH = 0) Desired Baud Rate = FCY/(16 (BRGx + 1)) = = = ((FCY/Desired Baud Rate)/16) – 1 ((4000000/9600)/16) – 1 25 Calculated Baud Rate = = 4000000/(16 (25 + 1)) 9615 Error = (Calculated Baud Rate – Desired Baud Rate) Desired Baud Rate (9615 – 9600)/9600 0.16% Solving for BRGx Value: BRGx BRGx BRGx = = DS70283B-page 196 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 18.2 1. 2. 3. 4. Transmitting in 8-bit Data Mode 18.5 Set up the UART: a) Write appropriate values for data, parity and Stop bits. b) Write appropriate baud rate value to the BRGx register. c) Set up transmit and receive interrupt enable and priority bits. Enable the UART. Set the UTXEN bit (causes a transmit interrupt). Write data byte to lower byte of UxTXREG word. The value will be immediately transferred to the Transmit Shift Register (TSR) and the serial bit stream will start shifting out with the next rising edge of the baud clock. Alternately, the data byte can be transferred while UTXEN = 0, and then the user application can set UTXEN. This causes the serial bit stream to begin immediately, because the baud clock starts from a cleared state. A transmit interrupt will be generated as per the interrupt control bits, UTXISEL<1:0>. 18.3 1. 2. 3. 4. Transmitting in 9-bit Data Mode Set up the UART (as described in Section 18.2 “Transmitting in 8-bit Data Mode”). Enable the UART. Set the UTXEN bit (causes a transmit interrupt). Write UxTXREG as a 16-bit value only. A word write to UxTXREG triggers the transfer of the 9-bit data to the TSR. The serial bit stream will start shifting out with the first rising edge of the baud clock. A transmit interrupt will be generated as per the setting of control bits, UTXISEL<1:0>. 18.4 Break and Sync Transmit Sequence The following sequence will send a message frame header made up of a Break, followed by an auto-baud Sync byte. 1. 2. 3. Configure the UART for the desired mode. Set UTXEN and UTXBRK, which sets up the Break character. Load the UxTXREG register with a dummy character to initiate transmission (value is ignored). Write 0x55 to UxTXREG, which loads the Sync character into the transmit FIFO. After the Break has been sent, the UTXBRK bit is reset by hardware. The Sync character now transmits. © 2007 Microchip Technology Inc. 1. 2. 3. 4. Receiving in 8-bit or 9-bit Data Mode Set up the UART (as described in Section 18.2 “Transmitting in 8-bit Data Mode”). Enable the UART. A receive interrupt will be generated when one or more data characters have been received as per interrupt control bits, URXISEL<1:0>. Read the OERR bit to determine if an overrun error has occurred. The OERR bit must be reset in software. Read UxRXREG. The act of reading the UxRXREG character will move the next character to the top of the receive FIFO, including a new set of PERR and FERR values. 18.6 Flow Control Using UxCTS and UxRTS Pins UARTx Clear to Send (UxCTS) and Request to Send (UxRTS) are the two hardware controlled active-low pins associated with the UART module. The UEN<1:0> bits in the UxMODE register configures these pins. These two pins allow the UART to operate in Simplex and Flow Control modes. They are implemented to control the transmission and the reception between the Data Terminal Equipment (DTE). 18.7 Infrared Support The UART module provides two types of infrared UART support: • IrDA clock output to support external IrDA encoder and decoder device (legacy module support) • Full implementation of the IrDA encoder and decoder. 18.7.1 EXTERNAL IrDA SUPPORT – IrDA CLOCK OUTPUT To support external IrDA encoder and decoder devices, the BCLK pin (same as the UxRTS pin) can be configured to generate the 16x baud clock. With UEN<1:0> = 11, the BCLK pin will output the 16x baud clock if the UART module is enabled. The pin can be used to support the IrDA codec chip. 18.7.2 BUILT-IN IrDA ENCODER AND DECODER The UART module includes full implementation of the IrDA encoder and decoder. The built-in IrDA encoder and decoder functionality is enabled using the IREN bit (UxMODE<12>). When enabled (IREN = 1), the receive pin (UxRX) acts as the input from the infrared receiver. The transmit pin (UxTX) acts as the output to the infrared transmitter. Preliminary DS70283B-page 197 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 18-1: UxMODE: UARTx MODE REGISTER R/W-0 U-0 R/W-0 R/W-0 R/W-0 U-0 UARTEN — USIDL IREN(1) RTSMD — R/W-0 R/W-0 UEN<1:0> bit 15 bit 8 R/W-0 HC R/W-0 R/W-0 HC R/W-0 R/W-0 WAKE LPBACK ABAUD URXINV BRGH R/W-0 R/W-0 PDSEL<1:0> R/W-0 STSEL bit 7 bit 0 Legend: HC = Hardware cleared R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 UARTEN: UARTx Enable bit 1 = UARTx is enabled; all UARTx pins are controlled by UARTx as defined by UEN<1:0> 0 = UARTx is disabled; all UARTx pins are controlled by port latches; UARTx power consumption minimal bit 14 Unimplemented: Read as ‘0’ bit 13 USIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode bit 12 IREN: IrDA Encoder and Decoder Enable bit(1) 1 = IrDA encoder and decoder enabled 0 = IrDA encoder and decoder disabled bit 11 RTSMD: Mode Selection for UxRTS Pin bit 1 = UxRTS pin in Simplex mode 0 = UxRTS pin in Flow Control mode bit 10 Unimplemented: Read as ‘0’ bit 9-8 UEN<1:0>: UARTx Enable bits 11 = UxTX, UxRX and BCLK pins are enabled and used; UxCTS pin controlled by port latches 10 = UxTX, UxRX, UxCTS and UxRTS pins are enabled and used 01 = UxTX, UxRX and UxRTS pins are enabled and used; UxCTS pin controlled by port latches 00 = UxTX and UxRX pins are enabled and used; UxCTS and UxRTS/BCLK pins controlled by port latches bit 7 WAKE: Wake-up on Start bit Detect During Sleep Mode Enable bit 1 = UARTx will continue to sample the UxRX pin; interrupt generated on falling edge; bit cleared in hardware on following rising edge 0 = No wake-up enabled bit 6 LPBACK: UARTx Loopback Mode Select bit 1 = Enable Loopback mode 0 = Loopback mode is disabled bit 5 ABAUD: Auto-Baud Enable bit 1 = Enable baud rate measurement on the next character – requires reception of a Sync field (55h) before other data; cleared in hardware upon completion 0 = Baud rate measurement disabled or completed bit 4 URXINV: Receive Polarity Inversion bit 1 = UxRX Idle state is ‘0’ 0 = UxRX Idle state is ‘1’ Note 1: This feature is only available for the 16x BRG mode (BRGH = 0). DS70283B-page 198 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 18-1: UxMODE: UARTx MODE REGISTER (CONTINUED) bit 3 BRGH: High Baud Rate Enable bit 1 = BRG generates 4 clocks per bit period (4x baud clock, High-Speed mode) 0 = BRG generates 16 clocks per bit period (16x baud clock, Standard mode) bit 2-1 PDSEL<1:0>: Parity and Data Selection bits 11 = 9-bit data, no parity 10 = 8-bit data, odd parity 01 = 8-bit data, even parity 00 = 8-bit data, no parity bit 0 STSEL: Stop Bit Selection bit 1 = Two Stop bits 0 = One Stop bit Note 1: This feature is only available for the 16x BRG mode (BRGH = 0). © 2007 Microchip Technology Inc. Preliminary DS70283B-page 199 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 18-2: UxSTA: UARTx STATUS AND CONTROL REGISTER R/W-0 R/W-0 R/W-0 U-0 R/W-0 HC R/W-0 R-0 R-1 UTXISEL1 UTXINV(1) UTXISEL0 — UTXBRK UTXEN UTXBF TRMT bit 15 bit 8 R/W-0 R/W-0 URXISEL<1:0> R/W-0 R-1 R-0 R-0 R/C-0 R-0 ADDEN RIDLE PERR FERR OERR URXDA bit 7 bit 0 Legend: HC = Hardware cleared R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15,13 UTXISEL<1:0>: Transmission Interrupt Mode Selection bits 11 = Reserved; do not use 10 = Interrupt when a character is transferred to the Transmit Shift Register, and as a result, the transmit buffer becomes empty 01 = Interrupt when the last character is shifted out of the Transmit Shift Register; all transmit operations are completed 00 = Interrupt when a character is transferred to the Transmit Shift Register (this implies there is at least one character open in the transmit buffer) bit 14 UTXINV: IrDA® Encoder Transmit Polarity Inversion bit(1) 1 = IrDA encoded, UxTX Idle state is ‘1’ 0 = IrDA encoded, UxTX Idle state is ‘0’ bit 12 Unimplemented: Read as ‘0’ bit 11 UTXBRK: Transmit Break bit 1 = Send Sync Break on next transmission – Start bit, followed by twelve ‘0’ bits, followed by Stop bit; cleared by hardware upon completion 0 = Sync Break transmission disabled or completed bit 10 UTXEN: Transmit Enable bit 1 = Transmit enabled, UxTX pin controlled by UARTx 0 = Transmit disabled, any pending transmission is aborted and buffer is reset. UxTX pin controlled by port. bit 9 UTXBF: Transmit Buffer Full Status bit (read-only) 1 = Transmit buffer is full 0 = Transmit buffer is not full, at least one more character can be written bit 8 TRMT: Transmit Shift Register Empty bit (read-only) 1 = Transmit Shift Register is empty and transmit buffer is empty (the last transmission has completed) 0 = Transmit Shift Register is not empty, a transmission is in progress or queued bit 7-6 URXISEL<1:0>: Receive Interrupt Mode Selection bits 11 = Interrupt is set on UxRSR transfer making the receive buffer full (i.e., has 4 data characters) 10 = Interrupt is set on UxRSR transfer making the receive buffer 3/4 full (i.e., has 3 data characters) 0x = Interrupt is set when any character is received and transferred from the UxRSR to the receive buffer. Receive buffer has one or more characters. bit 5 ADDEN: Address Character Detect bit (bit 8 of received data = 1) 1 = Address Detect mode enabled. If 9-bit mode is not selected, this does not take effect. 0 = Address Detect mode disabled Note 1: Value of bit only affects the transmit properties of the module when the IrDA encoder is enabled (IREN = 1). DS70283B-page 200 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 18-2: UxSTA: UARTx STATUS AND CONTROL REGISTER (CONTINUED) bit 4 RIDLE: Receiver Idle bit (read-only) 1 = Receiver is Idle 0 = Receiver is active bit 3 PERR: Parity Error Status bit (read-only) 1 = Parity error has been detected for the current character (character at the top of the receive FIFO) 0 = Parity error has not been detected bit 2 FERR: Framing Error Status bit (read-only) 1 = Framing error has been detected for the current character (character at the top of the receive FIFO) 0 = Framing error has not been detected bit 1 OERR: Receive Buffer Overrun Error Status bit (read/clear only) 1 = Receive buffer has overflowed 0 = Receive buffer has not overflowed. Clearing a previously set OERR bit (1 → 0 transition) will reset the receiver buffer and the UxRSR to the empty state. bit 0 URXDA: Receive Buffer Data Available bit (read-only) 1 = Receive buffer has data, at least one more character can be read 0 = Receive buffer is empty Note 1: Value of bit only affects the transmit properties of the module when the IrDA encoder is enabled (IREN = 1). © 2007 Microchip Technology Inc. Preliminary DS70283B-page 201 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 202 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 19.0 Note: 10-BIT/12-BIT ANALOG-TODIGITAL CONVERTER (ADC) This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices have up to 9 Analog-toDigital Converter (ADC) module input channels. The AD12B bit (AD1CON1<10>) allows each of the ADC modules to be configured as either a 10-bit, 4 sample-and-hold ADC (default configuration), or a 12-bit, 1 sample-and-hold ADC. Note: 19.1 The ADC module must be disabled before the AD12B bit can be modified. • • • • • • The actual number of analog input pins and external voltage reference input configuration will depend on the specific device. Refer to the device data sheet for further details. A block diagram of the ADC is shown in Figure 19-1. 19.2 Successive Approximation (SAR) conversion Conversion speeds of up to 1.1 Msps Up to 9 analog input pins External voltage reference input pins Simultaneous sampling of up to four analog input pins Automatic Channel Scan mode Selectable conversion trigger source Selectable Buffer Fill modes Four result alignment options (signed/unsigned, fractional/integer) Operation during CPU Sleep and Idle modes 16-word conversion result buffer ADC Initialization To configure the ADC module: 1. 2. 3. 4. Key Features The 10-bit ADC configuration has the following key features: • • • • • Depending on the particular device pinout, the ADC can have up to 9 analog input pins, designated AN0 through AN8. In addition, there are two analog input pins for external voltage reference connections. These voltage reference inputs can be shared with other analog input pins. 5. 6. 7. 8. Select port pins as analog inputs (AD1PCFGH<15:0> or AD1PCFGL<15:0>). Select voltage reference source to match expected range on analog inputs (AD1CON2<15:13>). Select the analog conversion clock to match the desired data rate with the processor clock (AD1CON3<5:0>). Determine how many sample-and-hold channels will be used (AD1CON2<9:8> and AD1PCFGH<15:0> or AD1PCFGL<15:0>). Select the appropriate sample/conversion sequence (AD1CON1<7:5> and AD1CON3<12:8>). Select the way conversion results are presented in the buffer (AD1CON1<9:8>). Turn on the ADC module (AD1CON1<15>). Configure ADC interrupt (if required): a) Clear the AD1IF bit. b) Select the ADC interrupt priority. The 12-bit ADC configuration supports all the above features, except: • In the 12-bit configuration, conversion speeds of up to 500 ksps are supported • There is only 1 sample-and-hold amplifier in the 12-bit configuration, so simultaneous sampling of multiple channels is not supported. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 203 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 19-1: ADC1 MODULE BLOCK DIAGRAM FOR dsPIC33FJ16MC304 AND dsPIC33FJ32MC204 DEVICES AVDD VREF+(1) AVSS VREF-(1) AN0 AN3 AN0 AN6 + - S/H CH1(2) ADC1 VREF+ AN7 - CH2(2) Conversion Result S/H 16-bit ADC Output Buffer VREFAN2 AN5 AN2 AN8 + - S/H VREF- AN3 00000 00001 00010 00011 AN4 00100 AN5 00101 AN6 00110 AN7 00111 AN8 01000 Note 1: 2: CH3(2) CH1,CH2, CH3,CH0 Sample Input Switches + VREFAN1 Conversion Logic - Sample/Sequence Control Bus Interface AN1 AN4 Data Format AN1 Input MUX Control CH0 S/H VREF+, VREF- inputs may be multiplexed with other analog inputs. Channels 1, 2 and 3 are not applicable for the 12-bit mode of operation. DS70283B-page 204 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 19-2: ADC1 MODULE BLOCK DIAGRAM FOR dsPIC33FJ32MC202 DEVICES AVDD VREF+(1) AVSS VREF-(1) AN0 AN3 AN0 + - S/H CH1(2) ADC1 VREF- - CH2(2) Conversion Result S/H 16-bit ADC Output Buffer VREFAN2 AN5 AN2 + - S/H VREF- AN3 00000 00001 00010 00011 AN4 00100 AN5 00101 Note 1: 2: CH3(2) CH1,CH2, CH3,CH0 Sample Input Switches + VREFAN1 Conversion Logic - Sample/Sequence Control Bus Interface + Data Format AN1 AN4 AN1 Input MUX Control CH0 S/H VREF+, VREF- inputs may be multiplexed with other analog inputs. Channels 1, 2 and 3 are not applicable for the 12-bit mode of operation. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 205 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 EQUATION 19-1: ADC CONVERSION CLOCK PERIOD TAD = TCY(ADCS + 1) ADCS = FIGURE 19-3: TAD –1 TCY ADC TRANSFER FUNCTION (10-BIT EXAMPLE) Output Code 11 1111 1111 (= 1023) 11 1111 1110 (= 1022) 10 0000 0011 (= 515) 10 0000 0010 (= 514) 10 0000 0001 (= 513) 10 0000 0000 (= 512) 01 1111 1111 (= 511) 01 1111 1110 (= 510) 01 1111 1101 (= 509) 00 0000 0001 (= 1) 00 0000 0000 (= 0) VREFL VREFL + VREFH – VREFL VREFL + 1024 512 * (VREFH – VREFL) 1024 VREFL + 1023 * (VREFH – VREFL) VREFH 1024 (VINH – VINL) FIGURE 19-4: ADC CONVERSION CLOCK PERIOD BLOCK DIAGRAM AD1CON3<15> ADC Internal RC Clock 0 TAD AD1CON3<5:0> 1 6 TOSC(1) X2 TCY ADC Conversion Clock Multiplier 1, 2, 3, 4, 5,..., 64 Note: Refer to Figure 7-2 for the derivation of FOSC when the PLL is enabled. If the PLL is not used, FOSC is equal to the clock frequency. TOSC = 1/FOSC. DS70283B-page 206 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 19-1: AD1CON1: ADC1 CONTROL REGISTER 1 R/W-0 U-0 R/W-0 U-0 U-0 R/W-0 ADON — ADSIDL — — AD12B R/W-0 R/W-0 FORM<1:0> bit 15 bit 8 R/W-0 R/W-0 R/W-0 SSRC<2:0> U-0 R/W-0 R/W-0 R/W-0 HC,HS R/C-0 HC, HS — SIMSAM ASAM SAMP DONE bit 7 bit 0 Legend: HC = Cleared by hardware HS = Set by hardware R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15 ADON: ADC Operating Mode bit 1 = ADC module is operating 0 = ADC is off bit 14 Unimplemented: Read as ‘0’ bit 13 ADSIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode bit 12-11 Unimplemented: Read as ‘0’ bit 10 AD12B: 10-bit or 12-bit Operation Mode bit 1 = 12-bit, 1-channel ADC operation 0 = 10-bit, 4-channel ADC operation bit 9-8 FORM<1:0>: Data Output Format bits For 10-bit operation: 11 = Signed fractional (DOUT = sddd dddd dd00 0000, where s = .NOT.d<9>) 10 = Fractional (DOUT = dddd dddd dd00 0000) 01 = Signed integer (DOUT = ssss sssd dddd dddd, where s = .NOT.d<9>) 00 = Integer (DOUT = 0000 00dd dddd dddd) For 12-bit operation: 11 = Signed fractional (DOUT = sddd dddd dddd 0000, where s = .NOT.d<11>) 10 = Fractional (DOUT = dddd dddd dddd 0000) 01 = Signed Integer (DOUT = ssss sddd dddd dddd, where s = .NOT.d<11>) 00 = Integer (DOUT = 0000 dddd dddd dddd) bit 7-5 SSRC<2:0>: Sample Clock Source Select bits 111 = Internal counter ends sampling and starts conversion (auto-convert) 110 = Reserved 101 = Motor Control PWM2 interval ends sampling and starts conversion 100 = Reserved 011 = Motor Control PWM1 interval ends sampling and starts conversion 010 = GP timer 3 compare ends sampling and starts conversion 001 = Active transition on INT0 pin ends sampling and starts conversion 000 = Clearing sample bit ends sampling and starts conversion bit 4 Unimplemented: Read as ‘0’ bit 3 SIMSAM: Simultaneous Sample Select bit (applicable only when CHPS<1:0> = 01 or 1x) When AD12B = 1, SIMSAM is: U-0, Unimplemented, Read as ‘0’ 1 = Samples CH0, CH1, CH2, CH3 simultaneously (when CHPS<1:0> = 1x); or Samples CH0 and CH1 simultaneously (when CHPS<1:0> = 01) 0 = Samples multiple channels individually in sequence © 2007 Microchip Technology Inc. Preliminary DS70283B-page 207 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 19-1: AD1CON1: ADC1 CONTROL REGISTER 1 (CONTINUED) bit 2 ASAM: ADC Sample Auto-Start bit 1 = Sampling begins immediately after last conversion. SAMP bit is auto-set. 0 = Sampling begins when SAMP bit is set bit 1 SAMP: ADC Sample Enable bit 1 = ADC sample-and-hold amplifiers are sampling 0 = ADC sample-and-hold amplifiers are holding If ASAM = 0, software can write ‘1’ to begin sampling. Automatically set by hardware if ASAM = 1. If SSRC = 000, software can write ‘0’ to end sampling and start conversion. If SSRC ≠ 000, automatically cleared by hardware to end sampling and start conversion. bit 0 DONE: ADC Conversion Status bit 1 = ADC conversion cycle is completed 0 = ADC conversion not started or in progress Automatically set by hardware when ADC conversion is complete. Software can write ‘0’ to clear DONE status (software not allowed to write ‘1’). Clearing this bit will NOT affect any operation in progress. Automatically cleared by hardware at start of a new conversion. DS70283B-page 208 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 19-2: R/W-0 AD1CON2: ADC1 CONTROL REGISTER 2 R/W-0 R/W-0 VCFG<2:0> U-0 U-0 R/W-0 — — CSCNA R/W-0 R/W-0 CHPS<1:0> bit 15 bit 8 R-0 U-0 BUFS — R/W-0 R/W-0 R/W-0 R/W-0 SMPI<3:0> R/W-0 R/W-0 BUFM ALTS bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-13 x = Bit is unknown VCFG<2:0>: Converter Voltage Reference Configuration bits 000 001 010 011 1xx ADREF+ ADREF- AVDD External VREF+ AVDD External VREF+ AVDD AVSS AVSS External VREFExternal VREFAVSS bit 12-11 Unimplemented: Read as ‘0’ bit 10 CSCNA: Scan Input Selections for CH0+ during Sample A bit 1 = Scan inputs 0 = Do not scan inputs bit 9-8 CHPS<1:0>: Select Channels Utilized bits When AD12B = 1, CHPS<1:0> is: U-0, Unimplemented, Read as ‘0’ 1x =Converts CH0, CH1, CH2 and CH3 01 =Converts CH0 and CH1 00 =Converts CH0 bit 7 BUFS: Buffer Fill Status bit (valid only when BUFM = 1) 1 = ADC is currently filling second half of buffer, user should access data in the first half 0 = ADC is currently filling first half of buffer, user application should access data in the second half bit 6 Unimplemented: Read as ‘0’ bit 5-2 SMPI<3:0>: Sample/Convert Sequences Per Interrupt Selection bits 1111 =Interrupts at the completion of conversion for each 16th sample/convert sequence 1110 =Interrupts at the completion of conversion for each 15th sample/convert sequence ••• 0001 =Interrupts at the completion of conversion for each 2nd sample/convert sequence 0000 =Interrupts at the completion of conversion for each sample/convert sequence bit 1 BUFM: Buffer Fill Mode Select bit 1 = Starts filling first half of buffer on first interrupt and the second half of buffer on next interrupt 0 = Always starts filling buffer from the beginning bit 0 ALTS: Alternate Input Sample Mode Select bit 1 = Uses channel input selects for Sample A on first sample and Sample B on next sample 0 = Always uses channel input selects for Sample A © 2007 Microchip Technology Inc. Preliminary DS70283B-page 209 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 19-3: AD1CON3: ADC1 CONTROL REGISTER 3 R/W-0 U-0 U-0 ADRC — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 SAMC<4:0> bit 15 bit 8 U-0 U-0 — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 ADCS<5:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 ADRC: ADC Conversion Clock Source bit 1 = ADC internal RC clock 0 = Clock derived from system clock bit 14-13 Unimplemented: Read