AT90USB1286, AT90USB1287, AT90USB646, AT90USB647 - Complete

Features
• High performance, low power AVR® 8-bit Microcontroller
• Advanced RISC architecture
•
•
•
•
•
•
– 135 powerful instructions – most single clock cycle execution
– 32 × 8 general purpose working registers
– Fully static operation
– Up to 16MIPS throughput at 16MHz
– On-chip 2-cycle multiplier
Non-volatile program and data memories
– 64/128Kbytes of in-system self-programmable flash
• Endurance: 100,000 write/erase cycles
– Optional Boot Code section with independent lock bits
• USB boot loader programmed by default in the factory
• In-system programming by on-chip boot program hardware activated after
reset
• True read-while-write operation
• All supplied parts are pre-programed with a default USB bootloader
– 2K/4K (64K/128K flash version) bytes EEPROM
• Endurance: 100,000 write/erase cycles
– 4K/8K (64K/128K flash version) bytes internal SRAM
– Up to 64Kbytes optional external memory space
– Programming lock for software security
JTAG (IEEE std. 1149.1 compliant) interface
– Boundary-scan capabilities according to the JTAG standard
– Extensive on-chip debug support
– Programming of flash, EEPROM, fuses, and lock bits through the JTAG interface
USB 2.0 full-speed/low-speed device and on-the-go module
– Complies fully with:
– Universal serial bus specification REV 2.0
– On-the-go supplement to the USB 2.0 specification rev 1.0
– Supports data transfer rates up to 12Mbit/s and 1.5Mbit/s
USB full-speed/low speed device module with interrupt on transfer completion
– Endpoint 0 for control transfers: up to 64-bytes
– Six programmable endpoints with in or out directions and with bulk, interrupt or
isochronous transfers
– Configurable endpoints size up to 256bytes in double bank mode
– Fully independent 832bytes USB DPRAM for endpoint memory allocation
– Suspend/resume interrupts
– Power-on reset and USB bus reset
– 48MHz PLL for full-speed bus operation
– USB bus disconnection on microcontroller request
USB OTG reduced host:
– Supports host negotiation protocol (HNP) and session request protocol (SRP) for
OTG dual-role devices
– Provide status and control signals for software implementation of HNP and SRP
– Provides programmable times required for HNP and SRP
Peripheral features
– Two 8-bit timer/counters with separate prescaler and compare mode
– Two16-bit timer/counter with separate prescaler, compare- and capture mode
8-bit Atmel
Microcontroller
with
64/128Kbytes
of ISP Flash
and USB
Controller
AT90USB646
AT90USB647
AT90USB1286
AT90USB1287
7593L–AVR–09/12
•
•
•
•
•
2
– Real time counter with separate oscillator
– Four 8-bit PWM channels
– Six PWM channels with programmable resolution from 2 to 16 bits
– Output compare modulator
– 8-channels, 10-bit ADC
– Programmable serial USART
– Master/slave SPI serial interface
– Byte oriented 2-wire serial interface
– Programmable watchdog timer with separate on-chip oscillator
– On-chip analog comparator
– Interrupt and wake-up on pin change
Special microcontroller features
– Power-on reset and programmable brown-out detection
– Internal calibrated oscillator
– External and internal interrupt sources
– Six sleep modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby, and Extended Standby
I/O and packages
– 48 programmable I/O lines
– 64-lead TQFP and 64-lead QFN
Operating voltages
– 2.7 - 5.5V
Operating temperature
– Industrial (-40°C to +85°C)
Maximum frequency
– 8MHz at 2.7V - industrial range
– 16MHz at 4.5V - industrial range
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
1. Pin configurations
AVCC
GND
AREF
PF0 (ADC0)
PF1 (ADC1)
PF2 (ADC2)
PF3 (ADC3)
PF4 (ADC4/TCK)
PF5 (ADC5/TMS)
PF6 (ADC6/TDO)
PF7 (ADC7/TDI)
GND
VCC
PA0 (AD0)
PA1 (AD1)
PA2 (AD2)
63
62
61
60
59
58
57
56
55
54
53
52
51
50
49
Pinout Atmel AT90USB64/128-TQFP.
64
Figure 1-1.