as ‘0’ bit 12-8 SAMC<4:0>: Auto Sample Time bits 11111 = 31 TAD ••• 00001 = 1 TAD 00000 = 0 TAD bit 7-6 Unimplemented: Read as ‘0’ bit 5-0 ADCS<5:0>: ADC Conversion Clock Select bits 111111 = TCY · (ADCS<7:0> + 1) = 64 · TCY = TAD ••• 000010 = TCY · (ADCS<7:0> + 1) = 3 · TCY = TAD 000001 = TCY · (ADCS<7:0> + 1) = 2 · TCY = TAD 000000 = TCY · (ADCS<7:0> + 1) = 1 · TCY = TAD DS70283B-page 210 Preliminary x = Bit is unknown © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 19-4: AD1CHS123: ADC1 INPUT CHANNEL 1, 2, 3 SELECT REGISTER U-0 U-0 U-0 U-0 U-0 — — — — — R/W-0 R/W-0 CH123NB<1:0> R/W-0 CH123SB bit 15 bit 8 U-0 U-0 U-0 U-0 U-0 — — — — — R/W-0 R/W-0 CH123NA<1:0> R/W-0 CH123SA bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-11 Unimplemented: Read as ‘0’ bit 10-9 CH123NB<1:0>: Channel 1, 2, 3 Negative Input Select for Sample B bits dsPIC33FJ32MC202 devices only: If AD12B = 1: 11 = Reserved 10 = Reserved 01 = Reserved 00 = Reserved x = Bit is unknown If AD12B = 0: 11 = Reserved 10 = Reserved 01 = CH1, CH2, CH3 negative input is VREF00 = CH1, CH2, CH3 negative input is VREFdsPIC33FJ32MC204 and dsPIC33FJ16MC304 devices only: If AD12B = 1: 11 = Reserved 10 = Reserved 01 = Reserved 00 = Reserved If AD12B = 0: 11 = Reserved 10 = CH1 negative input is AN6, CH2 negative input is AN7, CH3 negative input is AN8 01 = CH1, CH2, CH3 negative input is VREF00 = CH1, CH2, CH3 negative input is VREFbit 8 CH123SB: Channel 1, 2, 3 Positive Input Select for Sample B bit If AD12B = 1: 1 = Reserved 0 = Reserved If AD12B = 0: 1 = CH1 positive input is AN3, CH2 positive input is AN4, CH3 positive input is AN5 0 = CH1 positive input is AN0, CH2 positive input is AN1, CH3 positive input is AN2 bit 7-3 Unimplemented: Read as ‘0’ © 2007 Microchip Technology Inc. Preliminary DS70283B-page 211 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 19-4: bit 2-1 AD1CHS123: ADC1 INPUT CHANNEL 1, 2, 3 SELECT REGISTER (CONTINUED) CH123NA<1:0>: Channel 1, 2, 3 Negative Input Select for Sample A bits dsPIC33FJ32MC202 devices only: If AD12B = 1: 11 = Reserved 10 = Reserved 01 = Reserved 00 = Reserved If AD12B = 0: 11 = Reserved 10 = Reserved 01 = CH1, CH2, CH3 negative input is VREF00 = CH1, CH2, CH3 negative input is VREFdsPIC33FJ32MC204 and dsPIC33FJ16MC304 devices only: If AD12B = 1: 11 = Reserved 10 = Reserved 01 = Reserved 00 = Reserved If AD12B = 0: 11 = Reserved 10 = CH1 negative input is AN6, CH2 negative input is AN7, CH3 negative input is AN8 01 = CH1, CH2, CH3 negative input is VREF00 = CH1, CH2, CH3 negative input is VREF- bit 0 CH123SA: Channel 1, 2, 3 Positive Input Select for Sample A bit If AD12B = 1: 1 = Reserved 0 = Reserved If AD12B = 0: 1 = CH1 positive input is AN3, CH2 positive input is AN4, CH3 positive input is AN5 0 = CH1 positive input is AN0, CH2 positive input is AN1, CH3 positive input is AN2 DS70283B-page 212 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 19-5: AD1CHS0: ADC1 INPUT CHANNEL 0 SELECT REGISTER R/W-0 U-0 U-0 CH0NB — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 CH0SB<4:0> bit 15 bit 8 R/W-0 U-0 U-0 CH0NA — — R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 CH0SA<4:0> bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15 CH0NB: Channel 0 Negative Input Select for Sample B bit 1 = Channel 0 negative input is AN1 0 = Channel 0 negative input is VREF- bit 14-13 Unimplemented: Read as ‘0’ bit 12-8 CH0SB<4:0>: Channel 0 Positive Input Select for Sample B bits dsPIC33FJ32MC204 and dsPIC33FJ16MC304 devices only: 01000 = Channel 0 positive input is AN8 • • • 00010 = Channel 0 positive input is AN2 00001 = Channel 0 positive input is AN1 00000 = Channel 0 positive input is AN0 x = Bit is unknown dsPIC33FJ32MC202 devices only: 00101 = Channel 0 positive input is AN5 • • • 00010 = Channel 0 positive input is AN2 00001 = Channel 0 positive input is AN1 00000 = Channel 0 positive input is AN0. bit 7 CH0NA: Channel 0 Negative Input Select for Sample A bit 1 = Channel 0 negative input is AN1 0 = Channel 0 negative input is VREF- bit 6-5 Unimplemented: Read as ‘0’ © 2007 Microchip Technology Inc. Preliminary DS70283B-page 213 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 19-5: bit 4-0 AD1CHS0: ADC1 INPUT CHANNEL 0 SELECT REGISTER (CONTINUED) CH0SA<4:0>: Channel 0 Positive Input Select for Sample A bits dsPIC33FJ32MC204 and dsPIC33FJ16MC304 devices only: 01000 = Channel 0 positive input is AN8 • • • 00010 = Channel 0 positive input is AN2 00001 = Channel 0 positive input is AN1 00000 = Channel 0 positive input is AN0 dsPIC33FJ32MC202 devices only: 00101 = Channel 0 positive input is AN5 • • • 00010 = Channel 0 positive input is AN2 00001 = Channel 0 positive input is AN1 00000 = Channel 0 positive input is AN0 DS70283B-page 214 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 REGISTER 19-6: AD1CSSL: ADC1 INPUT SCAN SELECT REGISTER LOW(1) U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — CSS8 bit 15 bit 8 U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 CSS7 CSS6 CSS5 CSS4 CSS3 CSS2 CSS1 CSS0 bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared bit 15-6 Unimplemented: Read as ‘0’ bit 5-0 CSS<8:0>: ADC Input Scan Selection bits 1 = Select ANx for input scan 0 = Skip ANx for input scan Note 1: x = Bit is unknown On devices without nine analog inputs, all AD1CSSL bits can be selected. However, inputs selected for scan without a corresponding input on device will convert ADREF-. REGISTER 19-7: AD1PCFGL: ADC1 PORT CONFIGURATION REGISTER LOW(1) U-0 U-0 U-0 U-0 U-0 U-0 U-0 U-0 — — — — — — — PCFG8 bit 15 bit 8 U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 PCFG7 PCFG6 PCFG5 PCFG4 PCFG3 PCFG2 PCFG1 PCFG0 bit 7 bit 0 Legend: R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’ -n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown bit 15-6 Unimplemented: Read as ‘0’ bit 5-0 PCFG<8:0>: ADC Port Configuration Control bits 1 = Port pin in Digital mode, port read input enabled, ADC input multiplexer connected to AVSS 0 = Port pin in Analog mode, port read input disabled, ADC samples pin voltage Note 1: On devices without nine analog inputs, all PCFG bits are R/W. However, PCFG bits are ignored on ports without a corresponding input on device. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 215 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 216 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 20.0 SPECIAL FEATURES Note: 20.1 This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices include several features intended to maximize application flexibility and reliability, and minimize cost through elimination of external components. These are: • • • • • • Flexible configuration Watchdog Timer (WDT) Code Protection and CodeGuard™ Security JTAG Boundary Scan Interface In-Circuit Serial Programming™ (ICSP™) In-Circuit emulation Configuration Bits The Configuration bits can be programmed (read as ‘0’), or left unprogrammed (read as ‘1’), to select various device configurations. These bits are mapped starting at program memory location 0xF80000. The individual Configuration bit descriptions for the FBS, FGS, FOSCSEL, FOSC, FWDT, FPOR and FICD Configuration registers are shown in Table 20-2. Note that address 0xF80000 is beyond the user program memory space. It belongs to the configuration memory space (0x800000-0xFFFFFF), which can only be accessed using table reads and table writes. The upper byte of all device Configuration registers should always be ‘1111 1111’. This makes them appear to be NOP instructions in the remote event that their locations are ever executed by accident. Since Configuration bits are not implemented in the corresponding locations, writing ‘1’s to these locations has no effect on device operation. To prevent inadvertent configuration changes during code execution, all programmable Configuration bits are write-once. After a bit is initially programmed during a power cycle, it cannot be written to again. Changing a device configuration requires that power to the device be cycled. The Device Configuration register map is shown in Table 20-1. TABLE 20-1: Address DEVICE CONFIGURATION REGISTER MAP Name Bit 7 Bit 6 Bit 5 — — — 0xF80000 FBS Bit 3 — 0xF80004 FGS Bit 1 BSS<2:0> — — — IESO — — — — — 0xF80008 FOSC FCKSM<1:0> IOL1WAY — 0xF8000A FWDT FWDTEN WINDIS — WDTPRE 0xF8000C FPOR PWMPIN LPOL ALTI2C 0xF8000E RESERVED Bit 0 BWRP HPOL GSS<1:0> GWRP FNOSC<2:0> — OSCIOFNC POSCMD<1:0> WDTPOST<3:0> — FPWRT<2:0> Reserved(1) 0xF80010 FUID0 User Unit ID Byte 0 0xF80012 FUID1 User Unit ID Byte 1 0xF80014 FUID2 User Unit ID Byte 2 0xF80016 FUID3 User Unit ID Byte 3 Note 1: Bit 2 Reserved(1) 0xF80002 RESERVED 0xF80006 FOSCSEL Bit 4 These reserved bits read as ‘1’ and must be programmed as ‘1’. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 217 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 20-2: DSPIC33F CONFIGURATION BITS DESCRIPTION Bit Field Register Description BWRP FBS Boot Segment Program Flash Write Protection 1 = Boot segment can be written 0 = Boot segment is write-protected BSS<2:0> FBS dsPIC33FJ32MC202 and dsPIC33FJ32MC204 Devices Only Boot Segment Program Flash Code Protection Size X11 = No Boot program Flash segment Boot space is 768 Instruction Words (except interrupt vectors) 110 = Standard security; boot program Flash segment ends at 0x0007FE 010 = High security; boot program Flash segment ends at 0x0007FE Boot space is 3840 Instruction Words (except interrupt vectors) 101 = Standard security; boot program Flash segment, ends at 0x001FFE 001 = High security; boot program Flash segment ends at 0x001FFE Boot space is 7936 Instruction Words (except interrupt vectors) 100 = Standard security; boot program Flash segment ends at 0x003FFE 000 = High security; boot program Flash segment ends at 0x003FFE BSS<2:0> FBS dsPIC33FJ16MC304 Devices Only Boot Segment Program Flash Code Protection Size X11 = No Boot program Flash segment Boot space is 768 Instruction Words (except interrupt vectors) 110 = Standard security; boot program Flash segment ends at 0x0007FE 010 = High security; boot program Flash segment ends at 0x0007FE Boot space is 3840 Instruction Words (except interrupt vectors) 101 = Standard security; boot program Flash segment, ends at 0x001FFE 001 = High security; boot program Flash segment ends at 0x001FFE Boot space is 5376 Instruction Words (except interrupt vectors) 100 = Standard security; boot program Flash segment ends at 0x002BFE 000 = High security; boot program Flash segment ends at 0x002BFE GSS<1:0> FGS General Segment Code-Protect bit 11 = User program memory is not code-protected 10 = Standard security 0x = High security GWRP FGS General Segment Write-Protect bit 1 = User program memory is not write-protected 0 = User program memory is write-protected IESO FOSCSEL DS70283B-page 218 Two-speed Oscillator Start-up Enable bit 1 = Start-up device with FRC, then automatically switch to the user-selected oscillator source when ready 0 = Start-up device with user-selected oscillator source Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 20-2: DSPIC33F CONFIGURATION BITS DESCRIPTION (CONTINUED) Bit Field Register FNOSC<2:0> FOSCSEL FCKSM<1:0> FOSC Clock Switching Mode bits 1x = Clock switching is disabled, Fail-Safe Clock Monitor is disabled 01 = Clock switching is enabled, Fail-Safe Clock Monitor is disabled 00 = Clock switching is enabled, Fail-Safe Clock Monitor is enabled IOL1WAY FOSC Peripheral pin select configuration 1 = Allow only one reconfiguration 0 = Allow multiple reconfigurations OSCIOFNC FOSC OSC2 Pin Function bit (except in XT and HS modes) 1 = OSC2 is clock output 0 = OSC2 is general purpose digital I/O pin POSCMD<1:0> FOSC Primary Oscillator Mode Select bits 11 = Primary oscillator disabled 10 = HS Crystal Oscillator mode 01 = XT Crystal Oscillator mode 00 = EC (External Clock) mode FWDTEN FWDT Watchdog Timer Enable bit 1 = Watchdog Timer always enabled (LPRC oscillator cannot be disabled. Clearing the SWDTEN bit in the RCON register will have no effect.) 0 = Watchdog Timer enabled/disabled by user software (LPRC can be disabled by clearing the SWDTEN bit in the RCON register) WINDIS FWDT Watchdog Timer Window Enable bit 1 = Watchdog Timer in Non-Window mode 0 = Watchdog Timer in Window mode WDTPRE FWDT Watchdog Timer Prescaler bit 1 = 1:128 0 = 1:32 WDTPOST<3:0> FWDT Watchdog Timer Postscaler bits 1111 = 1:32,768 1110 = 1:16,384 . . . 0001 = 1:2 0000 = 1:1 PWMPIN FPOR Motor Control PWM Module Pin Mode bit 1 = PWM module pins controlled by PORT register at device Reset (tri-stated) 0 = PWM module pins controlled by PWM module at device Reset (configured as output pins) © 2007 Microchip Technology Inc. Description Initial Oscillator Source Selection bits 111 = Internal Fast RC (FRC) oscillator with postscaler 110 = Internal Fast RC (FRC) oscillator with divide-by-16 101 = LPRC oscillator 100 = Secondary (LP) oscillator 011 = Primary (XT, HS, EC) oscillator with PLL 010 = Primary (XT, HS, EC) oscillator 001 = Internal Fast RC (FRC) oscillator with PLL 000 = FRC oscillator Preliminary DS70283B-page 219 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 20-2: DSPIC33F CONFIGURATION BITS DESCRIPTION (CONTINUED) Bit Field Register Description HPOL FPOR Motor Control PWM High Side Polarity bit 1 = PWM module high side output pins have active-high output polarity 0 = PWM module high side output pins have active-low output polarity LPOL FPOR Motor Control PWM Low Side Polarity bit 1 = PWM module low side output pins have active-high output polarity 0 = PWM module low side output pins have active-low output polarity FPWRT<2:0> FPOR Power-on Reset Timer Value Select bits 111 = PWRT = 128 ms 110 = PWRT = 64 ms 101 = PWRT = 32 ms 100 = PWRT = 16 ms 011 = PWRT = 8 ms 010 = PWRT = 4 ms 001 = PWRT = 2 ms 000 = PWRT = Disabled ALTI2C FPOR Alternate I2C™ pins 1 = I2C mapped to SDA1/SCL1 pins 0 = I2C mapped to ASDA1/ASCL1 pins DS70283B-page 220 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 20.2 On-Chip Voltage Regulator 20.3 The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices power their core digital logic at a nominal 2.5V. This can create a conflict for designs that are required to operate at a higher typical voltage, such as 3.3V. To simplify system design, all devices in the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 family incorporate an on-chip regulator that allows the device to run its core logic from VDD. The regulator provides power to the core from the other VDD pins. When the regulator is enabled, a low-ESR (less than 5 ohms) capacitor (such as tantalum or ceramic) must be connected to the VDDCORE/VCAP pin (Figure 20-1). This helps to maintain the stability of the regulator. The recommended value for the filter capacitor is provided in Table 23-13 located in Section 23.1 “DC Characteristics”. On a POR, it takes approximately 20 μs for the on-chip voltage regulator to generate an output voltage. During this time, designated as TSTARTUP, code execution is disabled. TSTARTUP is applied every time the device resumes operation after any power-down. FIGURE 20-1: CONNECTIONS FOR THE ON-CHIP VOLTAGE REGULATOR(1) 3.3V BOR: Brown-Out Reset The Brown-out Reset (BOR) module is based on an internal voltage reference circuit that monitors the regulated supply voltage VDDCORE. The main purpose of the BOR module is to generate a device Reset when a brown-out condition occurs. Brown-out conditions are generally caused by glitches on the AC mains (for example, missing portions of the AC cycle waveform due to bad power transmission lines, or voltage sags due to excessive current draw when a large inductive load is turned on). A BOR generates a Reset pulse, which resets the device. The BOR selects the clock source, based on the device Configuration bit values (FNOSC<2:0> and POSCMD<1:0>). If an oscillator mode is selected, the BOR activates the Oscillator Start-up Timer (OST). The system clock is held until OST expires. If the PLL is used, the clock is held until the LOCK bit (OSCCON<5>) is ‘1’. Concurrently, the PWRT time-out (TPWRT) is applied before the internal Reset is released. If TPWRT = 0 and a crystal oscillator is being used, then a nominal delay of TFSCM = 100 is applied. The total delay in this case is TFSCM. The BOR Status bit (RCON<1>) is set to indicate that a BOR has occurred. The BOR circuit, if enabled, continues to operate while in Sleep or Idle modes and resets the device should VDD fall below the BOR threshold voltage. dsPIC33F VDD VDDCORE/VCAP CF Note 1: VSS These are typical operating voltages. Refer to Table 23-13 located in Section 23.1 “DC Characteristics” for the full operating ranges of VDD and VDDCORE. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 221 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 20.4 Watchdog Timer (WDT) 20.4.2 For dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices, the WDT is driven by the LPRC oscillator. When the WDT is enabled, the clock source is also enabled. 20.4.1 PRESCALER/POSTSCALER The nominal WDT clock source from LPRC is 32 kHz. This feeds a prescaler than can be configured for either 5-bit (divide-by-32) or 7-bit (divide-by-128) operation. The prescaler is set by the WDTPRE Configuration bit. With a 32 kHz input, the prescaler yields a nominal WDT time-out period (TWDT) of 1 ms in 5-bit mode, or 4 ms in 7-bit mode. A variable postscaler divides down the WDT prescaler output and allows for a wide range of time-out periods. The postscaler is controlled by the WDTPOST<3:0> Configuration bits (FWDT<3:0>), which allow the selection of 16 settings, from 1:1 to 1:32,768. Using the prescaler and postscaler, time-out periods ranging from 1 ms to 131 seconds can be achieved. The WDT, prescaler and postscaler are reset: • On any device Reset • On the completion of a clock switch, whether invoked by software (i.e., setting the OSWEN bit after changing the NOSC bits) or by hardware (i.e., Fail-Safe Clock Monitor) • When a PWRSAV instruction is executed (i.e., Sleep or Idle mode is entered) • When the device exits Sleep or Idle mode to resume normal operation • By a CLRWDT instruction during normal execution Note: SLEEP AND IDLE MODES If the WDT is enabled, it will continue to run during Sleep or Idle modes. When the WDT time-out occurs, the device will wake the device and code execution will continue from where the PWRSAV instruction was executed. The corresponding SLEEP or IDLE bits (RCON<3,2>) will need to be cleared in software after the device wakes up. 20.4.3 ENABLING WDT The WDT is enabled or disabled by the FWDTEN Configuration bit in the FWDT Configuration register. When the FWDTEN Configuration bit is set, the WDT is always enabled. The WDT can be optionally controlled in software when the FWDTEN Configuration bit has been programmed to ‘0’. The WDT is enabled in software by setting the SWDTEN control bit (RCON<5>). The SWDTEN control bit is cleared on any device Reset. The software WDT option allows the user application to enable the WDT for critical code segments and disable the WDT during non-critical segments for maximum power savings. Note: If the WINDIS bit (FWDT<6>) is cleared, the CLRWDT instruction should be executed by the application software only during the last 1/4 of the WDT period. This CLRWDT window can be determined by using a timer. If a CLRWDT instruction is executed before this window, a WDT Reset occurs. The WDT flag bit, WDTO (RCON<4>), is not automatically cleared following a WDT time-out. To detect subsequent WDT events, the flag must be cleared in software. The CLRWDT and PWRSAV instructions clear the prescaler and postscaler counts when executed. FIGURE 20-2: WDT BLOCK DIAGRAM All Device Resets Transition to New Clock Source Exit Sleep or Idle Mode PWRSAV Instruction CLRWDT Instruction Watchdog Timer Sleep/Idle WDTPRE SWDTEN FWDTEN WDTPOST<3:0> RS Prescaler (divide by N1) LPRC Clock WDT Wake-up 1 RS Postscaler (divide by N2) 0 WINDIS WDT Reset WDT Window Select CLRWDT Instruction DS70283B-page 222 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 20.5 JTAG Interface 20.7 In-Circuit Debugger dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices implement a JTAG interface, which supports boundary scan device testing, as well as in-circuit programming. Detailed information on this interface will be provided in future revisions of the document. When MPLAB® ICD 2 is selected as a debugger, the incircuit debugging functionality is enabled. This function allows simple debugging functions when used with MPLAB IDE. Debugging functionality is controlled through the EMUCx (Emulation/Debug Clock) and EMUDx (Emulation/Debug Data) pin functions. 