(INT.6/AIN.0) PE6
1
48
PA3 (AD3)
(INT.7/AIN.1/UVcon) PE7
2
47
PA4 (AD4)
46
PA5 (AD5)
INDEX CORNER
UVcc
3
D-
4
45
PA6 (AD6)
D+
5
44
PA7 (AD7)
UGnd
6
43
PE2 (ALE/HWB)
UCap
7
42
PC7 (A15/IC.3/CLKO)
VBus
8
41
PC6 (A14/OC.3A)
40
PC5 (A13/OC.3B)
AT90USB90128/64
TQFP64
31
32
(T0) PD7
PE0 (WR)
(T1) PD6
33
30
16
(XCK1) PD5
(PCINT6/OC.1B) PB6
29
PE1 (RD)
(ICP1) PD4
34
28
15
(TXD1/INT3) PD3
(PCINT5/OC.1A) PB5
27
PC0 (A8)
(RXD1/INT2) PD2
35
26
14
(OC2B/SDA/INT1) PD1
(PCINT4/OC.2A) PB4
25
PC1 (A9)
(OC0B/SCL/INT0) PD0
36
24
13
XTAL1
(PDO/PCINT3/MISO) PB3
23
PC2 (A10)
XTAL2
37
22
12
GND
(PDI/PCINT2/MOSI) PB2
21
PC3 (A11/T.3)
VCC
38
20
11
RESET
(PCINT1/SCLK) PB1
19
PC4 (A12/OC.3C)
(INT.5/TOSC2) PE5
39
18
10
(INT4/TOSC1) PE4
(SS/PCINT0) PB0
17
9
(PCINT7/OC.0A/OC.1C) PB7
(IUID) PE3
3
7593L–AVR–09/12
AVCC
GND
AREF
PF0 (ADC0)
PF1 (ADC1)
PF2 (ADC2)
PF3 (ADC3)
PF4 (ADC4/TCK)
PF5 (ADC5/TMS)
PF6 (ADC6/TDO)
PF7 (ADC7/TDI)
GND
VCC
PA0 (AD0)
PA1 (AD1)
PA2 (AD2)
63
62
61
60
59
58
57
56
55
54
53
52
51
50
49
Pinout Atmel AT90USB64/128-QFN.
64
Figure 1-2.
(INT.6/AIN.0) PE6
1
48
PA3 (AD3)
(INT.7/AIN.1/UVcon) PE7
2
47
PA4 (AD4)
46
PA5 (AD5)
45
PA6 (AD6)
UVcc
3
D-
4
D+
5
44
PA7 (AD7)
UGnd
6
43
PE2 (ALE/HWB)
UCap
7
42
PC7 (A15/IC.3/CLKO)
VBus
8
41
PC6 (A14/OC.3A)
40
PC5 (A13/OC.3B)
39
PC4 (A12/OC.3C)
INDEX CORNER
AT90USB128/64
(IUID) PE3
9
(SS/PCINT0) PB0
10
(PCINT1/SCLK) PB1
11
38
PC3 (A11/T.3)
(PDI/PCINT2/MOSI) PB2
12
37
PC2 (A10)
(PDO/PCINT3/MISO) PB3
13
36
PC1 (A9)
(PCINT4/OC.2A) PB4
14
35
PC0 (A8)
(PCINT5/OC.1A) PB5
15
34
PE1 (RD)
(PCINT6/OC.1B) PB6
16
33
PE0 (WR)
Note:
4
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
(PCINT7/OC.0A/OC.1C) PB7
(INT4/TOSC1) PE4
(INT.5/TOSC2) PE5
RESET
VCC
GND
XTAL2
XTAL1
(OC0B/SCL/INT0) PD0
(OC2B/SDA/INT1) PD1
(RXD1/INT2) PD2
(TXD1/INT3) PD3
(ICP1) PD4
(XCK1) PD5
(T1) PD6
(T0) PD7
(64-lead QFN top view)
The large center pad underneath the MLF packages is made of metal and internally connected to
GND. It should be soldered or glued to the board to ensure good mechanical stability. If the center
pad is left unconnected, the package might loosen from the board.
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
2. Overview
The Atmel® AVR® AT90USB64/128 is a low-power CMOS 8-bit microcontroller based on the
Atmel® AVR® enhanced RISC architecture. By executing powerful instructions in a single clock
cycle, the AT90USB64/128 achieves throughputs approaching 1MIPS per MHz allowing the system designer to optimize power consumption versus processing speed.
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7593L–AVR–09/12
Block diagram
PF7 - PF0
VCC
PC7 - PC0
PA7 - P A0
POR TA DRIVERS
POR TF DRIVERS
RESET
Block diagram.