20.6 Any of the three pairs of debugging clock/data pins can be used: In-Circuit Serial Programming dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 family digital signal controllers can be serially programmed while in the end application circuit. This is done with two lines for clock and data and three other lines for power, ground and the programming sequence. Serial programming allows customers to manufacture boards with unprogrammed devices and then program the digital signal controller just before shipping the product. Serial programming also allows the most recent firmware or a custom firmware to be programmed. Refer to the “dsPIC33F/PIC24H Flash Programming Specification” (DS70152) document for details about In-Circuit Serial Programming (ICSP). • PGC1/EMUC1 and PGD1/EMUD1 • PGC2/EMUC2 and PGD2/EMUD2 • PGC3/EMUC3 and PGD3/EMUD3 To use the in-circuit debugger function of the device, the design must implement ICSP connections to MCLR, VDD, VSS, PGC, PGD and the EMUDx/EMUCx pin pair. In addition, when the feature is enabled, some of the resources are not available for general use. These resources include the first 80 bytes of data RAM and two I/O pins. Any of the three pairs of programming clock/data pins can be used: • PGC1/EMUC1 and PGD1/EMUD1 • PGC2/EMUC2 and PGD2/EMUD2 • PGC3/EMUC3 and PGD3/EMUD3 © 2007 Microchip Technology Inc. Preliminary DS70283B-page 223 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 20.8 Code Protection and CodeGuard™ Security When coupled with software encryption libraries, CodeGuard™ Security can be used to securely update Flash even when multiple IPs reside on the single chip. The dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices offer the intermediate implementation of CodeGuard™ Security. CodeGuard Security enables multiple parties to securely share resources (memory, interrupts and peripherals) on a single chip. This feature helps protect individual Intellectual Property in collaborative system designs. TABLE 20-3: CODE FLASH SECURITY SEGMENT SIZES FOR 32 KBYTE DEVICES VS = 256 IW BSS<2:0> = x11 GS = 3840 IW VS = 256 IW BSS<2:0> = x10 BS = 768 IW 256 GS = 10249 IW VS = 256 IW BSS<2:0> = x01 BS = 3840 IW 768 GS = 7168 IW VS = 256 IW BSS<2:0> = x00 BS = 7936 IW 1792 GS = 3072 IW DS70283B-page 224 Secure segment and RAM protection is not implemented in dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. Note: Refer to CodeGuard Security Reference Manual (DS70180) for further information on usage, configuration and operation of CodeGuard Security. TABLE 20-4: CODE FLASH SECURITY SEGMENT SIZES FOR 16 KBYTE DEVICES CONFIG BITS CONFIG BITS 0K The code protection features are controlled by the Configuration registers: FBS and FGS. 000000h 0001FEh 000200h 0007FEh 000800h 001FFEh 002000h 003FFEh 004000h 0057FEh 000000h 0001FEh 000200h 0007FEh 000800h 001FFEh 002000h 003FFEh 004000h VS = 256 IW BSS<2:0> = x11 0K 002BFEh VS = 256 IW BSS<2:0> = x10 GS = 4608 IW VS = 256 IW BSS<2:0> = x01 BS = 3840 IW 768 GS = 1536 IW 0057FEh 000000h 0001FEh 000200h 0007FEh 000800h 001FFEh 002000h 003FFEh 004000h BS = 768 IW 256 0057FEh 000000h 0001FEh 000200h 0007FEh 000800h 001FFEh 002000h 003FFEh 004000h GS = 3840 IW 000000h 0001FEh 000200h 0007FEh 000800h 001FFEh 002000h VS = 256 IW BSS<2:0> = x00 1792 0057FEh BS = 5376 IW 000000h 0001FEh 000200h 0007FEh 000800h 001FFEh 002000h 002BFEh 000000h 0001FEh 000200h 0007FEh 000800h 001FFEh 002000h 002BFEh 000000h 0001FEh 000200h 0007FEh 000800h 001FFEh 002000h 002BFEh Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 21.0 Note: INSTRUCTION SET SUMMARY This data sheet summarizes the features of the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the “dsPIC33F Family Reference Manual”. Please see the Microchip web site (www.microchip.com) for the latest dsPIC33F Family Reference Manual sections. The dsPIC33F instruction set is identical to that of the dsPIC30F. Most instructions are a single program memory word (24 bits). Only three instructions require two program memory locations. Each single-word instruction is a 24-bit word, divided into an 8-bit opcode, which specifies the instruction type and one or more operands, which further specify the operation of the instruction. The instruction set is highly orthogonal and is grouped into five basic categories: • • • • • Word or byte-oriented operations Bit-oriented operations Literal operations DSP operations Control operations • The W register (with or without an address modifier) or file register (specified by the value of ‘Ws’ or ‘f’) • The bit in the W register or file register (specified by a literal value or indirectly by the contents of register ‘Wb’) The literal instructions that involve data movement can use some of the following operands: • A literal value to be loaded into a W register or file register (specified by ‘k’) • The W register or file register where the literal value is to be loaded (specified by ‘Wb’ or ‘f’) However, literal instructions that involve arithmetic or logical operations use some of the following operands: • The first source operand, which is a register ‘Wb’ without any address modifier • The second source operand, which is a literal value • The destination of the result (only if not the same as the first source operand), which is typically a register ‘Wd’ with or without an address modifier The MAC class of DSP instructions can use some of the following operands: Table 21-1 shows the general symbols used in describing the instructions. The dsPIC33F instruction set summary in Table 21-2 lists all the instructions, along with the status flags affected by each instruction. Most word or byte-oriented W register instructions (including barrel shift instructions) have three operands: • The first source operand, which is typically a register ‘Wb’ without any address modifier • The second source operand, which is typically a register ‘Ws’ with or without an address modifier • The destination of the result, which is typically a register ‘Wd’ with or without an address modifier • The accumulator (A or B) to be used (required operand) • The W registers to be used as the two operands • The X and Y address space prefetch operations • The X and Y address space prefetch destinations • The accumulator write-back destination The other DSP instructions do not involve any multiplication and can include: • The accumulator to be used (required) • The source or destination operand (designated as Wso or Wdo, respectively) with or without an address modifier • The amount of shift specified by a W register ‘Wn’ or a literal value The control instructions can use some of the following operands: However, word or byte-oriented file register instructions have two operands: • The file register specified by the value ‘f’ • The destination, which could be either the file register ‘f’ or the W0 register, which is denoted as ‘WREG’ © 2007 Microchip Technology Inc. Most bit-oriented instructions (including simple rotate/ shift instructions) have two operands: • A program memory address • The mode of the table read and table write instructions Preliminary DS70283B-page 225 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Most instructions are a single word. Certain doubleword instructions are designed to provide all the required information in these 48 bits. In the second word, the 8 MSbs are ‘0’s. If this second word is executed as an instruction (by itself), it will execute as a NOP. The double-word instructions execute in two instruction cycles. Most single-word instructions are executed in a single instruction cycle, unless a conditional test is true, or the program counter is changed as a result of the instruction. In these cases, the execution takes two instruction cycles with the additional instruction cycle(s) executed TABLE 21-1: as a NOP. Notable exceptions are the BRA (unconditional/computed branch), indirect CALL/GOTO, all table reads and writes and RETURN/RETFIE instructions, which are single-word instructions but take two or three cycles. Certain instructions that involve skipping over the subsequent instruction require either two or three cycles if the skip is performed, depending on whether the instruction being skipped is a single-word or two-word instruction. Moreover, double-word moves require two cycles. Note: For more details on the instruction set, refer to the “dsPIC30F/33F Programmer’s Reference Manual” (DS70157). SYMBOLS USED IN OPCODE DESCRIPTIONS Field #text Description Means literal defined by “text” (text) Means “content of text” [text] Means “the location addressed by text” { } Optional field or operation <n:m> Register bit field .b Byte mode selection .d Double-Word mode selection .S Shadow register select .w Word mode selection (default) Acc One of two accumulators {A, B} AWB Accumulator write back destination address register ∈ {W13, [W13]+ = 2} bit4 4-bit bit selection field (used in word addressed instructions) ∈ {0...15} C, DC, N, OV, Z MCU Status bits: Carry, Digit Carry, Negative, Overflow, Sticky Zero Expr Absolute address, label or expression (resolved by the linker) f File register address ∈ {0x0000...0x1FFF} lit1 1-bit unsigned literal ∈ {0,1} lit4 4-bit unsigned literal ∈ {0...15} lit5 5-bit unsigned literal ∈ {0...31} lit8 8-bit unsigned literal ∈ {0...255} lit10 10-bit unsigned literal ∈ {0...255} for Byte mode, {0:1023} for Word mode lit14 14-bit unsigned literal ∈ {0...16384} lit16 16-bit unsigned literal ∈ {0...65535} lit23 23-bit unsigned literal ∈ {0...8388608}; LSb must be ‘0’ None Field does not require an entry, can be blank OA, OB, SA, SB DSP Status bits: ACCA Overflow, ACCB Overflow, ACCA Saturate, ACCB Saturate PC Program Counter Slit10 10-bit signed literal ∈ {-512...511} Slit16 16-bit signed literal ∈ {-32768...32767} Slit6 6-bit signed literal ∈ {-16...16} Wb Base W register ∈ {W0..W15} Wd Destination W register ∈ { Wd, [Wd], [Wd++], [Wd--], [++Wd], [--Wd] } Wdo Destination W register ∈ { Wnd, [Wnd], [Wnd++], [Wnd--], [++Wnd], [--Wnd], [Wnd+Wb] } Wm,Wn Dividend, Divisor working register pair (direct addressing) DS70283B-page 226 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 21-1: SYMBOLS USED IN OPCODE DESCRIPTIONS (CONTINUED) Field Description Wm*Wm Multiplicand and Multiplier working register pair for Square instructions ∈ {W4 * W4,W5 * W5,W6 * W6,W7 * W7} Wm*Wn Multiplicand and Multiplier working register pair for DSP instructions ∈ {W4 * W5,W4 * W6,W4 * W7,W5 * W6,W5 * W7,W6 * W7} Wn One of 16 working registers ∈ {W0..W15} Wnd One of 16 destination working registers ∈ {W0..W15} Wns One of 16 source working registers ∈ {W0..W15} WREG W0 (working register used in file register instructions) Ws Source W register ∈ { Ws, [Ws], [Ws++], [Ws--], [++Ws], [--Ws] } Wso Source W register ∈ { Wns, [Wns], [Wns++], [Wns--], [++Wns], [--Wns], [Wns+Wb] } Wx X data space prefetch address register for DSP instructions ∈ {[W8] + = 6, [W8] + = 4, [W8] + = 2, [W8], [W8] - = 6, [W8] - = 4, [W8] - = 2, [W9] + = 6, [W9] + = 4, [W9] + = 2, [W9], [W9] - = 6, [W9] - = 4, [W9] - = 2, [W9 + W12], none} Wxd X data space prefetch destination register for DSP instructions ∈ {W4..W7} Wy Y data space prefetch address register for DSP instructions ∈ {[W10] + = 6, [W10] + = 4, [W10] + = 2, [W10], [W10] - = 6, [W10] - = 4, [W10] - = 2, [W11] + = 6, [W11] + = 4, [W11] + = 2, [W11], [W11] - = 6, [W11] - = 4, [W11] - = 2, [W11 + W12], none} Wyd Y data space prefetch destination register for DSP instructions ∈ {W4..W7} © 2007 Microchip Technology Inc. Preliminary DS70283B-page 227 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 21-2: Base Instr # 1 2 3 4 5 6 7 8 9 INSTRUCTION SET OVERVIEW Assembly Mnemonic ADD ADDC AND ASR BCLR BRA BSET BSW BTG Assembly Syntax Description # of # of Words Cycles Status Flags Affected ADD Acc Add Accumulators 1 1 ADD f f = f + WREG 1 1 OA,OB,SA,SB C,DC,N,OV,Z ADD f,WREG WREG = f + WREG 1 1 C,DC,N,OV,Z ADD #lit10,Wn Wd = lit10 + Wd 1 1 C,DC,N,OV,Z ADD Wb,Ws,Wd Wd = Wb + Ws 1 1 C,DC,N,OV,Z ADD Wb,#lit5,Wd Wd = Wb + lit5 1 1 C,DC,N,OV,Z OA,OB,SA,SB ADD Wso,#Slit4,Acc 16-bit Signed Add to Accumulator 1 1 ADDC f f = f + WREG + (C) 1 1 C,DC,N,OV,Z ADDC f,WREG WREG = f + WREG + (C) 1 1 C,DC,N,OV,Z ADDC #lit10,Wn Wd = lit10 + Wd + (C) 1 1 C,DC,N,OV,Z ADDC Wb,Ws,Wd Wd = Wb + Ws + (C) 1 1 C,DC,N,OV,Z C,DC,N,OV,Z ADDC Wb,#lit5,Wd Wd = Wb + lit5 + (C) 1 1 AND f f = f .AND. WREG 1 1 N,Z AND f,WREG WREG = f .AND. WREG 1 1 N,Z AND #lit10,Wn Wd = lit10 .AND. Wd 1 1 N,Z AND Wb,Ws,Wd Wd = Wb .AND. Ws 1 1 N,Z AND Wb,#lit5,Wd Wd = Wb .AND. lit5 1 1 N,Z ASR f f = Arithmetic Right Shift f 1 1 C,N,OV,Z ASR f,WREG WREG = Arithmetic Right Shift f 1 1 C,N,OV,Z ASR Ws,Wd Wd = Arithmetic Right Shift Ws 1 1 C,N,OV,Z ASR Wb,Wns,Wnd Wnd = Arithmetic Right Shift Wb by Wns 1 1 N,Z ASR Wb,#lit5,Wnd Wnd = Arithmetic Right Shift Wb by lit5 1 1 N,Z BCLR f,#bit4 Bit Clear f 1 1 None BCLR Ws,#bit4 Bit Clear Ws 1 1 None BRA C,Expr Branch if Carry 1 1 (2) None BRA GE,Expr Branch if greater than or equal 1 1 (2) None BRA GEU,Expr Branch if unsigned greater than or equal 1 1 (2) None BRA GT,Expr Branch if greater than 1 1 (2) None BRA GTU,Expr Branch if unsigned greater than 1 1 (2) None BRA LE,Expr Branch if less than or equal 1 1 (2) None BRA LEU,Expr Branch if unsigned less than or equal 1 1 (2) None BRA LT,Expr Branch if less than 1 1 (2) None BRA LTU,Expr Branch if unsigned less than 1 1 (2) None BRA N,Expr Branch if Negative 1 1 (2) None BRA NC,Expr Branch if Not Carry 1 1 (2) None BRA NN,Expr Branch if Not Negative 1 1 (2) None BRA NOV,Expr Branch if Not Overflow 1 1 (2) None BRA NZ,Expr Branch if Not Zero 1 1 (2) None BRA OA,Expr Branch if Accumulator A overflow 1 1 (2) None BRA OB,Expr Branch if Accumulator B overflow 1 1 (2) None BRA OV,Expr Branch if Overflow 1 1 (2) None BRA SA,Expr Branch if Accumulator A saturated 1 1 (2) None BRA SB,Expr Branch if Accumulator B saturated 1 1 (2) None BRA Expr Branch Unconditionally 1 2 None BRA Z,Expr Branch if Zero 1 1 (2) None BRA Wn Computed Branch 1 2 None BSET f,#bit4 Bit Set f 1 1 None BSET Ws,#bit4 Bit Set Ws 1 1 None BSW.C Ws,Wb Write C bit to Ws<Wb> 1 1 None BSW.Z Ws,Wb Write Z bit to Ws<Wb> 1 1 None BTG f,#bit4 Bit Toggle f 1 1 None BTG Ws,#bit4 Bit Toggle Ws 1 1 None DS70283B-page 228 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 21-2: Base Instr # 10 11 12 13 INSTRUCTION SET OVERVIEW (CONTINUED) Assembly Mnemonic BTSC BTSS BTST BTSTS Assembly Syntax Description # of # of Words Cycles Status Flags Affected BTSC f,#bit4 Bit Test f, Skip if Clear 1 1 (2 or 3) None BTSC Ws,#bit4 Bit Test Ws, Skip if Clear 1 1 (2 or 3) None BTSS f,#bit4 Bit Test f, Skip if Set 1 1 (2 or 3) None BTSS Ws,#bit4 Bit Test Ws, Skip if Set 1 1 (2 or 3) None BTST f,#bit4 Bit Test f 1 1 Z BTST.C Ws,#bit4 Bit Test Ws to C 1 1 C BTST.Z Ws,#bit4 Bit Test Ws to Z 1 1 Z BTST.C Ws,Wb Bit Test Ws<Wb> to C 1 1 C BTST.Z Ws,Wb Bit Test Ws<Wb> to Z 1 1 Z BTSTS f,#bit4 Bit Test then Set f 1 1 Z BTSTS.C Ws,#bit4 Bit Test Ws to C, then Set 1 1 C BTSTS.Z Ws,#bit4 Bit Test Ws to Z, then Set 1 1 Z lit23 Call subroutine 2 2 None 14 CALL CALL CALL Wn Call indirect subroutine 1 2 None 15 CLR CLR f f = 0x0000 1 1 None CLR WREG WREG = 0x0000 1 1 None CLR Ws Ws = 0x0000 1 1 None CLR Acc,Wx,Wxd,Wy,Wyd,AWB Clear Accumulator 1 1 OA,OB,SA,SB Clear Watchdog Timer 1 1 WDTO,Sleep 16 CLRWDT CLRWDT 17 COM COM f f=f 1 1 N,Z COM f,WREG WREG = f 1 1 N,Z COM Ws,Wd Wd = Ws 1 1 N,Z CP f Compare f with WREG 1 1 C,DC,N,OV,Z CP Wb,#lit5 Compare Wb with lit5 1 1 C,DC,N,OV,Z CP Wb,Ws Compare Wb with Ws (Wb – Ws) 1 1 C,DC,N,OV,Z CP0 f Compare f with 0x0000 1 1 C,DC,N,OV,Z CP0 Ws Compare Ws with 0x0000 1 1 C,DC,N,OV,Z CPB f Compare f with WREG, with Borrow 1 1 C,DC,N,OV,Z CPB Wb,#lit5 Compare Wb with lit5, with Borrow 1 1 C,DC,N,OV,Z CPB Wb,Ws Compare Wb with Ws, with Borrow (Wb – Ws – C) 1 1 C,DC,N,OV,Z 18 19 20 CP CP0 CPB 21 CPSEQ CPSEQ Wb, Wn Compare Wb with Wn, skip if = 1 1 (2 or 3) None 22 CPSGT CPSGT Wb, Wn Compare Wb with Wn, skip if > 1 1 (2 or 3) None 23 CPSLT CPSLT Wb, Wn Compare Wb with Wn, skip if < 1 1 (2 or 3) None 24 CPSNE CPSNE Wb, Wn Compare Wb with Wn, skip if ≠ 1 1 (2 or 3) None 25 DAW DAW Wn Wn = decimal adjust Wn 1 1 C 26 DEC DEC f f=f–1 1 1 C,DC,N,OV,Z DEC f,WREG WREG = f – 1 1 1 C,DC,N,OV,Z DEC Ws,Wd Wd = Ws – 1 1 1 C,DC,N,OV,Z DEC2 f f=f–2 1 1 C,DC,N,OV,Z DEC2 f,WREG WREG = f – 2 1 1 C,DC,N,OV,Z DEC2 Ws,Wd Wd = Ws – 2 1 1 C,DC,N,OV,Z DISI #lit14 Disable Interrupts for k instruction cycles 1 1 None 27 28 DEC2 DISI © 2007 Microchip Technology Inc. Preliminary DS70283B-page 229 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 21-2: Base Instr # 29 INSTRUCTION SET OVERVIEW (CONTINUED) Assembly Mnemonic DIV Assembly Syntax # of # of Words Cycles Description Status Flags Affected DIV.S Wm,Wn Signed 16/16-bit Integer Divide 1 18 N,Z,C,OV DIV.SD Wm,Wn Signed 32/16-bit Integer Divide 1 18 N,Z,C,OV DIV.U Wm,Wn Unsigned 16/16-bit Integer Divide 1 18 N,Z,C,OV DIV.UD Wm,Wn Unsigned 32/16-bit Integer Divide 1 18 N,Z,C,OV Signed 16/16-bit Fractional Divide 1 18 N,Z,C,OV None 30 DIVF DIVF 31 DO DO #lit14,Expr Do code to PC + Expr, lit14 + 1 times 2 2 DO Wn,Expr Do code to PC + Expr, (Wn) + 1 times 2 2 None Wm,Wn 32 ED ED Wm*Wm,Acc,Wx,Wy,Wxd Euclidean Distance (no accumulate) 1 1 OA,OB,OAB, SA,SB,SAB 33 EDAC EDAC Wm*Wm,Acc,Wx,Wy,Wxd Euclidean Distance 1 1 OA,OB,OAB, SA,SB,SAB 34 EXCH EXCH Wns,Wnd Swap Wns with Wnd 1 1 None 35 FBCL FBCL Ws,Wnd Find Bit Change from Left (MSb) Side 1 1 C 36 FF1L FF1L Ws,Wnd Find First One from Left (MSb) Side 1 1 C 37 FF1R FF1R Ws,Wnd Find First One from Right (LSb) Side 1 1 C 38 GOTO GOTO Expr Go to address 2 2 None GOTO Wn Go to indirect 1 2 None INC f f=f+1 1 1 C,DC,N,OV,Z INC f,WREG WREG = f + 1 1 1 C,DC,N,OV,Z INC Ws,Wd Wd = Ws + 1 1 1 C,DC,N,OV,Z INC2 f f=f+2 1 1 C,DC,N,OV,Z INC2 f,WREG WREG = f + 2 1 1 C,DC,N,OV,Z 39 40 41 INC INC2 IOR INC2 Ws,Wd Wd = Ws + 2 1 1 C,DC,N,OV,Z IOR f f = f .IOR. WREG 1 1 N,Z IOR f,WREG WREG = f .IOR. WREG 1 1 N,Z IOR #lit10,Wn Wd = lit10 .IOR. Wd 1 1 N,Z IOR Wb,Ws,Wd Wd = Wb .IOR. Ws 1 1 N,Z IOR Wb,#lit5,Wd Wd = Wb .IOR. lit5 1 1 N,Z 42 LAC LAC Wso,#Slit4,Acc Load Accumulator 1 1 OA,OB,OAB, SA,SB,SAB 43 LNK LNK #lit14 Link Frame Pointer 1 1 None 44 LSR LSR f f = Logical Right Shift f 1 1 C,N,OV,Z LSR f,WREG WREG = Logical Right Shift f 1 1 C,N,OV,Z LSR Ws,Wd Wd = Logical Right Shift Ws 1 1 C,N,OV,Z LSR Wb,Wns,Wnd Wnd = Logical Right Shift Wb by Wns 1 1 N,Z LSR Wb,#lit5,Wnd Wnd = Logical Right Shift Wb by lit5 1 1 N,Z MAC Wm*Wn,Acc,Wx,Wxd,Wy,Wyd , AWB Multiply and Accumulate 1 1 OA,OB,OAB, SA,SB,SAB MAC Wm*Wm,Acc,Wx,Wxd,Wy,Wyd Square and Accumulate 1 1 OA,OB,OAB, SA,SB,SAB MOV f,Wn Move f to Wn 1 1 None MOV f Move f to f 1 1 N,Z MOV f,WREG Move f to WREG 1 1 N,Z MOV #lit16,Wn Move 16-bit literal to Wn 1 1 None MOV.b #lit8,Wn Move 8-bit literal to Wn 1 1 None MOV Wn,f Move Wn to f 1 1 None MOV Wso,Wdo Move Ws to Wd 1 1 None MOV WREG,f Move WREG to f 1 1 N,Z Wns,Wd Move Double from W(ns):W(ns + 1) to Wd 1 2 None Ws,Wnd Move Double from Ws to W(nd + 1):W(nd) 1 2 None Prefetch and store accumulator 1 1 None 45 46 MAC MOV MOV.D MOV.D 47 MOVSAC MOVSAC DS70283B-page 230 Acc,Wx,Wxd,Wy,Wyd,AWB Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 21-2: Base Instr # 48 INSTRUCTION SET OVERVIEW (CONTINUED) Assembly Mnemonic MPY Assembly Syntax Description # of # of Words Cycles Status Flags Affected MPY Wm*Wn,Acc,Wx,Wxd,Wy,Wyd Multiply Wm by Wn to Accumulator 1 1 OA,OB,OAB, SA,SB,SAB MPY Wm*Wm,Acc,Wx,Wxd,Wy,Wyd Square Wm to Accumulator 1 1 OA,OB,OAB, SA,SB,SAB 49 MPY.N MPY.N Wm*Wn,Acc,Wx,Wxd,Wy,Wyd -(Multiply Wm by Wn) to Accumulator 1 1 None 50 MSC MSC Wm*Wm,Acc,Wx,Wxd,Wy,Wyd , AWB Multiply and Subtract from Accumulator 1 1 OA,OB,OAB, SA,SB,SAB 51 MUL MUL.SS Wb,Ws,Wnd {Wnd + 1, Wnd} = signed(Wb) * signed(Ws) 1 1 None MUL.SU Wb,Ws,Wnd {Wnd + 1, Wnd} = signed(Wb) * unsigned(Ws) 1 1 None MUL.US Wb,Ws,Wnd {Wnd + 1, Wnd} = unsigned(Wb) * signed(Ws) 1 1 None MUL.UU Wb,Ws,Wnd {Wnd + 1, Wnd} = unsigned(Wb) * unsigned(Ws) 1 1 None MUL.SU Wb,#lit5,Wnd {Wnd + 1, Wnd} = signed(Wb) * unsigned(lit5) 1 1 None MUL.UU Wb,#lit5,Wnd {Wnd + 1, Wnd} = unsigned(Wb) * unsigned(lit5) 1 1 None MUL f W3:W2 = f * WREG 1 1 None NEG Acc Negate Accumulator 1 1 OA,OB,OAB, SA,SB,SAB 52 53 54 NEG NOP POP NEG f f=f+1 1 1 C,DC,N,OV,Z NEG f,WREG WREG = f + 1 1 1 C,DC,N,OV,Z NEG Ws,Wd Wd = Ws + 1 1 1 C,DC,N,OV,Z NOP No Operation 1 1 None NOPR No Operation 1 1 None None POP f Pop f from Top-of-Stack (TOS) 1 1 POP Wdo Pop from Top-of-Stack (TOS) to Wdo 1 1 None POP.D Wnd Pop from Top-of-Stack (TOS) to W(nd):W(nd + 1) 1 2 None Pop Shadow Registers 1 1 All f Push f to Top-of-Stack (TOS) 1 1 None PUSH Wso Push Wso to Top-of-Stack (TOS) 1 1 None PUSH.D Wns Push W(ns):W(ns + 1) to Top-of-Stack (TOS) 1 2 None Push Shadow Registers 1 1 None Go into Sleep or Idle mode 1 1 WDTO,Sleep POP.S 55 PUSH PUSH PUSH.S 56 PWRSAV PWRSAV 57 RCALL RCALL Expr Relative Call 1 2 None RCALL Wn Computed Call 1 2 None REPEAT #lit14 Repeat Next Instruction lit14 + 1 times 1 1 None REPEAT Wn Repeat Next Instruction (Wn) + 1 times 1 1 None None 58 REPEAT #lit1 59 RESET RESET Software device Reset 1 1 60 RETFIE RETFIE Return from interrupt 1 3 (2) None 61 RETLW RETLW Return with literal in Wn 1 3 (2) None 62 RETURN RETURN Return from Subroutine 1 3 (2) None 63 RLC RLC f f = Rotate Left through Carry f 1 1 C,N,Z RLC f,WREG WREG = Rotate Left through Carry f 1 1 C,N,Z RLC Ws,Wd Wd = Rotate Left through Carry Ws 1 1 C,N,Z RLNC f f = Rotate Left (No Carry) f 1 1 N,Z RLNC f,WREG WREG = Rotate Left (No Carry) f 1 1 N,Z 64 65 RLNC RRC #lit10,Wn RLNC Ws,Wd Wd = Rotate Left (No Carry) Ws 1 1 N,Z RRC f f = Rotate Right through Carry f 1 1 C,N,Z RRC f,WREG WREG = Rotate Right through Carry f 1 1 C,N,Z RRC Ws,Wd Wd = Rotate Right through Carry Ws 1 1 C,N,Z © 2007 Microchip Technology Inc. Preliminary DS70283B-page 231 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 21-2: Base Instr # 66 INSTRUCTION SET OVERVIEW (CONTINUED) Assembly Mnemonic RRNC Assembly Syntax Description # of # of Words Cycles Status Flags Affected RRNC f f = Rotate Right (No Carry) f 1 1 N,Z RRNC f,WREG WREG = Rotate Right (No Carry) f 1 1 N,Z RRNC Ws,Wd Wd = Rotate Right (No Carry) Ws 1 1 N,Z 67 SAC SAC Acc,#Slit4,Wdo Store Accumulator 1 1 None SAC.R Acc,#Slit4,Wdo Store Rounded Accumulator 1 1 None 68 SE SE Ws,Wnd