XT AL2
Figure 2-1.
XT AL1
2.1
POR TC DRIVERS
GND
DATA DIR.
REG. PORT F
DATA REGISTER
PORT F
DATA DIR.
REG. PORT A
DATA REGISTER
PORT A
DATA REGISTER
PORT C
DATA DIR.
REG. PORT C
8-BIT DA TA BUS
POR - BOD
RESET
AVCC
INTERNAL
OSCILLA TOR
CALIB. OSC
ADC
AGND
AREF
JTAG TAP
PROGRAM
COUNTER
ST ACK
POINTER
ON-CHIP DEBUG
PROGRAM
FLASH
SRAM
BOUNDARYSCAN
INSTRUCTION
REGISTER
OSCILLA TOR
WATCHDOG
TIMER
TIMING AND
CONTROL
MCU CONTROL
REGISTER
TIMER/
COUNTERS
GENERAL
PURPOSE
REGISTERS
X
PROGRAMMING
LOGIC
INSTRUCTION
DECODER
CONTROL
LINES
Z
INTERRUPT
UNIT
ALU
EEPROM
Y
PLL
ST ATUS
REGISTER
+
-
ANALOG
COMP ARATOR
USART1
USB
SPI
DATA DIR.
REG. PORTE
DATA REGISTER
PORTE
POR TE DRIVERS
PE7 - PE0
DATA DIR.
REG. PORTB
DATA REGISTER
PORTB
POR TB DRIVERS
PB7 - PB0
DATA REGISTER
PORTD
TWO-WIRE SERIAL
INTERFACE
DATA DIR.
REG. PORTD
POR TD DRIVERS
PD7 - PD0
The AVR core combines a rich instruction set with 32 general purpose working registers. All the
32 registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent
registers to be accessed in one single instruction executed in one clock cycle. The resulting
6
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
architecture is more code efficient while achieving throughputs up to ten times faster than conventional CISC microcontrollers.
The Atmel AT90USB64/128 provides the following features: 64/128Kbytes of In-System Programmable Flash with Read-While-Write capabilities, 2K/4Kbytes EEPROM, 4K/8K bytes
SRAM, 48 general purpose I/O lines, 32 general purpose working registers, Real Time Counter
(RTC), four flexible Timer/Counters with compare modes and PWM, one USART, a byte oriented 2-wire Serial Interface, a 8-channels, 10-bit ADC with optional differential input stage with
programmable gain, programmable Watchdog Timer with Internal Oscillator, an SPI serial port,
IEEE std. 1149.1 compliant JTAG test interface, also used for accessing the On-chip Debug system and programming and six software selectable power saving modes. The Idle mode stops
the CPU while allowing the SRAM, Timer/Counters, SPI port, and interrupt system to continue
functioning. The Power-down mode saves the register contents but freezes the Oscillator, disabling all other chip functions until the next interrupt or Hardware Reset. In Power-save mode,
the asynchronous timer continues to run, allowing the user to maintain a timer base while the
rest of the device is sleeping. The ADC Noise Reduction mode stops the CPU and all I/O modules except Asynchronous Timer and ADC, to minimize switching noise during ADC
conversions. In Standby mode, the Crystal/Resonator Oscillator is running while the rest of the
device is sleeping. This allows very fast start-up combined with low power consumption. In
Extended Standby mode, both the main Oscillator and the Asynchronous Timer continue to run.
The device is manufactured using the Atmel high-density nonvolatile memory technology. The
On-chip ISP Flash allows the program memory to be reprogrammed in-system through an SPI
serial interface, by a conventional nonvolatile memory programmer, or by an On-chip Boot program running on the AVR core. The boot program can use any interface to download the
application program in the application Flash memory. Software in the Boot Flash section will
continue to run while the Application Flash section is updated, providing true Read-While-Write
operation. By combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a
monolithic chip, the AT90USB64/128 is a powerful microcontroller that provides a highly flexible
and cost effective solution to many embedded control applications.
The AT90USB64/128 AVR is supported with a full suite of program and system development
tools including: C compilers, macro assemblers, program debugger/simulators, in-circuit emulators, and evaluation kits.
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7593L–AVR–09/12
2.2
2.2.1
Pin descriptions
VCC
Digital supply voltage.
2.2.2
GND
Ground.