Wnd = sign-extended Ws 1 1 C,N,Z 69 SETM SETM f f = 0xFFFF 1 1 None SETM WREG WREG = 0xFFFF 1 1 None SETM Ws Ws = 0xFFFF 1 1 None SFTAC Acc,Wn Arithmetic Shift Accumulator by (Wn) 1 1 OA,OB,OAB, SA,SB,SAB SFTAC Acc,#Slit6 Arithmetic Shift Accumulator by Slit6 1 1 OA,OB,OAB, SA,SB,SAB SL f f = Left Shift f 1 1 C,N,OV,Z SL f,WREG WREG = Left Shift f 1 1 C,N,OV,Z SL Ws,Wd Wd = Left Shift Ws 1 1 C,N,OV,Z SL Wb,Wns,Wnd Wnd = Left Shift Wb by Wns 1 1 N,Z SL Wb,#lit5,Wnd Wnd = Left Shift Wb by lit5 1 1 N,Z SUB Acc Subtract Accumulators 1 1 OA,OB,OAB, SA,SB,SAB SUB f f = f – WREG 1 1 C,DC,N,OV,Z SUB f,WREG WREG = f – WREG 1 1 C,DC,N,OV,Z SUB #lit10,Wn Wn = Wn – lit10 1 1 C,DC,N,OV,Z SUB Wb,Ws,Wd Wd = Wb – Ws 1 1 C,DC,N,OV,Z SUB Wb,#lit5,Wd Wd = Wb – lit5 1 1 C,DC,N,OV,Z C,DC,N,OV,Z 70 71 72 73 74 75 76 SFTAC SL SUB SUBB SUBR SUBBR SWAP SUBB f f = f – WREG – (C) 1 1 SUBB f,WREG WREG = f – WREG – (C) 1 1 C,DC,N,OV,Z SUBB #lit10,Wn Wn = Wn – lit10 – (C) 1 1 C,DC,N,OV,Z SUBB Wb,Ws,Wd Wd = Wb – Ws – (C) 1 1 C,DC,N,OV,Z SUBB Wb,#lit5,Wd Wd = Wb – lit5 – (C) 1 1 SUBR f f = WREG – f 1 1 C,DC,N,OV,Z C,DC,N,OV,Z SUBR f,WREG WREG = WREG – f 1 1 C,DC,N,OV,Z SUBR Wb,Ws,Wd Wd = Ws – Wb 1 1 C,DC,N,OV,Z SUBR Wb,#lit5,Wd Wd = lit5 – Wb 1 1 C,DC,N,OV,Z SUBBR f f = WREG – f – (C) 1 1 C,DC,N,OV,Z SUBBR f,WREG WREG = WREG – f – (C) 1 1 C,DC,N,OV,Z SUBBR Wb,Ws,Wd Wd = Ws – Wb – (C) 1 1 C,DC,N,OV,Z C,DC,N,OV,Z SUBBR Wb,#lit5,Wd Wd = lit5 – Wb – (C) 1 1 SWAP.b Wn Wn = nibble swap Wn 1 1 None SWAP Wn Wn = byte swap Wn 1 1 None None 77 TBLRDH TBLRDH Ws,Wd Read Prog<23:16> to Wd<7:0> 1 2 78 TBLRDL TBLRDL Ws,Wd Read Prog<15:0> to Wd 1 2 None 79 TBLWTH TBLWTH Ws,Wd Write Ws<7:0> to Prog<23:16> 1 2 None 80 TBLWTL TBLWTL Ws,Wd Write Ws to Prog<15:0> 1 2 None 81 ULNK ULNK Unlink Frame Pointer 1 1 None 82 XOR XOR f f = f .XOR. WREG 1 1 N,Z XOR f,WREG WREG = f .XOR. WREG 1 1 N,Z XOR #lit10,Wn Wd = lit10 .XOR. Wd 1 1 N,Z XOR Wb,Ws,Wd Wd = Wb .XOR. Ws 1 1 N,Z XOR Wb,#lit5,Wd Wd = Wb .XOR. lit5 1 1 N,Z ZE Ws,Wnd Wnd = Zero-extend Ws 1 1 C,Z,N 83 ZE DS70283B-page 232 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 22.0 DEVELOPMENT SUPPORT 22.1 The PIC® microcontrollers are supported with a full range of hardware and software development tools: • Integrated Development Environment - MPLAB® IDE Software • Assemblers/Compilers/Linkers - MPASMTM Assembler - MPLAB C18 and MPLAB C30 C Compilers - MPLINKTM Object Linker/ MPLIBTM Object Librarian - MPLAB ASM30 Assembler/Linker/Library • Simulators - MPLAB SIM Software Simulator • Emulators - MPLAB ICE 2000 In-Circuit Emulator - MPLAB REAL ICE™ In-Circuit Emulator • In-Circuit Debugger - MPLAB ICD 2 • Device Programmers - PICSTART® Plus Development Programmer - MPLAB PM3 Device Programmer - PICkit™ 2 Development Programmer • Low-Cost Demonstration and Development Boards and Evaluation Kits MPLAB Integrated Development Environment Software The MPLAB IDE software brings an ease of software development previously unseen in the 8/16-bit microcontroller market. The MPLAB IDE is a Windows® operating system-based application that contains: • A single graphical interface to all debugging tools - Simulator - Programmer (sold separately) - Emulator (sold separately) - In-Circuit Debugger (sold separately) • A full-featured editor with color-coded context • A multiple project manager • Customizable data windows with direct edit of contents • High-level source code debugging • Visual device initializer for easy register initialization • Mouse over variable inspection • Drag and drop variables from source to watch windows • Extensive on-line help • Integration of select third party tools, such as HI-TECH Software C Compilers and IAR C Compilers The MPLAB IDE allows you to: • Edit your source files (either assembly or C) • One touch assemble (or compile) and download to PIC MCU emulator and simulator tools (automatically updates all project information) • Debug using: - Source files (assembly or C) - Mixed assembly and C - Machine code MPLAB IDE supports multiple debugging tools in a single development paradigm, from the cost-effective simulators, through low-cost in-circuit debuggers, to full-featured emulators. This eliminates the learning curve when upgrading to tools with increased flexibility and power. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 233 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 22.2 MPASM Assembler 22.5 The MPASM Assembler is a full-featured, universal macro assembler for all PIC MCUs. The MPASM Assembler generates relocatable object files for the MPLINK Object Linker, Intel® standard HEX files, MAP files to detail memory usage and symbol reference, absolute LST files that contain source lines and generated machine code and COFF files for debugging. The MPASM Assembler features include: 22.3 Support for the entire dsPIC30F instruction set Support for fixed-point and floating-point data Command line interface Rich directive set Flexible macro language MPLAB IDE compatibility 22.6 MPLAB C18 and MPLAB C30 C Compilers The MPLAB C18 and MPLAB C30 Code Development Systems are complete ANSI C compilers for Microchip’s PIC18 and PIC24 families of microcontrollers and the dsPIC30 and dsPIC33 family of digital signal controllers. These compilers provide powerful integration capabilities, superior code optimization and ease of use not found with other compilers. For easy source level debugging, the compilers provide symbol information that is optimized to the MPLAB IDE debugger. 22.4 MPLAB ASM30 Assembler produces relocatable machine code from symbolic assembly language for dsPIC30F devices. MPLAB C30 C Compiler uses the assembler to produce its object file. The assembler generates relocatable object files that can then be archived or linked with other relocatable object files and archives to create an executable file. Notable features of the assembler include: • • • • • • • Integration into MPLAB IDE projects • User-defined macros to streamline assembly code • Conditional assembly for multi-purpose source files • Directives that allow complete control over the assembly process MPLINK Object Linker/ MPLIB Object Librarian The MPLINK Object Linker combines relocatable objects created by the MPASM Assembler and the MPLAB C18 C Compiler. It can link relocatable objects from precompiled libraries, using directives from a linker script. MPLAB ASM30 Assembler, Linker and Librarian MPLAB SIM Software Simulator The MPLAB SIM Software Simulator allows code development in a PC-hosted environment by simulating the PIC MCUs and dsPIC® DSCs on an instruction level. On any given instruction, the data areas can be examined or modified and stimuli can be applied from a comprehensive stimulus controller. Registers can be logged to files for further run-time analysis. The trace buffer and logic analyzer display extend the power of the simulator to record and track program execution, actions on I/O, most peripherals and internal registers. The MPLAB SIM Software Simulator fully supports symbolic debugging using the MPLAB C18 and MPLAB C30 C Compilers, and the MPASM and MPLAB ASM30 Assemblers. The software simulator offers the flexibility to develop and debug code outside of the hardware laboratory environment, making it an excellent, economical software development tool. The MPLIB Object Librarian manages the creation and modification of library files of precompiled code. When a routine from a library is called from a source file, only the modules that contain that routine will be linked in with the application. This allows large libraries to be used efficiently in many different applications. The object linker/library features include: • Efficient linking of single libraries instead of many smaller files • Enhanced code maintainability by grouping related modules together • Flexible creation of libraries with easy module listing, replacement, deletion and extraction DS70283B-page 234 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 22.7 MPLAB ICE 2000 High-Performance In-Circuit Emulator 22.9 The MPLAB ICE 2000 In-Circuit Emulator is intended to provide the product development engineer with a complete microcontroller design tool set for PIC microcontrollers. Software control of the MPLAB ICE 2000 In-Circuit Emulator is advanced by the MPLAB Integrated Development Environment, which allows editing, building, downloading and source debugging from a single environment. The MPLAB ICE 2000 is a full-featured emulator system with enhanced trace, trigger and data monitoring features. Interchangeable processor modules allow the system to be easily reconfigured for emulation of different processors. The architecture of the MPLAB ICE 2000 In-Circuit Emulator allows expansion to support new PIC microcontrollers. The MPLAB ICE 2000 In-Circuit Emulator system has been designed as a real-time emulation system with advanced features that are typically found on more expensive development tools. The PC platform and Microsoft® Windows® 32-bit operating system were chosen to best make these features available in a simple, unified application. 22.8 MPLAB REAL ICE In-Circuit Emulator System MPLAB REAL ICE In-Circuit Emulator System is Microchip’s next generation high-speed emulator for Microchip Flash DSC and MCU devices. It debugs and programs PIC® Flash MCUs and dsPIC® Flash DSCs with the easy-to-use, powerful graphical user interface of the MPLAB Integrated Development Environment (IDE), included with each kit. The MPLAB REAL ICE probe is connected to the design engineer’s PC using a high-speed USB 2.0 interface and is connected to the target with either a connector compatible with the popular MPLAB ICD 2 system (RJ11) or with the new high-speed, noise tolerant, LowVoltage Differential Signal (LVDS) interconnection (CAT5). MPLAB ICD 2 In-Circuit Debugger Microchip’s In-Circuit Debugger, MPLAB ICD 2, is a powerful, low-cost, run-time development tool, connecting to the host PC via an RS-232 or high-speed USB interface. This tool is based on the Flash PIC MCUs and can be used to develop for these and other PIC MCUs and dsPIC DSCs. The MPLAB ICD 2 utilizes the in-circuit debugging capability built into the Flash devices. This feature, along with Microchip’s In-Circuit Serial ProgrammingTM (ICSPTM) protocol, offers costeffective, in-circuit Flash debugging from the graphical user interface of the MPLAB Integrated Development Environment. This enables a designer to develop and debug source code by setting breakpoints, single stepping and watching variables, and CPU status and peripheral registers. Running at full speed enables testing hardware and applications in real time. MPLAB ICD 2 also serves as a development programmer for selected PIC devices. 22.10 MPLAB PM3 Device Programmer The MPLAB PM3 Device Programmer is a universal, CE compliant device programmer with programmable voltage verification at VDDMIN and VDDMAX for maximum reliability. It features a large LCD display (128 x 64) for menus and error messages and a modular, detachable socket assembly to support various package types. The ICSP™ cable assembly is included as a standard item. In Stand-Alone mode, the MPLAB PM3 Device Programmer can read, verify and program PIC devices without a PC connection. It can also set code protection in this mode. The MPLAB PM3 connects to the host PC via an RS-232 or USB cable. The MPLAB PM3 has high-speed communications and optimized algorithms for quick programming of large memory devices and incorporates an SD/MMC card for file storage and secure data applications. MPLAB REAL ICE is field upgradeable through future firmware downloads in MPLAB IDE. In upcoming releases of MPLAB IDE, new devices will be supported, and new features will be added, such as software breakpoints and assembly code trace. MPLAB REAL ICE offers significant advantages over competitive emulators including low-cost, full-speed emulation, real-time variable watches, trace analysis, complex breakpoints, a ruggedized probe interface and long (up to three meters) interconnection cables. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 235 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 22.11 PICSTART Plus Development Programmer 22.13 Demonstration, Development and Evaluation Boards The PICSTART Plus Development Programmer is an easy-to-use, low-cost, prototype programmer. It connects to the PC via a COM (RS-232) port. MPLAB Integrated Development Environment software makes using the programmer simple and efficient. The PICSTART Plus Development Programmer supports most PIC devices in DIP packages up to 40 pins. Larger pin count devices, such as the PIC16C92X and PIC17C76X, may be supported with an adapter socket. The PICSTART Plus Development Programmer is CE compliant. A wide variety of demonstration, development and evaluation boards for various PIC MCUs and dsPIC DSCs allows quick application development on fully functional systems. Most boards include prototyping areas for adding custom circuitry and provide application firmware and source code for examination and modification. 22.12 PICkit 2 Development Programmer The PICkit™ 2 Development Programmer is a low-cost programmer and selected Flash device debugger with an easy-to-use interface for programming many of Microchip’s baseline, mid-range and PIC18F families of Flash memory microcontrollers. The PICkit 2 Starter Kit includes a prototyping development board, twelve sequential lessons, software and HI-TECH’s PICC™ Lite C compiler, and is designed to help get up to speed quickly using PIC® microcontrollers. The kit provides everything needed to program, evaluate and develop applications using Microchip’s powerful, mid-range Flash memory family of microcontrollers. DS70283B-page 236 The boards support a variety of features, including LEDs, temperature sensors, switches, speakers, RS-232 interfaces, LCD displays, potentiometers and additional EEPROM memory. The demonstration and development boards can be used in teaching environments, for prototyping custom circuits and for learning about various microcontroller applications. In addition to the PICDEM™ and dsPICDEM™ demonstration/development board series of circuits, Microchip has a line of evaluation kits and demonstration software for analog filter design, KEELOQ® security ICs, CAN, IrDA®, PowerSmart battery management, SEEVAL® evaluation system, Sigma-Delta ADC, flow rate sensing, plus many more. Check the Microchip web page (www.microchip.com) for the complete list of demonstration, development and evaluation kits. Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 23.0 ELECTRICAL CHARACTERISTICS This section provides an overview of dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 electrical characteristics. Additional information will be provided in future revisions of this document as it becomes available. Absolute maximum ratings for the dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 family are listed below. Exposure to these maximum rating conditions for extended periods may affect device reliability. Functional operation of the device at these or any other conditions above the parameters indicated in the operation listings of this specification is not implied. Absolute Maximum Ratings(1) Ambient temperature under bias.............................................................................................................-40°C to +125°C Storage temperature .............................................................................................................................. -65°C to +150°C Voltage on VDD with respect to VSS ......................................................................................................... -0.3V to +4.0V Voltage on any combined analog and digital pin and MCLR, with respect to VSS ......................... -0.3V to (VDD + 0.3V) Voltage on any digital-only pin with respect to VSS .................................................................................. -0.3V to +5.6V Voltage on VDDCORE with respect to VSS ................................................................................................ 2.25V to 2.75V Maximum current out of VSS pin ...........................................................................................................................300 mA Maximum current into VDD pin(2) ...........................................................................................................................250 mA Maximum output current sunk by any I/O pin(3) ........................................................................................................4 mA Maximum output current sourced by any I/O pin(3) ...................................................................................................4 mA Maximum current sunk by all ports .......................................................................................................................200 mA Maximum current sourced by all ports(2) ...............................................................................................................200 mA Note 1: Stresses above 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 those or any other conditions above those indicated in the operation listings of this specification is not implied. Exposure to maximum rating conditions for extended periods may affect device reliability. 2: Maximum allowable current is a function of device maximum power dissipation (see Table 23-2). 3: Exceptions are CLKOUT, which is able to sink/source 25 mA, and the VREF+, VREF-, SCLx, SDAx, PGCx and PGDx pins, which are able to sink/source 12 mA. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 237 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 23.1 DC Characteristics TABLE 23-1: OPERATING MIPS VS. VOLTAGE Characteristic TABLE 23-2: Max MIPS VDD Range (in Volts) Temp Range (in °C) 3.0-3.6V -40°C to +85°C 40 3.0-3.6V -40°C to +125°C 35 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 THERMAL OPERATING CONDITIONS Rating Symbol Min Typ Max Unit Operating Junction Temperature Range TJ -40 — +125 °C Operating Ambient Temperature Range TA -40 — +85 °C Operating Junction Temperature Range TJ -40 — +140 °C Operating Ambient Temperature Range TA -40 — +125 °C Industrial Temperature Devices Extended Temperature Devices Power Dissipation: Internal chip power dissipation: PINT = VDD x (IDD – Σ IOH) PD PINT + PI/O W PDMAX (TJ – TA)/θJA W I/O Pin Power Dissipation: I/O = Σ ({VDD – VOH} x IOH) + Σ (VOL x IOL) Maximum Allowed Power Dissipation TABLE 23-3: THERMAL PACKAGING CHARACTERISTICS Characteristic Package Thermal Resistance, 44-pin QFN Package Thermal Resistance, 44-pin TFQP Package Thermal Resistance, 28-pin SPDIP Package Thermal Resistance, 28-pin SOIC Package Thermal Resistance, 28-pin QFN-S Note 1: Symbol Typ Max Unit Notes θJA θJA θJA θJA θJA 62.4 — °C/W 1 60 — °C/W 1 108 — °C/W 1 80.2 — °C/W 1 32 — °C/W 1 Junction to ambient thermal resistance, Theta-JA (θJA) numbers are achieved by package simulations. DS70283B-page 238 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-4: DC TEMPERATURE AND VOLTAGE SPECIFICATIONS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended DC CHARACTERISTICS Param Symbol No. Characteristic Min Typ(1) Max Units 3.0 — 3.6 V Conditions Operating Voltage DC10 Supply Voltage VDD (2) DC12 VDR RAM Data Retention Voltage 1.1 1.3 1.8 V DC16 VPOR VDD Start Voltage to ensure internal Power-on Reset signal — — VSS V DC17 SVDD VDD Rise Rate to ensure internal Power-on Reset signal 0.03 — — DC18 VCORE VDD Core(3) Internal regulator voltage 2.25 — 2.75 Note 1: 2: 3: Industrial and Extended V/ms 0-3.0V in 0.1s V Voltage is dependent on load, temperature and VDD Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. This is the limit to which VDD may be lowered without losing RAM data. These parameters are characterized but not tested in manufacturing. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 239 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-5: DC CHARACTERISTICS: OPERATING CURRENT (IDD) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended DC CHARACTERISTICS Parameter No. Typical(1) Max Units Conditions Operating Current (IDD)(2) DC20d 24 30 mA -40°C DC20a 27 30 mA +25°C DC20b 27 30 mA +85°C DC20c 27 35 mA +125°C DC21d 30 40 mA -40°C DC21a 37 40 mA +25°C DC21b 32 45 mA +85°C DC21c 33 45 mA +125°C DC22d 35 50 mA -40°C DC22a 38 50 mA +25°C DC22b 38 55 mA +85°C DC22c 39 55 mA +125°C DC23d 47 70 mA -40°C DC23a 48 70 mA +25°C DC23b 48 70 mA +85°C DC23c 48 70 mA +125°C DC24d 56 90 mA -40°C DC24a 56 90 mA +25°C DC24b 54 90 mA +85°C DC24c 54 80 mA +125°C Note 1: 2: 3.3V 10 MIPS 3.3V 16 MIPS 3.3V 20 MIPS 3.3V 30 MIPS 3.3V 40 MIPS 3.3V 35 MIPS Data in “Typical” column is at 3.3V, 25°C unless otherwise stated. The supply current is mainly a function of the operating voltage and frequency. Other factors, such as I/O pin loading and switching rate, oscillator type, internal code execution pattern and temperature, also have an impact on the current consumption. The test conditions for all IDD measurements are as follows: OSC1 driven with external square wave from rail to rail. All I/O pins are configured as inputs and pulled to VSS. MCLR = VDD, WDT and FSCM are disabled. CPU, SRAM, program memory and data memory are operational. No peripheral modules are operating; however, every peripheral is being clocked (PMD bits are all zeroed). DS70283B-page 240 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-6: DC CHARACTERISTICS: IDLE CURRENT (IIDLE) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended DC CHARACTERISTICS Parameter No. Typical(1) Max Units Conditions Idle Current (IIDLE): Core OFF Clock ON Base Current(2) DC40d 3 25 mA -40°C DC40a 3 25 mA +25°C DC40b 3 25 mA +85°C DC40c 3 25 mA +125°C DC41d 4 25 mA -40°C DC41a 4 25 mA +25°C DC41b 5 25 mA +85°C DC41c 5 25 mA +125°C DC42d 6 25 mA -40°C DC42a 6 25 mA +25°C DC42b 7 25 mA +85°C DC42c 7 25 mA +125°C DC43d 9 25 mA -40°C DC43a 9 25 mA +25°C DC43b 9 25 mA +85°C DC43c 9 25 mA +125°C DC44d 10 25 mA -40°C DC44a 10 25 mA +25°C DC44b 16 25 mA +85°C DC44c 10 25 mA +125°C Note 1: 2: 3.3V 10 MIPS 3.3V 16 MIPS 3.3V 20 MIPS 3.3V 30 MIPS 3.3V 40 MIPS 3.3V 35 MIPS Data in “Typical” column is at 3.3V, 25°C unless otherwise stated. Base IIDLE current is measured with core off, clock on and all modules turned off. Peripheral Module Disable SFR registers are zeroed. All I/O pins are configured as inputs and pulled to VSS. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 241 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-7: DC CHARACTERISTICS: POWER-DOWN CURRENT (IPD) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended DC CHARACTERISTICS Parameter No. Typical(1) Max Units Conditions Power-Down Current (IPD)(2) DC60d 55 500 μA -40°C DC60a 63 500 μA +25°C DC60b 85 500 μA +85°C DC60c 146 1 mA +125°C DC61d 8 13 μA -40°C DC61a 10 15 μA +25°C DC61b 12 20 μA +85°C DC61c 13 25 μA +125°C Note 1: 2: 3: 4: 3.3V Base Power-Down Current(3,4) 3.3V Watchdog Timer Current: ΔIWDT(3) Data in the Typical column is at 3.3V, 25°C unless otherwise stated. Base IPD is measured with all peripherals and clocks shut down. All I/Os are configured as inputs and pulled to VSS. WDT, etc., are all switched off. The Δ current is the additional current consumed when the module is enabled. This current should be added to the base IPD current. These currents are measured on the device containing the most memory in this family. TABLE 23-8: DC CHARACTERISTICS: DOZE CURRENT (IDOZE) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended DC CHARACTERISTICS Doze Ratio Units 32 1:2 mA 27 1:64 mA 23 26 1:128 mA 42 47 1:2 mA Parameter No. Typical(1) Max DC73a 25 DC73f 23 DC73g DC70a DC70f 26 27 1:64 mA DC70g 25 27 1:128 mA DC71a 41 48 1:2 mA DC71f 25 28 1:64 mA DC71g 24 28 1:128 mA DC72a 42 49 1:2 mA DC72f 26 29 1:64 mA DC72g 25 28 1:128 mA Note 1: Conditions -40°C 3.3V 40 MIPS +25°C 3.3V 40 MIPS +85°C 3.3V 40 MIPS +125°C 3.3V 35 MIPS Data in the Typical column is at 3.3V, 25°C unless otherwise stated. DS70283B-page 242 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-9: DC CHARACTERISTICS: I/O PIN INPUT SPECIFICATIONS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended DC CHARACTERISTICS Param Symbol No. VIL Characteristic Min Typ(1) Max Units Conditions Input Low Voltage DI10 I/O pins VSS — 0.2 VDD V DI15 MCLR VSS — 0.2 VDD V DI16 OSC1 (XT mode) VSS — 0.2 VDD V DI17 OSC1 (HS mode) VSS — 0.2 VDD V DI18 SDAx, SCLx VSS — 0.3 VDD V SMbus disabled DI19 SDAx, SCLx VSS — 0.2 VDD V SMbus enabled I/O pins: with analog functions digital-only 0.8 VDD 0.8 VDD — — VDD 5.5 V V DI25 MCLR 0.8 VDD — VDD V DI26 OSC1 (XT mode) 0.7 VDD — VDD V DI27 OSC1 (HS mode) 0.7 VDD — VDD V DI28 SDAx, SCLx 0.7 VDD — VDD V SMbus disabled SDAx, SCLx 0.8 VDD — VDD V SMbus enabled 50 250 400 μA VDD = 3.3V, VPIN = VSS VIH DI20 DI29 Input High Voltage ICNPU CNx Pull-up Current IIL Input Leakage Current(2)(3) DI30 DI50 I/O ports — — ±2 μA VSS ≤ VPIN ≤ VDD, Pin at high-impedance DI51 Analog Input Pins — — ±1 μA VSS ≤ VPIN ≤ VDD, Pin at high-impedance, 40°C ≤ TA ≤ +85°C DI51a Analog Input Pins — — ±2 μA Analog pins shared with external reference pins, 40°C ≤ TA ≤ +85°C DI51b Analog Input Pins — — ±3.5 μA VSS ≤ VPIN ≤ VDD, Pin at high-impedance, -40°C ≤ TA ≤ +125°C DI51c Analog Input Pins — — ±8 μA Analog pins shared with external reference pins, -40°C ≤ TA ≤ +125°C DI55 MCLR — — ±2 μA VSS ≤ VPIN ≤ VDD DI56 OSC1 — — ±2 μA VSS ≤ VPIN ≤ VDD, XT and HS modes Note 1: 2: 3: Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. The leakage current on the MCLR pin is strongly dependent on the applied voltage level. The specified levels represent normal operating conditions. Higher leakage current may be measured at different input voltages. Negative current is defined as current sourced by the pin. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 243 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-10: DC CHARACTERISTICS: I/O PIN OUTPUT SPECIFICATIONS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended DC CHARACTERISTICS Param Symbol No. VOL DO10 DO16 VOH Characteristic Min Typ Max Units Conditions I/O ports — — 0.4 V IOL = 2 mA, VDD = 3.3V OSC2/CLKO — — 0.4 V IOL = 2 mA, VDD = 3.3V Output Low Voltage Output High Voltage DO20 I/O ports 2.40 — — V IOH = -2.3 mA, VDD = 3.3V DO26 OSC2/CLKO 2.41 — — V IOH = -1.3 mA, VDD = 3.3V TABLE 23-11: ELECTRICAL CHARACTERISTICS: BOR DC CHARACTERISTICS Param No. Symbol Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended Characteristic Min(1) Typ Max Units BOR Event on VDD transition high-to-low BOR event is tied to VDD core voltage decrease 2.40 — 2.55 V BO10 VBOR Note 1: Parameters are for design guidance only and are not tested in manufacturing. DS70283B-page 244 Preliminary Conditions © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-12: DC CHARACTERISTICS: PROGRAM MEMORY Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended DC CHARACTERISTICS Param Symbol No. Characteristic Min Typ(1) Max Units Conditions Program Flash Memory D130 EP Cell Endurance 10,000 — — D131 VPR VDD for Read VMIN — 3.6 V VMIN = Minimum operating voltage D132B VPEW VDD for Self-Timed Write VMIN — 3.6 V VMIN = Minimum operating voltage D134 TRETD Characteristic Retention 20 — — Year Provided no other specifications are violated, -40°C to +125°C D135 IDDP Supply Current during Programming — 10 — mA D136 TRW Row Write Time — 1.6 — ms D137 TPE Page Erase Time — 20 — ms D138 TWW Word Write Cycle Time 20 — 40 μs Note 1: E/W -40°C to +125°C Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. TABLE 23-13: INTERNAL VOLTAGE REGULATOR SPECIFICATIONS Operating Conditions: -40°C < TA < +85°C (unless otherwise stated) Param No. Symbol CEFC Characteristics External Filter Capacitor Value © 2007 Microchip Technology Inc. Min Typ Max Units 1 10 — μF Preliminary Comments Capacitor must be low series resistance (< 5 ohms) DS70283B-page 245 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 23.2 AC Characteristics and Timing Parameters This section defines dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 AC characteristics and timing parameters. TABLE 23-14: TEMPERATURE AND VOLTAGE SPECIFICATIONS – AC Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended Operating voltage VDD range as described in Section 23.0 “Electrical Characteristics”. AC CHARACTERISTICS FIGURE 23-1: LOAD CONDITIONS FOR DEVICE TIMING SPECIFICATIONS Load Condition 1 – for all pins except OSC2 Load Condition 2 – for OSC2 VDD/2 CL Pin RL VSS CL Pin RL = 464Ω CL = 50 pF for all pins except OSC2 15 pF for OSC2 output VSS TABLE 23-15: CAPACITIVE LOADING REQUIREMENTS ON OUTPUT PINS Param Symbol No. Characteristic Min Typ Max Units Conditions DO50 COSC2 OSC2/SOSC2 pin — — 15 pF In XT and HS modes when external clock is used to drive OSC1 DO56 CIO All I/O pins and OSC2 — — 50 pF EC mode DO58 CB SCLx, SDAx — — 400 pF In I2C™ mode DS70283B-page 246 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-2: EXTERNAL CLOCK TIMING Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 OSC1 OS20 OS30 OS25 OS30 OS31 OS31 CLKO OS41 OS40 TABLE 23-16: EXTERNAL CLOCK TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. OS10 Symb FIN OS20 TOSC Min Typ(1) Max Units External CLKI Frequency (External clocks allowed only in EC and ECPLL modes) DC — 40 MHz EC Oscillator Crystal Frequency 3.5 10 — — — 10 40 33 MHz MHz kHz XT HS SOSC TOSC = 1/FOSC 12.5 — DC ns Characteristic Time(2) Conditions OS25 TCY Instruction Cycle 25 — DC ns OS30 TosL, TosH External Clock in (OSC1) High or Low Time 0.375 x TOSC — 0.625 x TOSC ns EC OS31 TosR, TosF External Clock in (OSC1) Rise or Fall Time — — 20 ns EC OS40 TckR CLKO Rise Time(3) — 5.2 — ns OS41 TckF CLKO Fall Time(3) — 5.2 — ns Note 1: 2: 3: Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. Instruction cycle period (TCY) equals two times the input oscillator time-base period. All specified values are based on characterization data for that particular oscillator type under standard operating conditions with the device executing code. Exceeding these specified limits may result in an unstable oscillator operation and/or higher than expected current consumption. All devices are tested to operate at “min.” values with an external clock applied to the OSC1/CLKI pin. When an external clock input is used, the “max.” cycle time limit is “DC” (no clock) for all devices. Measurements are taken in EC mode. The CLKO signal is measured on the OSC2 pin. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 247 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-17: PLL CLOCK TIMING SPECIFICATIONS (VDD = 3.0V TO 3.6V) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic Min Typ(1) Max Units OS50 FPLLI PLL Voltage Controlled Oscillator (VCO) Input Frequency Range 0.8 — 8 MHz OS51 FSYS On-Chip VCO System Frequency 100 — 200 MHz OS52 TLOCK PLL Start-up Time (Lock Time) 0.9 1.5 3.1 mS OS53 DCLK CLKO Stability (Jitter) -3 0.5 3 % Note 1: Conditions ECPLL, XTPLL modes Measured over 100 ms period Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. Parameters are for design guidance only and are not tested. TABLE 23-18: AC CHARACTERISTICS: INTERNAL RC ACCURACY AC CHARACTERISTICS Param No. Characteristic Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for industrial Min Typ Max Units Conditions Internal FRC Accuracy @ FRC Frequency = 7.37 MHz(1,2) F20 Note 1: 2: FRC -2 — +2 % -40°C ≤ TA ≤ +85°C VDD = 3.0-3.6V FRC -5 — +5 % -40°C ≤ TA ≤ +125°C VDD = 3.0-3.6V Frequency calibrated at 25°C and 3.3V. TUN bits can be used to compensate for temperature drift. FRC is set to initial frequency of 7.37 MHz (±2%) at 25°C. TABLE 23-19: INTERNAL RC ACCURACY AC CHARACTERISTICS Param No. Characteristic Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended Min Typ Max Units Conditions LPRC -20 ±6 +20 % -40°C ≤ TA ≤ +85°C VDD = 3.0-3.6V LPRC -70 — +20 % -40°C ≤ TA ≤ +125°C VDD = 3.0-3.6V LPRC @ 32.768 kHz(1) F21 Note 1: Change of LPRC frequency as VDD changes. DS70283B-page 248 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-3: I/O TIMING CHARACTERISTICS I/O Pin (Input) DI35 DI40 I/O Pin (Output) New Value Old Value DO31 DO32 Note: Refer to Figure 23-1 for load conditions. TABLE 23-20: I/O TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic Min Typ(1) Max Units Conditions — 10 25 ns — DO31 TIOR DO32 TIOF Port Output Fall Time — 10 25 ns — DI35 TINP INTx Pin High or Low Time (output) 20 — — ns — TRBP CNx High or Low Time (input) 2 — — TCY — DI40 Note 1: Port Output Rise Time Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 249 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-4: VDD RESET, WATCHDOG TIMER, OSCILLATOR START-UP TIMER AND POWER-UP TIMER TIMING CHARACTERISTICS SY12 MCLR SY10 Internal POR PWRT Time-out OSC Time-out SY11 SY30 Internal Reset Watchdog Timer Reset SY13 SY20 SY13 I/O Pins SY35 FSCM Delay Note: Refer to Figure 23-1 for load conditions. DS70283B-page 250 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-21: RESET, WATCHDOG TIMER, OSCILLATOR START-UP TIMER, POWER-UP TIMER TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param Symbol No. Characteristic(1) Min Typ(2) Max Units Conditions SY10 TMCL MCLR Pulse Width (low) 2 — — μs -40°C to +85°C SY11 TPWRT Power-up Timer Period — 2 4 8 16 32 64 128 — ms -40°C to +85°C User programmable SY12 TPOR Power-on Reset Delay 3 10 30 μs -40°C to +85°C SY13 TIOZ I/O High-Impedance from MCLR Low or Watchdog Timer Reset 0.68 0.72 1.2 μs SY20 TWDT1 Watchdog Timer Time-out Period (No Prescaler) 1.7 2.1 2.6 ms SY30 TOST Oscillator Start-up Time — 1024 TOSC — — TOSC = OSC1 period SY35 TFSCM Fail-Safe Clock Monitor Delay — 500 900 μs -40°C to +85°C Note 1: 2: VDD = 3V, -40°C to +85°C These parameters are characterized but not tested in manufacturing. Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 251 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-5: TIMER1, 2 AND 3 EXTERNAL CLOCK TIMING CHARACTERISTICS TxCK Tx11 Tx10 Tx15 OS60 Tx20 TMRx Note: Refer to Figure 23-1 for load conditions. TABLE 23-22: TIMER1 EXTERNAL CLOCK TIMING REQUIREMENTS(1) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. TA10 TA11 Symbol TTXH TTXL Characteristic TxCK High Time TxCK Low Time Min Typ Max Units Conditions Synchronous, no prescaler 0.5 TCY + 20 — — ns Must also meet parameter TA15 Synchronous, with prescaler 10 — — ns Asynchronous 10 — — ns Synchronous, no prescaler 0.5 TCY + 20 — — ns Synchronous, with prescaler 10 — — ns Asynchronous TA15 TTXP 10 — — ns TCY + 40 — — ns Synchronous, with prescaler Greater of: 20 ns or (TCY + 40)/N — — — Asynchronous 20 — — ns DC — 50 kHz 1.5 TCY — TxCK Input Period Synchronous, no prescaler OS60 Ft1 TA20 TCKEXTMRL Delay from External TxCK Clock Edge to Timer Increment Note 1: SOSC1/T1CK Oscillator Input frequency Range (oscillator enabled by setting bit TCS (T1CON<1>)) 0.5 TCY Must also meet parameter TA15 N = prescale value (1, 8, 64, 256) Timer1 is a Type A. DS70283B-page 252 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-23: TIMER2 EXTERNAL CLOCK TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. TB10 TB11 TB15 TB20 Symbol TtxH TtxL TtxP TCKEXTMRL Characteristic TxCK High Time TxCK Low Time TxCK Input Period Min Typ Max Units Conditions Synchronous, no prescaler 0.5 TCY + 20 — — ns Must also meet parameter TB15 Synchronous, with prescaler 10 — — ns Synchronous, no prescaler 0.5 TCY + 20 — — ns Synchronous, with prescaler 10 — — ns Synchronous, no prescaler TCY + 40 — — ns Synchronous, with prescaler Greater of: 20 ns or (TCY + 40)/N — 1.5 TCY — Delay from External TxCK Clock Edge to Timer Increment 0.5 TCY Must also meet parameter TB15 N = prescale value (1, 8, 64, 256) TABLE 23-24: TIMER3 EXTERNAL CLOCK TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic Min Typ Max Units Conditions TC10 TtxH TxCK High Time Synchronous 0.5 TCY + 20 — — ns Must also meet parameter TC15 TC11 TtxL TxCK Low Time Synchronous 0.5 TCY + 20 — — ns Must also meet parameter TC15 TC15 TtxP TxCK Input Period Synchronous, no prescaler TCY + 40 — — ns N = prescale value (1, 8, 64, 256) — 1.5 TCY — Synchronous, with prescaler TC20 TCKEXTMRL Delay from External TxCK Clock Edge to Timer Increment © 2007 Microchip Technology Inc. Greater of: 20 ns or (TCY + 40)/N 0.5 TCY Preliminary DS70283B-page 253 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-6: TIMERQ (QEI MODULE) EXTERNAL CLOCK TIMING CHARACTERISTICS QEB TQ11 TQ10 TQ15 TQ20 POSCNT TABLE 23-25: QEI MODULE EXTERNAL CLOCK TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic(1) Min Typ Max Units Conditions TQ10 TtQH TQCK High Time Synchronous, with prescaler TCY + 20 — ns Must also meet parameter TQ15 TQ11 TtQL TQCK Low Time Synchronous, with prescaler TCY + 20 — ns Must also meet parameter TQ15 TQ15 TtQP TQCP Input Period Synchronous, 2 * TCY + 40 with prescaler — ns — TQ20 TCKEXTMRL Delay from External TxCK Clock Edge to Timer Increment 1.5 TCY — — Note 1: 0.5 TCY These parameters are characterized but not tested in manufacturing. DS70283B-page 254 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-7: INPUT CAPTURE (CAPx) TIMING CHARACTERISTICS ICx IC10 IC11 IC15 Note: Refer to Figure 23-1 for load conditions. TABLE 23-26: INPUT CAPTURE TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol IC10 TccL ICx Input Low Time IC11 TccH ICx Input High Time IC15 TccP ICx Input Period Characteristic(1) No Prescaler Min Max Units 0.5 TCY + 20 — ns With Prescaler No Prescaler 10 — ns 0.5 TCY + 20 — ns With Prescaler Note 1: 10 — ns (TCY + 40)/N — ns Conditions N = prescale value (1, 4, 16) These parameters are characterized but not tested in manufacturing. FIGURE 23-8: OUTPUT COMPARE MODULE (OCx) TIMING CHARACTERISTICS OCx (Output Compare or PWM Mode) OC10 OC11 Note: Refer to Figure 23-1 for load conditions. TABLE 23-27: OUTPUT COMPARE MODULE TIMING REQUIREMENTS AC CHARACTERISTICS Param Symbol No. Characteristic(1) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended Min Typ Max Units Conditions OC10 TccF OCx Output Fall Time — — — ns See parameter D032 OC11 TccR OCx Output Rise Time — — — ns See parameter D031 Note 1: These parameters are characterized but not tested in manufacturing. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 255 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-9: OC/PWM MODULE TIMING CHARACTERISTICS OC20 OCFA OC15 OCx TABLE 23-28: SIMPLE OC/PWM MODE TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic(1) Min Typ Max Units Conditions OC15 TFD Fault Input to PWM I/O Change — — 50 ns — OC20 TFLT Fault Input Pulse Width 50 — — ns — Note 1: These parameters are characterized but not tested in manufacturing. DS70283B-page 256 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-10: MOTOR CONTROL PWM MODULE FAULT TIMING CHARACTERISTICS MP30 FLTA MP20 PWMx FIGURE 23-11: MOTOR CONTROL PWM MODULE TIMING CHARACTERISTICS MP11 MP10 PWMx Note: Refer to Figure 23-1 for load conditions. TABLE 23-29: MOTOR CONTROL PWM MODULE TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic(1) Min Typ Max Units Conditions — ns See parameter D032 See parameter D031 MP10 TFPWM PWM Output Fall Time — — MP11 TRPWM PWM Output Rise Time — — — ns TFD Fault Input ↓ to PWM I/O Change — — 50 ns — TFH Minimum Pulse Width 50 — — ns — MP20 MP30 Note 1: These parameters are characterized but not tested in manufacturing. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 257 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-12: QEA/QEB INPUT CHARACTERISTICS TQ36 QEA (input) TQ30 TQ31 TQ35 QEB (input) TQ41 TQ40 TQ30 TQ31 TQ35 QEB Internal TABLE 23-30: QUADRATURE DECODER TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic(1) Typ(2) Max Units Conditions TQ30 TQUL Quadrature Input Low Time 6 TCY — ns — TQ31 TQUH Quadrature Input High Time 6 TCY — ns — TQ35 TQUIN Quadrature Input Period 12 TCY — ns — TQ36 TQUP Quadrature Phase Period 3 TCY — ns — TQ40 TQUFL Filter Time to Recognize Low, with Digital Filter 3 * N * TCY — ns N = 1, 2, 4, 16, 32, 64, 128 and 256 (Note 3) TQ41 TQUFH Filter Time to Recognize High, with Digital Filter 3 * N * TCY — ns N = 1, 2, 4, 16, 32, 64, 128 and 256 (Note 3) Note 1: 2: These parameters are characterized but not tested in manufacturing. Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. Parameters are for design guidance only and are not tested. N = Index Channel Digital Filter Clock Divide Select bits. Refer to Section 15. “Quadrature Encoder Interface (QEI)” in the “dsPIC33F Family Reference Manual”. Please see the Microchip web site for the latest dsPIC33F Family Reference Manual sections. 3: DS70283B-page 258 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-13: QEI MODULE INDEX PULSE TIMING CHARACTERISTICS QEA (input) QEB (input) Ungated Index TQ50 TQ51 Index Internal TQ55 Position Counter Reset TABLE 23-31: QEI INDEX PULSE TIMING REQUIREMENTS AC CHARACTERISTICS Param No. Symbol TQ50 TqIL TQ51 TQ55 Note 1: 2: Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended Characteristic(1) Min Max Units Conditions Filter Time to Recognize Low, with Digital Filter 3 * N * TCY — ns N = 1, 2, 4, 16, 32, 64, 128 and 256 (Note 2) TqiH Filter Time to Recognize High, with Digital Filter 3 * N * TCY — ns N = 1, 2, 4, 16, 32, 64, 128 and 256 (Note 2) Tqidxr Index Pulse Recognized to Position Counter Reset (ungated index) 3 TCY — ns — These parameters are characterized but not tested in manufacturing. Alignment of index pulses to QEA and QEB is shown for position counter Reset timing only. Shown for forward direction only (QEA leads QEB). Same timing applies for reverse direction (QEA lags QEB) but index pulse recognition occurs on falling edge. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 259 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-14: SPIx MODULE MASTER MODE (CKE = 0) TIMING CHARACTERISTICS SCKx (CKP = 0) SP11 SP10 SP21 SP20 SP20 SP21 SCKx (CKP = 1) SP35 Bit 14 - - - - - -1 MSb SDOx SP31 SDIx LSb SP30 MSb In LSb In Bit 14 - - - -1 SP40 SP41 Note: Refer to Figure 23-1 for load conditions. TABLE 23-32: SPIx MASTER MODE (CKE = 0) TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic(1) Min Typ(2) Max Units Conditions SP10 TscL SCKx Output Low Time TCY/2 — — ns See Note 3 SP11 TscH SCKx Output High Time TCY/2 — — ns See Note 3 SP20 TscF SCKx Output Fall Time — — — ns See parameter D032 and Note 4 SP21 TscR SCKx Output Rise Time — — — ns See parameter D031 and Note 4 SP30 TdoF SDOx Data Output Fall Time — — — ns See parameter D032 and Note 4 SP31 TdoR SDOx Data Output Rise Time — — — ns See parameter D031 and Note 4 SP35 TscH2doV, TscL2doV SDOx Data Output Valid after SCKx Edge — 6 20 ns — SP40 TdiV2scH, TdiV2scL Setup Time of SDIx Data Input to SCKx Edge 23 — — ns — SP41 TscH2diL, TscL2diL Hold Time of SDIx Data Input to SCKx Edge 30 — — ns — Note 1: 2: 3: 4: These parameters are characterized but not tested in manufacturing. Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. The minimum clock period for SCKx is 100 ns. Therefore, the clock generated in Master mode must not violate this specification. Assumes 50 pF load on all SPIx pins. DS70283B-page 260 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-15: SPIx MODULE MASTER MODE (CKE = 1) TIMING CHARACTERISTICS SP36 SCKX (CKP = 0) SP11 SCKX (CKP = 1) SP10 SP21 SP20 SP20 SP21 SP35 SP40 SDIX LSb Bit 14 - - - - - -1 MSb SDOX SP30,SP31 MSb In Bit 14 - - - -1 LSb In SP41 Note: Refer to Figure 23-1 for load conditions. TABLE 23-33: SPIx MODULE MASTER MODE (CKE = 1) TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic(1) Min Typ(2) Max Units Conditions SP10 TscL SCKx Output Low Time TCY/2 — — ns See Note 3 SP11 TscH SCKx Output High Time TCY/2 — — ns See Note 3 SP20 TscF SCKx Output Fall Time — — — ns See parameter D032 and Note 4 SP21 TscR SCKx Output Rise Time — — — ns See parameter D031 and Note 4 SP30 TdoF SDOx Data Output Fall Time — — — ns See parameter D032 and Note 4 SP31 TdoR SDOx Data Output Rise Time — — — ns See parameter D031 and Note 4 SP35 TscH2doV, TscL2doV SDOx Data Output Valid after SCKx Edge — 6 20 ns — SP36 TdoV2sc, TdoV2scL SDOx Data Output Setup to First SCKx Edge 30 — — ns — SP40 TdiV2scH, TdiV2scL Setup Time of SDIx Data Input to SCKx Edge 23 — — ns — SP41 TscH2diL, TscL2diL Hold Time of SDIx Data Input to SCKx Edge 30 — — ns — Note 1: 2: 3: 4: These parameters are characterized but not tested in manufacturing. Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. The minimum clock period for SCKx is 100 ns. The clock generated in Master mode must not violate this specification. Assumes 50 pF load on all SPIx pins. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 261 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-16: SPIx MODULE SLAVE MODE (CKE = 0) TIMING CHARACTERISTICS SSX SP52 SP50 SCKX (CKP = 0) SP71 SP70 SP73 SP72 SP72 SP73 SCKX (CKP = 1) SP35 MSb SDOX LSb Bit 14 - - - - - -1 SP51 SP30,SP31 SDIX Bit 14 - - - -1 MSb In LSb In SP41 SP40 Note: Refer to Figure 23-1 for load conditions. TABLE 23-34: SPIx MODULE SLAVE MODE (CKE = 0) TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic(1) Min Typ(2) Max Units Conditions SP70 TscL SCKx Input Low Time 30 — — ns — SP71 TscH SCKx Input High Time 30 — — ns — SP72 TscF SCKx Input Fall Time — 10 25 ns See Note 3 SP73 TscR SCKx Input Rise Time — 10 25 ns See Note 3 SP30 TdoF SDOx Data Output Fall Time — — — ns See parameter D032 and Note 3 SP31 TdoR SDOx Data Output Rise Time — — — ns See parameter D031 and Note 3 SP35 TscH2doV, SDOx Data Output Valid after TscL2doV SCKx Edge — — 30 ns — SP40 TdiV2scH, TdiV2scL Setup Time of SDIx Data Input to SCKx Edge 20 — — ns — SP41 TscH2diL, TscL2diL Hold Time of SDIx Data Input to SCKx Edge 20 — — ns — SP50 TssL2scH, TssL2scL SSx ↓ to SCKx ↑ or SCKx Input 120 — — ns — SP51 TssH2doZ SSx ↑ to SDOx Output High-Impedance 10 — 50 ns See Note 3 SP52 TscH2ssH SSx after SCKx Edge TscL2ssH 1.5 TCY +40 — — ns — Note 1: 2: 3: These parameters are characterized but not tested in manufacturing. Data in “Typ” column is at 5V, 25°C unless otherwise stated. Assumes 50 pF load on all SPIx pins. DS70283B-page 262 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-17: SPIx MODULE SLAVE MODE (CKE = 1) TIMING CHARACTERISTICS SP60 SSx SP52 SP50 SCKx (CKP = 0) SP71 SP70 SP73 SP72 SP72 SP73 SCKx (CKP = 1) SP35 SP52 MSb SDOx Bit 14 - - - - - -1 LSb SP30,SP31 SDIx SDI MSb In SP51 Bit 14 - - - -1 LSb In SP41 SP40 Note: Refer to Figure 23-1 for load conditions. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 263 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-35: SPIx MODULE SLAVE MODE (CKE = 1) TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic(1) Min Typ(2) Max Units Conditions SP70 TscL SCKx Input Low Time 30 — — ns — SP71 TscH SCKx Input High Time 30 — — ns — SP72 TscF SCKx Input Fall Time — 10 25 ns See Note 3 SP73 TscR SCKx Input Rise Time — 10 25 ns See Note 3 SP30 TdoF SDOx Data Output Fall Time — — — ns See parameter D032 and Note 3 SP31 TdoR SDOx Data Output Rise Time — — — ns See parameter D031 and Note 3 SP35 TscH2doV, SDOx Data Output Valid after TscL2doV SCKx Edge — — 30 ns — SP40 TdiV2scH, TdiV2scL Setup Time of SDIx Data Input to SCKx Edge 20 — — ns — SP41 TscH2diL, TscL2diL Hold Time of SDIx Data Input to SCKx Edge 20 — — ns — SP50 TssL2scH, TssL2scL SSx ↓ to SCKx ↓ or SCKx ↑ Input 120 — — ns — SP51 TssH2doZ SSx ↑ to SDOX Output High-Impedance 10 — 50 ns See Note 4 SP52 TscH2ssH TscL2ssH SSx ↑ after SCKx Edge 1.5 TCY + 40 — — ns — SP60 TssL2doV SDOx Data Output Valid after SSx Edge — — 50 ns — Note 1: 2: 3: 4: These parameters are characterized but not tested in manufacturing. Data in “Typ” column is at 3.3V, 25°C unless otherwise stated. The minimum clock period for SCKx is 100 ns. The clock generated in Master mode must not violate this specification. Assumes 50 pF load on all SPIx pins. DS70283B-page 264 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-18: I2Cx BUS START/STOP BITS TIMING CHARACTERISTICS (MASTER MODE) SCLx IM31 IM34 IM30 IM33 SDAx Stop Condition Start Condition Note: Refer to Figure 23-1 for load conditions. FIGURE 23-19: I2Cx BUS DATA TIMING CHARACTERISTICS (MASTER MODE) IM20 IM21 IM11 IM10 SCLx IM11 IM26 IM10 IM25 IM33 SDAx In IM40 IM40 IM45 SDAx Out Note: Refer to Figure 23-1 for load conditions. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 265 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-36: I2Cx BUS DATA TIMING REQUIREMENTS (MASTER MODE) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param Symbol No. IM10 Min(1) Max Units Conditions TLO:SCL Clock Low Time 100 kHz mode TCY/2 (BRG + 1) — μs — 400 kHz mode TCY/2 (BRG + 1) — μs — mode(2) TCY/2 (BRG + 1) — μs — Clock High Time 100 kHz mode TCY/2 (BRG + 1) — μs — 400 kHz mode TCY/2 (BRG + 1) — μs — 1 MHz mode(2) TCY/2 (BRG + 1) — μs — — 300 ns 20 + 0.1 CB 300 ns Characteristic 1 MHz IM11 THI:SCL IM20 TF:SCL IM21 TR:SCL IM25 SDAx and SCLx 100 kHz mode Fall Time 400 kHz mode 1 MHz mode(2) — 100 ns SDAx and SCLx 100 kHz mode Rise Time 400 kHz mode — 1000 ns TSU:DAT Data Input Setup Time IM26 THD:DAT Data Input Hold Time IM30 TSU:STA IM31 Start Condition Setup Time THD:STA Start Condition Hold Time IM33 TSU:STO Stop Condition Setup Time IM34 THD:STO Stop Condition Hold Time IM40 TAA:SCL Output Valid From Clock TBF:SDA Bus Free Time IM50 CB Note 1: 2: CB is specified to be from 10 to 400 pF 20 + 0.1 CB 300 ns 1 MHz mode(2) — 300 ns 100 kHz mode 250 — ns 400 kHz mode 100 — ns 1 MHz mode(2) 40 — ns 100 kHz mode 0 — μs 400 kHz mode 0 0.9 μs 1 MHz mode(2) 0.2 — μs 100 kHz mode TCY/2 (BRG + 1) — μs 400 kHz mode TCY/2 (BRG + 1) — μs 1 MHz mode(2) TCY/2 (BRG + 1) — μs 100 kHz mode TCY/2 (BRG + 1) — μs 400 kHz mode TCY/2 (BRG + 1) — μs 1 MHz mode(2) TCY/2 (BRG + 1) — μs 100 kHz mode TCY/2 (BRG + 1) — μs 400 kHz mode TCY/2 (BRG + 1) — μs 1 MHz mode(2) TCY/2 (BRG + 1) — μs 100 kHz mode TCY/2 (BRG + 1) — ns 400 kHz mode TCY/2 (BRG + 1) — ns 1 MHz mode(2) TCY/2 (BRG + 1) — ns 100 kHz mode — 3500 ns — 400 kHz mode — 1000 ns — (2) — 400 ns — 100 kHz mode 4.7 — μs 400 kHz mode 1.3 — μs 1 MHz mode(2) 0.5 — μs Time the bus must be free before a new transmission can start — 400 pF 1 MHz mode IM45 CB is specified to be from 10 to 400 pF Bus Capacitive Loading — — Only relevant for Repeated Start condition After this period the first clock pulse is generated — — BRG is the value of the I2C Baud Rate Generator. Refer to Section 19. “Inter-Integrated Circuit (I2C™)” in the “dsPIC33F Family Reference Manual”. Please see the Microchip web site for the latest dsPIC33F Family Reference Manual sections. Maximum pin capacitance = 10 pF for all I2Cx pins (for 1 MHz mode only). DS70283B-page 266 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-20: I2Cx BUS START/STOP BITS TIMING CHARACTERISTICS (SLAVE MODE) SCLx IS34 IS31 IS30 IS33 SDAx Stop Condition Start Condition FIGURE 23-21: I2Cx BUS DATA TIMING CHARACTERISTICS (SLAVE MODE) IS20 IS21 IS11 IS10 SCLx IS30 IS26 IS31 IS25 IS33 SDAx In IS40 IS40 IS45 SDAx Out © 2007 Microchip Technology Inc. Preliminary DS70283B-page 267 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-37: I2Cx BUS DATA TIMING REQUIREMENTS (SLAVE MODE) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param. Symbol IS10 IS11 IS20 Characteristic TLO:SCL Clock Low Time THI:SCL TF:SCL Clock High Time SDAx and SCLx Fall Time Min Max Units 100 kHz mode 4.7 — μs Device must operate at a minimum of 1.5 MHz 400 kHz mode 1.3 — μs Device must operate at a minimum of 10 MHz 1 MHz mode(1) 0.5 — μs 100 kHz mode 4.0 — μs Device must operate at a minimum of 1.5 MHz 400 kHz mode 0.6 — μs Device must operate at a minimum of 10 MHz 1 MHz mode(1) 0.5 — μs 100 kHz mode — 300 ns 400 kHz mode 20 + 0.1 CB 300 ns — 100 ns 100 kHz mode — 1000 ns 400 kHz mode 20 + 0.1 CB 300 ns 1 MHz mode(1) — 300 ns 100 kHz mode 250 — ns 400 kHz mode 100 — ns 1 MHz mode(1) 100 — ns 1 MHz IS21 IS25 IS26 IS30 IS31 IS33 IS34 TR:SCL TSU:DAT Data Input Setup Time THD:DAT Data Input Hold Time TSU:STA Start Condition Setup Time THD:STA Start Condition Hold Time TSU:STO Stop Condition Setup Time THD:ST O IS40 IS45 IS50 Note 1: SDAx and SCLx Rise Time Stop Condition Hold Time TAA:SCL Output Valid From Clock TBF:SDA Bus Free Time CB Conditions mode(1) 100 kHz mode 0 — μs 400 kHz mode 0 0.9 μs 1 MHz mode(1) 0 0.3 μs 100 kHz mode 4.7 — μs 400 kHz mode 0.6 — μs 1 MHz mode(1) 0.25 — μs 100 kHz mode 4.0 — μs 400 kHz mode 0.6 — μs 1 MHz mode(1) 0.25 — μs 100 kHz mode 4.7 — μs 400 kHz mode 0.6 — μs 1 MHz mode(1) 0.6 — μs 100 kHz mode 4000 — ns 400 kHz mode 600 — ns 1 MHz mode(1) 250 100 kHz mode 0 3500 ns 400 kHz mode 0 1000 ns 1 MHz mode(1) 0 350 ns — CB is specified to be from 10 to 400 pF CB is specified to be from 10 to 400 pF — — Only relevant for Repeated Start condition After this period, the first clock pulse is generated — — ns 100 kHz mode 4.7 — μs 400 kHz mode 1.3 — μs 1 MHz mode(1) 0.5 — μs — 400 pF Bus Capacitive Loading — — Time the bus must be free before a new transmission can start — Maximum pin capacitance = 10 pF for all I2Cx pins (for 1 MHz mode only). DS70283B-page 268 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-38: ADC MODULE SPECIFICATIONS AC CHARACTERISTICS Param Symbol No. Characteristic Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended Min. Typ Max. Units Lesser of VDD + 0.3 or 3.6 V VSS + 0.3 V Conditions Device Supply AD01 AVDD Module VDD Supply AD02 AVSS Module VSS Supply AD05 VREFH Reference Voltage High Greater of VDD – 0.3 or 3.0 — VSS – 0.3 — — — Reference Inputs AD05a AD06 VREFL Reference Voltage Low AD06a AVSS + 2.7 — AVDD V See Note 1 3.0 — 3.6 V VREFH = AVDD VREFL = AVSS = 0 AVSS — AVDD – 2.7 V See Note 1 0 — 0 V VREFH = AVDD VREFL = AVSS = 0 AD07 VREF Absolute Reference Voltage 2.7 — 3.6 V VREF = VREFH - VREFL AD08 IREF Current Drain — 400 — 550 10 μA μA ADC operating ADC off AD12 VINH Input Voltage Range VINH VINL — VREFH V This voltage reflects Sample and Hold Channels 0, 1, 2, and 3 (CH0-CH3), positive input AD13 VINL Input Voltage Range VINL VREFL — AVSS + 1V V This voltage reflects Sample and Hold Channels 0, 1, 2, and 3 (CH0-CH3), negative input AD17 RIN Recommended Impedance of Analog Voltage Source — — — — 200 200 Ω Ω 10-bit ADC 12-bit ADC Analog Input Note 1: These parameters are not characterized or tested in manufacturing. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 269 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-39: ADC MODULE SPECIFICATIONS (12-BIT MODE) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic Min. Typ Max. Units Conditions ADC Accuracy (12-bit Mode) – Measurements with external VREF+/VREFAD20a Nr Resolution 12 data bits bits AD21a INL Integral Nonlinearity -2 — +2 LSb VINL = AVSS = VREFL = 0V, AVDD = VREFH = 3.6V AD22a DNL Differential Nonlinearity >-1 — <1 LSb VINL = AVSS = VREFL = 0V, AVDD = VREFH = 3.6V AD23a GERR Gain Error 1.25 1.5 3 LSb VINL = AVSS = VREFL = 0V, AVDD = VREFH = 3.6V AD24a EOFF Offset Error 1.25 1.52 2 LSb VINL = AVSS = VREFL = 0V, AVDD = VREFH = 3.6V AD25a — Monotonicity — — — — Guaranteed ADC Accuracy (12-bit Mode) – Measurements with internal VREF+/VREFAD20a Nr Resolution AD21a INL Integral Nonlinearity -2 12 data bits — +2 LSb bits VINL = AVSS = 0V, AVDD = 3.6V >-1 — <1 LSb VINL = AVSS = 0V, AVDD = 3.6V 2 3 7 LSb VINL = AVSS = 0V, AVDD = 3.6V AD22a DNL Differential Nonlinearity AD23a GERR Gain Error AD24a EOFF Offset Error 2 3 5 LSb AD25a — Monotonicity — — — — AD30a THD Total Harmonic Distortion -77 -69 -61 dB — AD31a SINAD Signal to Noise and Distortion 59 63 64 dB — AD32a SFDR Spurious Free Dynamic Range 63 72 74 dB — AD33a FNYQ Input Signal Bandwidth — — 250 kHz — AD34a ENOB Effective Number of Bits 10.95 11.1 — bits — VINL = AVSS = 0V, AVDD = 3.6V Guaranteed Dynamic Performance (12-bit Mode) DS70283B-page 270 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-40: ADC MODULE SPECIFICATIONS (10-BIT MODE) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic Min. Typ Max. Units Conditions ADC Accuracy (10-bit Mode) – Measurements with external VREF+/VREFAD20b Nr Resolution 10 data bits bits AD21b INL Integral Nonlinearity -1.5 — +1.5 LSb VINL = AVSS = VREFL = 0V, AVDD = VREFH = 3.6V AD22b DNL Differential Nonlinearity >-1 — <1 LSb VINL = AVSS = VREFL = 0V, AVDD = VREFH = 3.6V AD23b GERR Gain Error 1 3 6 LSb VINL = AVSS = VREFL = 0V, AVDD = VREFH = 3.6V AD24b EOFF Offset Error 1 2 5 LSb VINL = AVSS = VREFL = 0V, AVDD = VREFH = 3.6V AD25b — Monotonicity — — — — Guaranteed ADC Accuracy (10-bit Mode) – Measurements with internal VREF+/VREFAD20b Nr Resolution AD21b INL Integral Nonlinearity -1 10 data bits — +1 LSb bits VINL = AVSS = 0V, AVDD = 3.6V >-1 — <1 LSb VINL = AVSS = 0V, AVDD = 3.6V 1 5 6 LSb VINL = AVSS = 0V, AVDD = 3.6V AD22b DNL Differential Nonlinearity AD23b GERR Gain Error AD24b EOFF Offset Error 1 2 3 LSb AD25b — Monotonicity — — — — AD30b THD Total Harmonic Distortion — -64 -67 dB — AD31b SINAD Signal to Noise and Distortion — 57 58 dB — AD32b SFDR Spurious Free Dynamic Range — 60 62 dB — AD33b FNYQ Input Signal Bandwidth — — 550 kHz — AD34b ENOB Effective Number of Bits 9.1 9.7 9.8 bits — VINL = AVSS = 0V, AVDD = 3.6V Guaranteed Dynamic Performance (10-bit Mode) © 2007 Microchip Technology Inc. Preliminary DS70283B-page 271 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-22: ADC CONVERSION (12-BIT MODE) TIMING CHARACTERISTICS (ASAM = 0, SSRC<2:0> = 000) AD50 ADCLK Instruction Execution Set SAMP Clear SAMP SAMP AD61 AD60 TSAMP AD55 DONE AD1IF 1 2 3 4 5 6 7 8 9 1 – Software sets AD1CON. SAMP to start sampling. 5 – Convert bit 11. 2 – Sampling starts after discharge period. TSAMP is described in Section 28. “10/12-bit ADC without DMA” in the “dsPIC33F Family Reference Manual”. 3 – Software clears AD1CON. SAMP to start conversion. 6 – Convert bit 10. 4 – Sampling ends, conversion sequence starts. 9 – One TAD for end of conversion. 7 – Convert bit 1. 8 – Convert bit 0. TABLE 23-41: ADC CONVERSION (12-BIT MODE) TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param No. Symbol Characteristic Min. Typ Max. Units Conditions Clock Parameters AD50 TAD ADC Clock Period AD51 tRC ADC Internal RC Oscillator Period AD55 tCONV Conversion Time AD56 FCNV Throughput Rate AD57 TSAMP Sample Time AD60 tPCS Conversion Start from Sample Trigger(2) AD61 tPSS Sample Start from Setting Sample (SAMP) bit(2) AD62 tCSS AD63 tDPU 117.6 — — ns — 250 — ns Conversion Rate — 14 TAD ns — — 500 Ksps 3 TAD — — — Timing Parameters Note 1: 2: — 1.0 TAD — — Auto convert trigger not selected 0.5 TAD — 1.5 TAD — — Conversion Completion to Sample Start (ASAM = 1)(2) — 0.5 TAD — — — Time to Stabilize Analog Stage from ADC Off to ADC On(2) 1 — 5 μs — Because the sample caps will eventually lose charge, clock rates below 10 kHz may affect linearity performance, especially at elevated temperatures. These parameters are characterized but not tested in manufacturing. DS70283B-page 272 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 FIGURE 23-23: ADC CONVERSION (10-BIT MODE) TIMING CHARACTERISTICS (CHPS<1:0> = 01, SIMSAM = 0, ASAM = 0, SSRC<2:0> = 000) AD50 ADCLK Instruction Execution Set SAMP Clear SAMP SAMP AD61 AD60 AD55 TSAMP AD55 DONE AD1IF 1 2 3 4 5 6 7 8 5 6 7 1 – Software sets AD1CON. SAMP to start sampling. 5 – Convert bit 9. 2 – Sampling starts after discharge period. TSAMP is described in Section 28. “10/12-bit ADC without DMA” in the “dsPIC33F Family Reference Manual”. 3 – Software clears AD1CON. SAMP to start conversion. 6 – Convert bit 8. 8 7 – Convert bit 0. 8 – One TAD for end of conversion. 4 – Sampling ends, conversion sequence starts. FIGURE 23-24: ADC CONVERSION (10-BIT MODE) TIMING CHARACTERISTICS (CHPS<1:0> = 01, SIMSAM = 0, ASAM = 1, SSRC<2:0> = 111, SAMC<4:0> = 00001) AD50 ADCLK Instruction Set ADON Execution SAMP TSAMP AD55 TSAMP AD55 AD55 AD1IF DONE 1 2 3 4 5 6 7 3 4 5 6 8 1 – Software sets AD1CON. ADON to start AD operation. 5 – Convert bit 0. 2 – Sampling starts after discharge period. TSAMP is described in Section 28. “10/12-bit ADC without DMA” in the “dsPIC33F Family Reference Manual”. – Convert bit 9. 3 6 – One TAD for end of conversion. 7 – Begin conversion of next channel. 8 – Sample for time specified by SAMC<4:0>. 4 – Convert bit 8. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 273 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 TABLE 23-42: ADC CONVERSION (10-BIT MODE) TIMING REQUIREMENTS Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40°C ≤ TA ≤ +85°C for Industrial -40°C ≤ TA ≤ +125°C for Extended AC CHARACTERISTICS Param Symbol No. Characteristic Min. Typ(1) Max. Units Conditions Clock Parameters AD50 TAD ADC Clock Period 76 — — ns AD51 tRC ADC Internal RC Oscillator Period — 250 — ns AD55 tCONV Conversion Time AD56 FCNV Throughput Rate AD57 TSAMP Sample Time AD60 tPCS Conversion Start from Sample Trigger(1) AD61 tPSS Sample Start from Setting Sample (SAMP) bit(1) AD62 tCSS AD63 tDPU Conversion Rate — 12 TAD — — — — 1.1 Msps 2 TAD — — — Timing Parameters Note 1: 2: — 1.0 TAD — — Auto-Convert Trigger not selected 0.5 TAD — 1.5 TAD — — Conversion Completion to Sample Start (ASAM = 1)(1) — 0.5 TAD — — — Time to Stabilize Analog Stage from ADC Off to ADC On(1) 1 — 5 μs — These parameters are characterized but not tested in manufacturing. Because the sample caps will eventually lose charge, clock rates below 10 kHz may affect linearity performance, especially at elevated temperatures. DS70283B-page 274 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 24.0 PACKAGING INFORMATION 24.1 Package Marking Information 28-Lead SPDIP Example dsPIC33FJ32MC 202-E/SP e3 0730235 XXXXXXXXXXXXXXXXX XXXXXXXXXXXXXXXXX YYWWNNN 28-Lead SOIC Example XXXXXXXXXXXXXXXXXXXX XXXXXXXXXXXXXXXXXXXX XXXXXXXXXXXXXXXXXXXX YYWWNNN dsPIC33FJ32MC 202-E/SO e3 0730235 28-Lead QFN Example XXXXXXXX XXXXXXXX YYWWNNN 33FJ32MC 202EML e3 0730235 44-Lead QFN Example XXXXXXXXXX XXXXXXXXXX XXXXXXXXXX YYWWNNN dsPIC33FJ32 MC204-E/ML e3 0730235 44-Lead TQFP Example XXXXXXXXXX XXXXXXXXXX XXXXXXXXXX YYWWNNN Legend: XX...X Y YY WW NNN e3 * Note: dsPIC33FJ 32MC204 -E/PT e3 0730235 Customer-specific information Year code (last digit of calendar year) Year code (last 2 digits of calendar year) Week code (week of January 1 is week ‘01’) Alphanumeric traceability code Pb-free JEDEC designator for Matte Tin (Sn) This package is Pb-free. The Pb-free JEDEC designator ( e3 ) can be found on the outer packaging for this package. If the full Microchip part number cannot be marked on one line, it is carried over to the next line, thus limiting the number of available characters for customer-specific information. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 275 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 24.2 Package Details 28-Lead Skinny Plastic Dual In-Line (SP) – 300 mil Body [SPDIP] Note: For the most current package drawings, please see the Microchip Packaging Specification located at http://www.microchip.com/packaging N NOTE 1 E1 1 2 3 D E A2 A L c b1 A1 b e eB Units Dimension Limits Number of Pins INCHES MIN N NOM MAX 28 Pitch e Top to Seating Plane A – – .200 Molded Package Thickness A2 .120 .135 .150 Base to Seating Plane A1 .015 – – Shoulder to Shoulder Width E .290 .310 .335 Molded Package Width E1 .240 .285 .295 Overall Length D 1.345 1.365 1.400 Tip to Seating Plane L .110 .130 .150 Lead Thickness c .008 .010 .015 b1 .040 .050 .070 b .014 .018 .022 eB – – Upper Lead Width Lower Lead Width Overall Row Spacing § .100 BSC .430 Notes: 1. Pin 1 visual index feature may vary, but must be located within the hatched area. 2. § Significant Characteristic. 3. Dimensions D and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed .010" per side. 4. Dimensioning and tolerancing per ASME Y14.5M. BSC: Basic Dimension. Theoretically exact value shown without tolerances. Microchip Technology Drawing C04-070B DS70283B-page 276 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 28-Lead Plastic Small Outline (SO) – Wide, 7.50 mm Body [SOIC] Note: For the most current package drawings, please see the Microchip Packaging Specification located at http://www.microchip.com/packaging D N E E1 NOTE 1 1 2 3 b e h α h c φ A2 A L A1 L1 Units Dimension Limits Number of Pins β MILLMETERS MIN N NOM MAX 28 Pitch e Overall Height A – 1.27 BSC – Molded Package Thickness A2 2.05 – – Standoff § A1 0.10 – 0.30 Overall Width E Molded Package Width E1 7.50 BSC Overall Length D 17.90 BSC 2.65 10.30 BSC Chamfer (optional) h 0.25 – 0.75 Foot Length L 0.40 – 1.27 Footprint L1 1.40 REF Foot Angle Top φ 0° – 8° Lead Thickness c 0.18 – 0.33 Lead Width b 0.31 – 0.51 Mold Draft Angle Top α 5° – 15° Mold Draft Angle Bottom β 5° – 15° Notes: 1. Pin 1 visual index feature may vary, but must be located within the hatched area. 2. § Significant Characteristic. 3. Dimensions D and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed 0.15 mm per side. 4. Dimensioning and tolerancing per ASME Y14.5M. BSC: Basic Dimension. Theoretically exact value shown without tolerances. REF: Reference Dimension, usually without tolerance, for information purposes only. Microchip Technology Drawing C04-052B © 2007 Microchip Technology Inc. Preliminary DS70283B-page 277 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 28-Lead Plastic Quad Flat, No Lead Package (ML) – 6x6 mm Body [QFN] with 0.55 mm Contact Length Note: For the most current package drawings, please see the Microchip Packaging Specification located at http://www.microchip.com/packaging D D2 EXPOSED PAD e E b E2 2 2 1 1 K N N NOTE 1 L BOTTOM VIEW TOP VIEW A A3 A1 Units Dimension Limits Number of Pins MILLIMETERS MIN N NOM MAX 28 Pitch e Overall Height A 0.80 0.65 BSC 0.90 1.00 Standoff A1 0.00 0.02 0.05 Contact Thickness A3 0.20 REF Overall Width E Exposed Pad Width E2 Overall Length D Exposed Pad Length D2 3.65 3.70 4.20 b 0.23 0.30 0.35 Contact Length L 0.50 0.55 0.70 Contact-to-Exposed Pad K 0.20 – – Contact Width 6.00 BSC 3.65 3.70 4.20 6.00 BSC Notes: 1. Pin 1 visual index feature may vary, but must be located within the hatched area. 2. Package is saw singulated. 3. Dimensioning and tolerancing per ASME Y14.5M. BSC: Basic Dimension. Theoretically exact value shown without tolerances. REF: Reference Dimension, usually without tolerance, for information purposes only. Microchip Technology Drawing C04-105B DS70283B-page 278 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 44-Lead Plastic Quad Flat, No Lead Package (ML) – 8x8 mm Body [QFN] Note: For the most current package drawings, please see the Microchip Packaging Specification located at http://www.microchip.com/packaging D D2 EXPOSED PAD e E E2 b 2 2 1 N 1 N NOTE 1 TOP VIEW K L BOTTOM VIEW A A3 A1 Units Dimension Limits Number of Pins MILLIMETERS MIN N NOM MAX 44 Pitch e Overall Height A 0.80 0.65 BSC 0.90 1.00 Standoff A1 0.00 0.02 0.05 Contact Thickness A3 0.20 REF Overall Width E Exposed Pad Width E2 Overall Length D Exposed Pad Length D2 6.30 6.45 6.80 b 0.25 0.30 0.38 Contact Length L 0.30 0.40 0.50 Contact-to-Exposed Pad K 0.20 – – Contact Width 8.00 BSC 6.30 6.45 6.80 8.00 BSC Notes: 1. Pin 1 visual index feature may vary, but must be located within the hatched area. 2. Package is saw singulated. 3. Dimensioning and tolerancing per ASME Y14.5M. BSC: Basic Dimension. Theoretically exact value shown without tolerances. REF: Reference Dimension, usually without tolerance, for information purposes only. Microchip Technology Drawing C04-103B © 2007 Microchip Technology Inc. Preliminary DS70283B-page 279 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 44-Lead Plastic Thin Quad Flatpack (PT) – 10x10x1 mm Body, 2.00 mm Footprint [TQFP] Note: For the most current package drawings, please see the Microchip Packaging Specification located at http://www.microchip.com/packaging D D1 E e E1 N b NOTE 1 1 2 3 NOTE 2 α A c φ β L A1 Units Dimension Limits Number of Leads A2 L1 MILLIMETERS MIN N NOM MAX 44 Lead Pitch e Overall Height A – 0.80 BSC – Molded Package Thickness A2 0.95 1.00 1.05 Standoff A1 0.05 – 0.15 Foot Length L 0.45 0.60 0.75 Footprint L1 1.20 1.00 REF Foot Angle φ Overall Width E 12.00 BSC Overall Length D 12.00 BSC Molded Package Width E1 10.00 BSC Molded Package Length D1 10.00 BSC 0° 3.5° 7° Lead Thickness c 0.09 – 0.20 Lead Width b 0.30 0.37 0.45 Mold Draft Angle Top α 11° 12° 13° Mold Draft Angle Bottom β 11° 12° 13° Notes: 1. Pin 1 visual index feature may vary, but must be located within the hatched area. 2. Chamfers at corners are optional; size may vary. 3. Dimensions D1 and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed 0.25 mm per side. 4. Dimensioning and tolerancing per ASME Y14.5M. BSC: Basic Dimension. Theoretically exact value shown without tolerances. REF: Reference Dimension, usually without tolerance, for information purposes only. Microchip Technology Drawing C04-076B DS70283B-page 280 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 APPENDIX A: REVISION HISTORY Revision A (February 2007) Initial release of this document Revision B (May 2007) This revision includes the following corrections and updates: • Minor typographical and formatting corrections throughout the data sheet text. • New content: - Addition of bullet item (16-word conversion result buffer) (see Section 19.1 “Key Features”) • Updated register map information for RPINR14 and RPINR15 (see Table 3-16) • Figure updates: - Updated Oscillator System Diagram (see Figure 7-1) - Updated WDT Block Diagram (see Figure 20-2) • Equation update: - Serial Clock Rate (see Equation 17-1) • Register updates: - Peripheral Pin Select Input Registers (see Register 9-1 through Register 9-13) - Updated ADC1 Input Channel 0 Select register (see Register 19-5) • The following tables in Section 23.0 “Electrical Characteristics” have been updated with preliminary values: - Updated Max MIPS for -40°C to +125°C Temp Range (see Table 23-1) - Updated parameter DC18 (see Table 23-4) - Added new parameters for +125°C, and updated Typical and Max values for most parameters (see Table 23-5) - Added new parameters for +125°C, and updated Typical and Max values for most parameters (see Table 23-6) - Added new parameters for +125°C, and updated Typical and Max values for most parameters (see Table 23-7) - Added new parameters for +125°C, and updated Typical and Max values for most parameters (see Table 23-8) - Updated parameter DI51, added parameters DI51a, DI51b, and DI51c (see Table 23-9) - Added Note 1 (see Table 23-11) - Updated parameters OS10 and OS30 (see Table 23-16) - Updated parameter OS52 (see Table 23-17) - Updated parameter F20, added Note 2 (see Table 23-18) - Updated parameter F21 (see Table 23-19) © 2007 Microchip Technology Inc. - Updated parameter TA15 (see Table 23-22) Updated parameter TB15 (see Table 23-23) Updated parameter TC15 (see Table 23-24) Updated parameter IC15 (see Table 23-26) Updated parameters AD05, AD06, AD07, AD08, AD10 through AD13 and AD17; added parameters AD05a and AD06a; added Note 2; modified ADC Accuracy headings to include measurement information (see Table 23-38) - Separated the ADC Module Specifications table into three tables (see Table 23-38, Table 23-39, and Table 23-40) - Updated parameter AD50 (see Table 23-41) - Updated parameters AD50 and AD57 (see Table 23-42) Preliminary DS70283B-page 281 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 NOTES: DS70283B-page 282 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 INDEX A AC Characteristics ............................................................ 246 Internal RC Accuracy ................................................ 248 Load Conditions ........................................................ 246 ADC Initialization ............................................................... 203 Key Features............................................................. 203 ADC Module ADC1 Register Map for dsPIC33FJ32MC202 ............ 36 ADC1 Register Map for dsPIC33FJ32MC204 and dsPIC33FJ16MC304 ................................... 37 Alternate Vector Table (AIVT) ............................................. 63 Analog-to-Digital Converter (ADC).................................... 203 Arithmetic Logic Unit (ALU)................................................. 20 Assembler MPASM Assembler................................................... 234 Automatic Clock Stretch.................................................... 187 Receive Mode ........................................................... 187 Transmit Mode .......................................................... 187 B Barrel Shifter ....................................................................... 24 Bit-Reversed Addressing .................................................... 45 Example ...................................................................... 46 Implementation ........................................................... 45 Sequence Table (16-Entry)......................................... 46 Block Diagrams 16-bit Timer1 Module ................................................ 133 A/D Module ....................................................... 204, 205 Connections for On-Chip Voltage Regulator............. 221 Device Clock ............................................................... 95 DSP Engine ................................................................ 21 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 .. 10 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 CPU Core ......................... 14 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 PLL ................................... 97 Input Capture ............................................................ 141 Output Compare ....................................................... 145 PLL.............................................................................. 97 PWM Module .................................................... 148, 149 Quadrature Encoder Interface .................................. 169 Reset System.............................................................. 57 Shared Port Structure ............................................... 107 SPI ............................................................................ 178 Timer2 (16-bit) .......................................................... 137 Timer2/3 (32-bit) ....................................................... 136 UART ........................................................................ 195 Watchdog Timer (WDT) ............................................ 222 C C Compilers MPLAB C18 .............................................................. 234 MPLAB C30 .............................................................. 234 Clock Switching................................................................. 103 Enabling .................................................................... 103 Sequence.................................................................. 103 Code Examples Erasing a Program Memory Page............................... 55 Initiating a Programming Sequence............................ 56 Loading Write Buffers ................................................. 56 Port Write/Read ........................................................ 108 PWRSAV Instruction Syntax..................................... 105 © 2007 Microchip Technology Inc. Code Protection ........................................................ 217, 224 Configuration Bits ............................................................. 217 Configuration Register Map .............................................. 217 Configuring Analog Port Pins............................................ 108 CPU Control Register.......................................................... 16 CPU Clocking System ........................................................ 96 PLL Configuration....................................................... 96 Selection..................................................................... 96 Sources ...................................................................... 96 Customer Change Notification Service............................. 287 Customer Notification Service .......................................... 287 Customer Support............................................................. 287 D Data Accumulators and Adder/Subtracter .......................... 22 Data Space Write Saturation ...................................... 24 Overflow and Saturation ............................................. 22 Round Logic ............................................................... 23 Write Back .................................................................. 23 Data Address Space........................................................... 27 Alignment.................................................................... 27 Memory Map for dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Devices with 2 KBs RAM . 28 Near Data Space ........................................................ 27 Software Stack ........................................................... 42 Width .......................................................................... 27 DC Characteristics............................................................ 238 I/O Pin Input Specifications ...................................... 243 I/O Pin Output Specifications.................................... 244 Idle Current (IDOZE) .................................................. 242 Idle Current (IIDLE) .................................................... 241 Operating Current (IDD) ............................................ 240 Power-Down Current (IPD)........................................ 242 Program Memory...................................................... 245 Temperature and Voltage Specifications.................. 239 Development Support ....................................................... 233 Doze Mode ....................................................................... 106 DSP Engine ........................................................................ 20 Multiplier ..................................................................... 22 E Electrical Characteristics .................................................. 237 AC............................................................................. 246 Equations ADC Conversion Clock Period ................................. 206 Calculating the PWM Period..................................... 144 Calculation for Maximum PWM Resolution .............. 144 Device Operating Frequency...................................... 96 PWM Period ............................................................. 151 PWM Resolution....................................................... 151 Relationship Between Device and SPI Clock Speed ..................................................... 180 Serial Clock Rate...................................................... 185 UART Baud Rate with BRGH = 0 ............................. 196 UART Baud Rate with BRGH = 1 ............................. 196 Errata .................................................................................... 7 Preliminary DS70283B-page 283 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 F Fail-Safe Clock Monitor..................................................... 103 Flash Program Memory....................................................... 51 Control Registers ........................................................ 52 Operations .................................................................. 52 Programming Algorithm .............................................. 55 RTSP Operation.......................................................... 52 Table Instructions........................................................ 51 Flexible Configuration ....................................................... 217 FSCM Delay for Crystal and PLL Clock Sources ................... 61 Device Resets ............................................................. 61 I I/O Ports ............................................................................ 107 Parallel I/O (PIO)....................................................... 107 Write/Read Timing .................................................... 108 I2C Addresses ................................................................. 187 Baud Rate Generator ................................................ 185 General Call Address Support .................................. 187 Interrupts ................................................................... 185 IPMI Support ............................................................. 187 Master Mode Operation Clock Arbitration................................................ 188 Multi-Master Communication, Bus Collision and Bus Arbitration..................... 188 Operating Modes ...................................................... 185 Registers ................................................................... 185 Slave Address Masking ............................................ 187 Slope Control ............................................................ 188 Software Controlled Clock Stretching (STREN = 1) ..................................................... 187 I2C Module I2C1 Register Map ...................................................... 35 In-Circuit Debugger ........................................................... 223 In-Circuit Emulation........................................................... 217 In-Circuit Serial Programming (ICSP) ....................... 217, 223 Infrared Support Built-in IrDA Encoder and Decoder ........................... 197 External IrDA, IrDA Clock Output.............................. 197 Input Capture .................................................................... 141 Registers ................................................................... 142 Input Change Notification.................................................. 108 Instruction Addressing Modes............................................. 42 File Register Instructions ............................................ 42 Fundamental Modes Supported.................................. 43 MAC Instructions......................................................... 43 MCU Instructions ........................................................ 42 Move and Accumulator Instructions ............................ 43 Other Instructions........................................................ 43 Instruction Set Overview ................................................................... 228 Summary................................................................... 225 Instruction-Based Power-Saving Modes ........................... 105 Idle ............................................................................ 106 Sleep ......................................................................... 105 Interfacing Program and Data Memory Spaces .................. 47 Internal RC Oscillator Use with WDT ........................................................... 222 Internet Address................................................................ 287 DS70283B-page 284 Interrupt Control and Status Registers ............................... 67 IECx ............................................................................ 67 IFSx ............................................................................ 67 INTCON1 .................................................................... 67 INTCON2 .................................................................... 67 IPCx ............................................................................ 67 Interrupt Setup Procedures................................................. 93 Initialization ................................................................. 93 Interrupt Disable ......................................................... 93 Interrupt Service Routine ............................................ 93 Trap Service Routine .................................................. 93 Interrupt Vector Table (IVT) ................................................ 63 Interrupts Coincident with Power Save Instructions ......... 106 J JTAG Boundary Scan Interface ........................................ 217 JTAG Interface.................................................................. 223 M Memory Organization ......................................................... 25 Microchip Internet Web Site.............................................. 287 Modulo Addressing ............................................................. 44 Applicability................................................................. 45 Operation Example ..................................................... 44 Start and End Address ............................................... 44 W Address Register Selection .................................... 44 Motor Control PWM .......................................................... 147 Motor Control PWM Module 2-Output Register Map ............................................... 34 6-Output Register Map for dsPIC33FJ12MC202........ 34 MPLAB ASM30 Assembler, Linker, Librarian ................... 234 MPLAB ICD 2 In-Circuit Debugger ................................... 235 MPLAB ICE 2000 High-Performance Universal In-Circuit Emulator .................................................... 235 MPLAB Integrated Development Environment Software ................................................................... 233 MPLAB PM3 Device Programmer .................................... 235 MPLAB REAL ICE In-Circuit Emulator System ................ 235 MPLINK Object Linker/MPLIB Object Librarian ................ 234 N NVM Module Register Map .............................................................. 41 O Open-Drain Configuration................................................. 108 Oscillator Configuration ...................................................... 95 Output Compare ............................................................... 