2.2.3
AVCC
Analog supply voltage.
2.2.4
Port A (PA7..PA0)
Port A is an 8-bit bidirectional I/O port with internal pull-up resistors (selected for each bit). The
Port A output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port A pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port A pins are tri-stated when a reset condition becomes active,
even if the clock is not running.
Port A also serves the functions of various special features of the Atmel AT90USB64/128 as
listed on page 78.
2.2.5
Port B (PB7..PB0)
Port B is an 8-bit bidirectional I/O port with internal pull-up resistors (selected for each bit). The
Port B output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port B pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port B pins are tri-stated when a reset condition becomes active,
even if the clock is not running.
Port B has better driving capabilities than the other ports.
Port B also serves the functions of various special features of the AT90USB64/128 as listed on
page 79.
2.2.6
Port C (PC7..PC0)
Port C is an 8-bit bidirectional I/O port with internal pull-up resistors (selected for each bit). The
Port C output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port C pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port C pins are tri-stated when a reset condition becomes active,
even if the clock is not running.
Port C also serves the functions of special features of the AT90USB64/128 as listed on page 82.
2.2.7
Port D (PD7..PD0)
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The
Port D output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port D pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port D pins are tri-stated when a reset condition becomes active,
even if the clock is not running.
Port D also serves the functions of various special features of the AT90USB64/128 as listed on
page 83.
8
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
2.2.8
Port E (PE7..PE0)
Port E is an 8-bit bidirectional I/O port with internal pull-up resistors (selected for each bit). The
Port E output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port E pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port E pins are tri-stated when a reset condition becomes active,
even if the clock is not running.
Port E also serves the functions of various special features of the AT90USB64/128 as listed on
page 86.
2.2.9
Port F (PF7..PF0)
Port F serves as analog inputs to the A/D Converter.
Port F also serves as an 8-bit bidirectional I/O port, if the A/D Converter is not used. Port pins
can provide internal pull-up resistors (selected for each bit). The Port F output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port F pins
that are externally pulled low will source current if the pull-up resistors are activated. The Port F
pins are tri-stated when a reset condition becomes active, even if the clock is not running. If the
JTAG interface is enabled, the pull-up resistors on pins PF7(TDI), PF5(TMS), and PF4(TCK) will
be activated even if a reset occurs.
Port F also serves the functions of the JTAG interface.
2.2.10
DUSB Full speed / Low Speed Negative Data Upstream Port. Should be connected to the USB Dconnector pin with a serial 22Ω resistor.
2.2.11
D+
USB Full speed / Low Speed Positive Data Upstream Port. Should be connected to the USB D+
connector pin with a serial 22Ω resistor.
2.2.12
UGND
USB Pads Ground.
2.2.13
UVCC
USB Pads Internal Regulator Input supply voltage.
2.2.14
UCAP
USB Pads Internal Regulator Output supply voltage. Should be connected to an external capacitor (1µF).
2.2.15
VBUS
USB VBUS monitor and OTG negociations.
2.2.16
RESET
Reset input. A low level on this pin for longer than the minimum pulse length will generate a
reset, even if the clock is not running. The minimum pulse length is given in Table 9-1 on page
58. Shorter pulses are not guaranteed to generate a reset.
2.2.17
XTAL1
Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.
9
7593L–AVR–09/12
2.2.18
XTAL2
Output from the inverting oscillator amplifier.
2.2.19
AVCC
AVCC is the supply voltage pin for Port F and the A/D Converter. It should be externally connected to VCC, even if the ADC is not used. If the ADC is used, it should be connected to VCC
through a low-pass filter.
2.2.20
AREF
This is the analog reference pin for the A/D Converter.
3. Resources
A comprehensive set of development tools, application notes and datasheets are available for
download on http://www.atmel.com/avr.
4. About code examples
This documentation contains simple code examples that briefly show how to use various parts of
the device. Be aware that not all C compiler vendors include bit definitions in the header files
and interrupt handling in C is compiler dependent. Please confirm with the C compiler documentation for more details.
These code examples assume that the part specific header file is included before compilation.
For I/O registers located in extended I/O map, "IN", "OUT", "SBIS", "SBIC", "CBI", and "SBI"
instructions must be replaced with instructions that allow access to extended I/O. Typically
"LDS" and "STS" combined with "SBRS", "SBRC", "SBR", and "CBR".
10
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
5. AVR CPU core
5.1
Introduction
This section discusses the AVR core architecture in general. The main function of the CPU core
is to ensure correct program execution. The CPU must therefore be able to access memories,
perform calculations, control peripherals, and handle interrupts.
5.2
Architectural overview
Figure 5-1.
Block diagram of the AVR architecture.
Data bus 8-bit
Flash
program
memory
Program
counter
Status
and control
32 x 8
general
purpose
registrers
Control lines
Direct addressing
Instruction
decoder
Indirect addressing
Instruction
register
Interrupt
unit
SPI
unit
Watchdog
timer
ALU
Analog
comparator
I/O Module1
Data
SRAM
I/O Module 2
I/O Module n
EEPROM
I/O lines
In order to maximize performance and parallelism, the AVR uses a Harvard architecture – with
separate memories and buses for program and data. Instructions in the program memory are
executed with a single level pipelining. While one instruction is being executed, the next instruction is pre-fetched from the program memory. This concept enables instructions to be executed
in every clock cycle. The program memory is In-System Re-programmable Flash memory.
11
7593L–AVR–09/12
The fast-access Register File contains 32 × 8-bit general purpose working registers with a single
clock cycle access time. This allows single-cycle Arithmetic Logic Unit (ALU) operation. In a typical ALU operation, two operands are output from the Register File, the operation is executed,
and the result is stored back in the Register File – in one clock cycle.
Six of the 32 registers can be used as three 16-bit indirect address register pointers for Data
Space addressing – enabling efficient address calculations. One of the these address pointers
can also be used as an address pointer for look up tables in Flash program memory. These
added function registers are the 16-bit X-, Y-, and Z-register, described later in this section.
The ALU supports arithmetic and logic operations between registers or between a constant and
a register. Single register operations can also be executed in the ALU. After an arithmetic operation, the Status Register is updated to reflect information about the result of the operation.
Program flow is provided by conditional and unconditional jump and call instructions, able to
directly address the whole address space. Most AVR instructions have a single 16-bit word format. Every program memory address contains a 16- or 32-bit instruction.
Program Flash memory space is divided in two sections, the Boot Program section and the
Application Program section. Both sections have dedicated Lock bits for write and read/write
protection. The SPM instruction that writes into the Application Flash memory section must
reside in the Boot Program section.
During interrupts and subroutine calls, the return address Program Counter (PC) is stored on the
Stack. The Stack is effectively allocated in the general data SRAM, and consequently the Stack
size is only limited by the total SRAM size and the usage of the SRAM. All user programs must
initialize the SP in the Reset routine (before subroutines or interrupts are executed). The Stack
Pointer (SP) is read/write accessible in the I/O space. The data SRAM can easily be accessed
through the five different addressing modes supported in the AVR architecture.
The memory spaces in the AVR architecture are all linear and regular memory maps.
A flexible interrupt module has its control registers in the I/O space with an additional Global
Interrupt Enable bit in the Status Register. All interrupts have a separate Interrupt Vector in the
Interrupt Vector table. The interrupts have priority in accordance with their Interrupt Vector position. The lower the Interrupt Vector address, the higher the priority.
The I/O memory space contains 64 addresses for CPU peripheral functions as Control Registers, SPI, and other I/O functions. The I/O Memory can be accessed directly, or as the Data
Space locations following those of the Register File, 0x20 - 0x5F. In addition, the Atmel
AT90USB64/128 has Extended I/O space from 0x60 - 0xFF in SRAM where only the
ST/STS/STD and LD/LDS/LDD instructions can be used.
5.3
ALU – Arithmetic Logic Unit
The high-performance AVR ALU operates in direct connection with all the 32 general purpose
working registers. Within a single clock cycle, arithmetic operations between general purpose
registers or between a register and an immediate are executed. The ALU operations are divided
into three main categories – arithmetic, logical, and bit-functions. Some implementations of the
architecture also provide a powerful multiplier supporting both signed/unsigned multiplication
and fractional format. See the “Instruction set summary” on page 423 for a detailed description.
12
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
5.4
Status register
The status register contains information about the result of the most recently executed arithmetic
instruction. This information can be used for altering program flow in order to perform conditional
operations. Note that the status register is updated after all ALU operations, as specified in the
Instruction Set Reference. This will in many cases remove the need for using the dedicated compare instructions, resulting in faster and more compact code.
The status register is not automatically stored when entering an interrupt routine and restored
when returning from an interrupt. This must be handled by software.