143 P Packaging ......................................................................... 275 Details....................................................................... 276 Marking ..................................................................... 275 Peripheral Module Disable (PMD) .................................... 106 PICSTART Plus Development Programmer..................... 236 Pinout I/O Descriptions (table)............................................ 11 PMD Module Register Map .............................................................. 41 POR and Long Oscillator Start-up Times ........................... 61 PORTA Register Map for dsPIC33FJ32MC202....................... 39 Register Map for dsPIC33FJ32MC204 and dsPIC33FJ16MC304 ................................... 39 PORTB Register Map .............................................................. 40 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 PORTC Register Map dsPIC33FJ32MC204 and dsPIC33FJ16MC304 ................................... 40 Power-Saving Features .................................................... 105 Clock Frequency and Switching................................ 105 Program Address Space ..................................................... 25 Construction................................................................ 47 Data Access from Program Memory Using Program Space Visibility ..................................... 50 Data Access from Program Memory Using Table Instructions ......................................................... 49 Data Access from, Address Generation...................... 48 Memory Map ............................................................... 25 Table Read Instructions TBLRDH ............................................................. 49 TBLRDL .............................................................. 49 Visibility Operation ...................................................... 50 Program Memory Interrupt Vector ........................................................... 26 Organization................................................................ 26 Reset Vector ............................................................... 26 Pulse-Width Modulation Mode .......................................... 144 PWM Center-Aligned .......................................................... 152 Complementary Mode............................................... 153 Complementary Output Mode................................... 154 Duty Cycle................................................................. 144 Edge-Aligned ............................................................ 151 Independent Output Mode ........................................ 154 Operation During CPU Idle Mode ............................. 156 Operation During CPU Sleep Mode.......................... 156 Output Override ........................................................ 154 Output Override Synchronization.............................. 155 Period................................................................ 144, 151 Single Pulse Mode .................................................... 154 PWM Dead-Time Generators ........................................... 153 Assignment ............................................................... 154 Ranges...................................................................... 154 Selection Bits (table) ................................................. 154 PWM Duty Cycle Comparison Units ..................................................... 152 Immediate Updates................................................... 153 Register Buffers ........................................................ 152 PWM Fault Pins ................................................................ 155 Enable Bits................................................................ 155 Fault States............................................................... 155 Input Modes .............................................................. 156 Cycle-by-Cycle.................................................. 156 Latched ............................................................. 156 Priority....................................................................... 155 PWM Output and Polarity Control ..................................... 155 Output Pin Control .................................................... 155 PWM Special Event Trigger .............................................. 156 Postscaler ................................................................. 156 PWM Time Base ............................................................... 150 Continuous Up/Down Count Modes.......................... 150 Double Update Mode ................................................ 151 Free-Running Mode .................................................. 150 Postscaler ................................................................. 151 Prescaler................................................................... 151 Single-Shot Mode ..................................................... 150 PWM Update Lockout ....................................................... 156 © 2007 Microchip Technology Inc. Q QEI 16-bit Up/Down Position Counter Mode ................... 170 Alternate 16-bit Timer/Counter ................................. 171 Count Direction Status.............................................. 170 Error Checking.......................................................... 170 Interrupts .................................................................. 172 Logic ......................................................................... 170 Operation During CPU Idle Mode............................. 171 Operation During CPU Sleep Mode ......................... 171 Position Measurement Mode.................................... 170 Programmable Digital Noise Filters .......................... 171 Timer Operation During CPU Idle Mode................... 172 Timer Operation During CPU Sleep Mode ............... 171 Quadrature Encoder Interface (QEI)................................. 169 Quadrature Encoder Interface (QEI) Module Register Map .............................................................. 35 R Reader Response............................................................. 288 Registers AD1CHS0 (ADC1 Input Channel 0 Select................ 213 AD1CHS123 (ADC1 Input Channel 1, 2, 3 Select) ........................................................... 211 AD1CON1 (ADC1 Control 1) .................................... 207 AD1CON2 (ADC1 Control 2) .................................... 209 AD1CON3 (ADC1 Control 3) .................................... 210 AD1CSSL (ADC1 Input Scan Select Low) ............... 215 AD1PCFGL (ADC1 Port Configuration Low) ............ 215 CLKDIV (Clock Divisor) ............................................ 100 CORCON (Core Control) ...................................... 18, 68 DFLTCON (QEI Control) .......................................... 175 I2CxCON (I2Cx Control)........................................... 189 I2CxMSK (I2Cx Slave Mode Address Mask)............ 193 I2CxSTAT (I2Cx Status) ........................................... 191 ICxCON (Input Capture x Control)............................ 142 IEC0 (Interrupt Enable Control 0) ............................... 77 IEC1 (Interrupt Enable Control 1) ............................... 79 IEC3 (Interrupt Enable Control 3) ............................... 80 IEC4 (Interrupt Enable Control 4) ............................... 81 IFS0 (Interrupt Flag Status 0) ..................................... 72 IFS1 (Interrupt Flag Status 1) ..................................... 74 IFS3 (Interrupt Flag Status 3) ..................................... 75 IFS4 (Interrupt Flag Status 4) ..................................... 76 INTCON1 (Interrupt Control 1) ................................... 69 INTCON2 (Interrupt Control 2) ................................... 71 INTTREG Interrupt Control and Status Register ........ 92 IPC0 (Interrupt Priority Control 0) ............................... 82 IPC1 (Interrupt Priority Control 1) ............................... 83 IPC14 (Interrupt Priority Control 14) ........................... 89 IPC15 (Interrupt Priority Control 15) ........................... 90 IPC16 (Interrupt Priority Control 16) ........................... 90 IPC18 (Interrupt Priority Control 18) ........................... 91 IPC2 (Interrupt Priority Control 2) ............................... 84 IPC3 (Interrupt Priority Control 3) ............................... 85 IPC4 (Interrupt Priority Control 4) ............................... 86 IPC5 (Interrupt Priority Control 5) ............................... 87 IPC7 (Interrupt Priority Control 7) ............................... 88 NVMCON (Flash Memory Control)............................. 53 NVMKEY (Nonvolatile Memory Key) .......................... 54 OCxCON (Output Compare x Control) ..................... 146 OSCCON (Oscillator Control)..................................... 98 OSCTUN (FRC Oscillator Tuning)............................ 102 P1DC2 (PWM Duty Cycle 2) .................................... 166 P1DC3 (PWM Duty Cycle 3) .................................... 167 PDC1 (PWM Duty Cycle 1) ...................................... 166 Preliminary DS70283B-page 285 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 PLLFBD (PLL Feedback Divisor) .............................. 101 PTCON (PWM Time Base Control) .......................... 157 PTMR (PWM Timer Count Value)............................. 158 PTPER (PWM Time Base Period) ............................ 158 PWMxCON1 (PWM Control 1).................................. 160 PWMxCON2 (PWM Control 2).................................. 161 PxDTCON1 (Dead-Time Control 1) .......................... 162 PxDTCON2 (Dead-Time Control 2) .......................... 163 PxFLTACON (Fault A Control).................................. 164 PxOVDCON (Override Control) ................................ 165 PxSECMP (Special Event Compare) ........................ 159 QEICON (QEI Control).............................................. 173 RCON (Reset Control) ................................................ 58 SPIxCON1 (SPIx Control 1) ...................................... 182 SPIxCON2 (SPIx Control 2) ...................................... 184 SPIxSTAT (SPIx Status and Control) ....................... 181 SR (CPU Status) ................................................... 16, 68 T1CON (Timer1 Control)........................................... 134 T2CON Control) ........................................................ 138 T3CON Control ......................................................... 139 UxMODE (UARTx Mode) .......................................... 198 UxSTA (UARTx Status and Control) ......................... 200 Reset Clock Source Selection ............................................... 60 Special Function Register Reset States ..................... 61 Times .......................................................................... 60 Reset Sequence.................................................................. 63 Resets ................................................................................. 57 S Serial Peripheral Interface (SPI) ....................................... 177 Setup for Continuous Output Pulse Generation................ 143 Setup for Single Output Pulse Generation ........................ 143 Software Simulator (MPLAB SIM)..................................... 234 Software Stack Pointer, Frame Pointer CALLL Stack Frame.................................................... 42 Special Features of the CPU............................................. 217 SPI Master, Frame Master Connection ........................... 179 Master/Slave Connection .......................................... 179 Slave, Frame Master Connection ............................. 180 Slave, Frame Slave Connection ............................... 180 SPI Module SPI1 Register Map ...................................................... 35 Symbols Used in Opcode Descriptions............................. 226 System Control Register Map............................................................... 40 T Temperature and Voltage Specifications AC ............................................................................. 246 Timer1 ............................................................................... 133 Timer2/3 ............................................................................ 135 Timing Characteristics CLKO and I/O ........................................................... 249 Timing Diagrams 10-bit ADC Conversion (CHPS = 01, SIMSAM = 0, ASAM = 0, SSRC = 000) .................................. 273 10-bit ADC Conversion (CHPS = 01, SIMSAM = 0, ASAM = 1, SSRC = 111, SAMC = 00001) ................................................ 273 12-bit ADC Conversion (ASAM = 0, SSRC = 000) ... 272 Center-Aligned PWM ................................................ 152 Dead-Time ................................................................ 153 Edge-Aligned PWM................................................... 152 External Clock ........................................................... 247 DS70283B-page 286 I2Cx Bus Data (Master Mode) .................................. 265 I2Cx Bus Data (Slave Mode) .................................... 267 I2Cx Bus Start/Stop Bits (Master Mode)................... 265 I2Cx Bus Start/Stop Bits (Slave Mode)..................... 267 Input Capture (CAPx) ............................................... 255 Motor Control PWM .................................................. 257 Motor Control PWM Fault ......................................... 257 OC/PWM................................................................... 256 Output Compare (OCx)............................................. 255 QEA/QEB Input ........................................................ 258 QEI Module Index Pulse ........................................... 259 Reset, Watchdog Timer, Oscillator Start-up Timer and Power-up Timer............................... 250 SPIx Master Mode (CKE = 0) ................................... 260 SPIx Master Mode (CKE = 1) ................................... 261 SPIx Slave Mode (CKE = 0) ..................................... 262 SPIx Slave Mode (CKE = 1) ..................................... 263 Timer1, 2, 3 External Clock ...................................... 252 TimerQ (QEI Module) External Clock ....................... 254 Timing Requirements CLKO and I/O ........................................................... 249 External Clock........................................................... 247 Input Capture ............................................................ 255 Timing Specifications 10-bit ADC Conversion Requirements...................... 274 12-bit ADC Conversion Requirements...................... 272 I2Cx Bus Data Requirements (Master Mode)........... 266 I2Cx Bus Data Requirements (Slave Mode)............. 268 Motor Control PWM Requirements........................... 257 Output Compare Requirements................................ 255 PLL Clock ................................................................. 248 QEI External Clock Requirements ............................ 254 QEI Index Pulse Requirements ................................ 259 Quadrature Decoder Requirements.......................... 258 Reset, Watchdog Timer, Oscillator Start-up Timer, Power-up Timer and Brown-out Reset Requirements ................................................... 251 Simple OC/PWM Mode Requirements ..................... 256 SPIx Master Mode (CKE = 0) Requirements............ 260 SPIx Master Mode (CKE = 1) Requirements............ 261 SPIx Slave Mode (CKE = 0) Requirements.............. 262 SPIx Slave Mode (CKE = 1) Requirements.............. 264 Timer1 External Clock Requirements ....................... 252 Timer2 External Clock Requirements ....................... 253 Timer3 External Clock Requirements ....................... 253 U UART Baud Rate Generator (BRG) .............................................. 196 Break and Sync Transmit Sequence ........................ 197 Flow Control Using UxCTS and UxRTS Pins ........... 197 Receiving in 8-bit or 9-bit Data Mode ....................... 197 Transmitting in 8-bit Data Mode................................ 197 Transmitting in 9-bit Data Mode................................ 197 UART Module UART1 Register Map.................................................. 35 Universal Asynchronous Receiver Transmitter (UART) ... 195 V Voltage Regulator (On-Chip) ............................................ 221 W Watchdog Timer (WDT)............................................ 217, 222 Programming Considerations ................................... 222 WWW Address ................................................................. 287 WWW, On-Line Support ....................................................... 7 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 THE MICROCHIP WEB SITE CUSTOMER SUPPORT Microchip provides online support via our WWW site at www.microchip.com. This web site is used as a means to make files and information easily available to customers. Accessible by using your favorite Internet browser, the web site contains the following information: Users of Microchip products can receive assistance through several channels: • Product Support – Data sheets and errata, application notes and sample programs, design resources, user’s guides and hardware support documents, latest software releases and archived software • General Technical Support – Frequently Asked Questions (FAQ), technical support requests, online discussion groups, Microchip consultant program member listing • Business of Microchip – Product selector and ordering guides, latest Microchip press releases, listing of seminars and events, listings of Microchip sales offices, distributors and factory representatives • • • • Distributor or Representative Local Sales Office Field Application Engineer (FAE) Technical Support Customers should contact their distributor, representative or field application engineer (FAE) for support. Local sales offices are also available to help customers. A listing of sales offices and locations is included in the back of this document. Technical support is available through the web site at: http://support.microchip.com CUSTOMER CHANGE NOTIFICATION SERVICE Microchip’s customer notification service helps keep customers current on Microchip products. Subscribers will receive e-mail notification whenever there are changes, updates, revisions or errata related to a specified product family or development tool of interest. To register, access the Microchip web site at www.microchip.com, click on Customer Change Notification and follow the registration instructions. © 2007 Microchip Technology Inc. Preliminary DS70283B-page 287 dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 READER RESPONSE It is our intention to provide you with the best documentation possible to ensure successful use of your Microchip product. If you wish to provide your comments on organization, clarity, subject matter, and ways in which our documentation can better serve you, please FAX your comments to the Technical Publications Manager at (480) 792-4150. Please list the following information, and use this outline to provide us with your comments about this document. To: Technical Publications Manager RE: Reader Response Total Pages Sent ________ From: Name Company Address City / State / ZIP / Country Telephone: (_______) _________ - _________ FAX: (______) _________ - _________ Application (optional): Would you like a reply? Y Device: dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 Questions: N Literature Number: DS70283B 1. What are the best features of this document? 2. How does this document meet your hardware and software development needs? 3. Do you find the organization of this document easy to follow? If not, why? 4. What additions to the document do you think would enhance the structure and subject? 5. What deletions from the document could be made without affecting the overall usefulness? 6. Is there any incorrect or misleading information (what and where)? 7. How would you improve this document? DS70283B-page 288 Preliminary © 2007 Microchip Technology Inc. dsPIC33FJ32MC202/204 and dsPIC33FJ16MC304 PRODUCT IDENTIFICATION SYSTEM To order or obtain information, e.g., on pricing or delivery, refer to the factory or the listed sales office. dsPIC 33 FJ 32 MC2 02 T E / SP - XXX Examples: a) Microchip Trademark Architecture dsPIC33FJ32MC202-E/SP: Motor Control dsPIC33, 32 KB program memory, 28-pin, Extended temp., SPDIP package. Flash Memory Family Program Memory Size (KB) Product Group Pin Count Tape and Reel Flag (if applicable) Temperature Range Package Pattern Architecture: 33 = 16-bit Digital Signal Controller Flash Memory Family: FJ = Flash program memory, 3.3V Product Group: MC2 MC3 = = Motor Control family Motor Control family Pin Count: 02 04 = = 28-pin 44-pin Temperature Range: I E = = -40°C to+85°C (Industrial) -40°C to+125°C (Extended) Package: SP SO ML PT = = = = Skinny Plastic Dual In-Line - 300 mil body (SPDIP) Plastic Small Outline - Wide - 300 mil body (SOIC) Plastic Quad, No Lead Package - 6x6 mm body (QFN) Plastic Thing Quad Flatpack - 10x10x1 mm body (TQFP) © 2007 Microchip Technology Inc. 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