The AVR status register – SREG – is defined as:
Bit
7
6
5
4
3
2
1
0
I
T
H
S
V
N
Z
C
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
SREG
• Bit 7 – I: Global Interrupt Enable
The Global Interrupt Enable bit must be set for the interrupts to be enabled. The individual interrupt enable control is then performed in separate control registers. If the Global Interrupt Enable
Register is cleared, none of the interrupts are enabled independent of the individual interrupt
enable settings. The I-bit is cleared by hardware after an interrupt has occurred, and is set by
the RETI instruction to enable subsequent interrupts. The I-bit can also be set and cleared by
the application with the SEI and CLI instructions, as described in the instruction set reference.
• Bit 6 – T: Bit Copy Storage
The Bit Copy instructions BLD (Bit LoaD) and BST (Bit STore) use the T-bit as source or destination for the operated bit. A bit from a register in the Register File can be copied into T by the
BST instruction, and a bit in T can be copied into a bit in a register in the Register File by the
BLD instruction.
• Bit 5 – H: Half Carry Flag
The Half Carry Flag H indicates a Half Carry in some arithmetic operations. Half Carry Is useful
in BCD arithmetic. See the “Instruction set summary” on page 423 for detailed information.
• Bit 4 – S: Sign Bit, S = N ⊕ V
The S-bit is always an exclusive or between the Negative Flag N and the Two’s Complement
Overflow Flag V. See the “Instruction set summary” on page 423 for detailed information.
• Bit 3 – V: Two’s Complement Overflow Flag
The Two’s Complement Overflow Flag V supports two’s complement arithmetics. See the
“Instruction set summary” on page 423 for detailed information.
• Bit 2 – N: Negative Flag
The Negative Flag N indicates a negative result in an arithmetic or logic operation. See the
“Instruction set summary” on page 423 for detailed information.
• Bit 1 – Z: Zero Flag
The Zero Flag Z indicates a zero result in an arithmetic or logic operation. See the “Instruction
set summary” on page 423 for detailed information.
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7593L–AVR–09/12
• Bit 0 – C: Carry Flag
The Carry Flag C indicates a carry in an arithmetic or logic operation. See the “Instruction set
summary” on page 423 for detailed information.
5.5
General purpose register file
The register file is optimized for the AVR Enhanced RISC instruction set. In order to achieve the
required performance and flexibility, the following input/output schemes are supported by the
register file:
• One 8-bit output operand and one 8-bit result input
• Two 8-bit output operands and one 8-bit result input
• Two 8-bit output operands and one 16-bit result input
• One 16-bit output operand and one 16-bit result input
Figure 5-2 shows the structure of the 32 general purpose working registers in the CPU.
Figure 5-2.
AVR CPU general purpose working registers.
7
0
Addr.
R0
0x00
R1
0x01
R2
0x02
…
R13
0x0D
General
R14
0x0E
purpose
R15
0x0F
working
R16
0x10
registers
R17
0x11
…
R26
0x1A
R27
0x1B
X-register Low byte
X-register High byte
R28
0x1C
Y-register Low byte
R29
0x1D
Y-register High byte
R30
0x1E
Z-register Low byte
R31
0x1F
Z-register High byte
Most of the instructions operating on the Register File have direct access to all registers, and
most of them are single cycle instructions.
As shown in Figure 5-2, each register is also assigned a data memory address, mapping them
directly into the first 32 locations of the user Data Space. Although not being physically implemented as SRAM locations, this memory organization provides great flexibility in access of the
registers, as the X-, Y-, and Z-pointer registers can be set to index any register in the file.
5.5.1
14
The X-register, Y-register, and Z-register
The registers R26..R31 have some added functions to their general purpose usage. These registers are 16-bit address pointers for indirect addressing of the data space. The three indirect
address registers X, Y, and Z are defined as described in Figure 5-3.
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 5-3.
The X-, Y-, and Z-registers.
15
XH
XL
7
X-register
0
R27 (0x1B)
YH
YL
7
0
R29 (0x1D)
Z-register
0
R26 (0x1A)
15
Y-register
0
7
0
7
0
R28 (0x1C)
15
ZH
7
0
ZL
7
R31 (0x1F)
0
0
R30 (0x1E)
In the different addressing modes these address registers have functions as fixed displacement,
automatic increment, and automatic decrement (see the instruction set reference for details).
5.6
Stack pointer
The Stack is mainly used for storing temporary data, for storing local variables and for storing
return addresses after interrupts and subroutine calls. The Stack Pointer Register always points
to the top of the Stack. Note that the Stack is implemented as growing from higher memory locations to lower memory locations. This implies that a Stack PUSH command decreases the Stack
Pointer.
The Stack Pointer points to the data SRAM Stack area where the Subroutine and Interrupt
Stacks are located. This Stack space in the data SRAM must be defined by the program before
any subroutine calls are executed or interrupts are enabled. The Stack Pointer must be set to
point above 0x0100. The initial value of the stack pointer is the last address of the internal
SRAM. The Stack Pointer is decremented by one when data is pushed onto the Stack with the
PUSH instruction, and it is decremented by three when the return address is pushed onto the
Stack with subroutine call or interrupt. The Stack Pointer is incremented by one when data is
popped from the Stack with the POP instruction, and it is incremented by three when data is
popped from the Stack with return from subroutine RET or return from interrupt RETI.
The AVR Stack Pointer is implemented as two 8-bit registers in the I/O space. The number of
bits actually used is implementation dependent. Note that the data space in some implementations of the AVR architecture is so small that only SPL is needed. In this case, the SPH Register
will not be present.
Bit
Read/write
Initial value
15
14
13
12
11
10
9
SP15
SP14
SP13
SP12
SP11
SP10
SP9
8
SP8
SPH
SP7
SP6
SP5
SP4
SP3
SP2
SP1
SP0
SPL
7
6
5
4
3
2
1
0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
1
0
0
0
0
0
1
1
1
1
1
1
1
1
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5.6.1
RAMPZ - Extended Z-pointer register for ELPM/SPM
Bit
7
6
5
4
3
2
1
0
RAMPZ7
RAMPZ6
RAMPZ5
RAMPZ4
RAMPZ3
RAMPZ2
RAMPZ1
RAMPZ0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
RAMPZ
For ELPM/SPM instructions, the Z-pointer is a concatenation of RAMPZ, ZH, and ZL, as shown
in Figure 5-4. Note that LPM is not affected by the RAMPZ setting.
Figure 5-4.
Bit (individually)
The Z-pointer used by ELPM and SPM.
7
0
7
RAMPZ
Bit (Z-pointer)
23
0
7
ZH
16
0
ZL
15
8
7
0
The actual number of bits is implementation dependent. Unused bits in an implementation will
always read as zero. For compatibility with future devices, be sure to write these bits to zero.
5.7
Instruction execution timing
This section describes the general access timing concepts for instruction execution. The AVR
CPU is driven by the CPU clock clkCPU, directly generated from the selected clock source for the
chip. No internal clock division is used.
Figure 5-5 shows the parallel instruction fetches and instruction executions enabled by the Harvard architecture and the fast-access Register File concept. This is the basic pipelining concept
to obtain up to 1 MIPS per MHz with the corresponding unique results for functions per cost,
functions per clocks, and functions per power-unit.
Figure 5-5.
The parallel instruction fetches and instruction executions.
T1
T2
T3
T4
clkCPU
1st instruction fetch
1st instruction execute
2nd instruction fetch
2nd instruction execute
3rd instruction fetch
3rd instruction execute
4th instruction fetch
Figure 5-6 shows the internal timing concept for the Register File. In a single clock cycle an ALU
operation using two register operands is executed, and the result is stored back to the destination register.
16
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 5-6.
Single cycle ALU operation.
T1
T2
T3
T4
clkCPU
Total execution time
Register operands fetch
ALU operation execute
Result write back
5.8
Reset and interrupt handling
The AVR provides several different interrupt sources. These interrupts and the separate Reset
Vector each have a separate program vector in the program memory space. All interrupts are
assigned individual enable bits which must be written logic one together with the Global Interrupt
Enable bit in the Status Register in order to enable the interrupt. Depending on the Program
Counter value, interrupts may be automatically disabled when Boot Lock bits BLB02 or BLB12
are programmed. This feature improves software security. See the section “Memory programming” on page 359 for details.
The lowest addresses in the program memory space are by default defined as the Reset and
Interrupt Vectors. The complete list of vectors is shown in “Interrupts” on page 68. The list also
determines the priority levels of the different interrupts. The lower the address the higher is the
priority level. RESET has the highest priority, and next is INT0 – the External Interrupt Request
0. The Interrupt Vectors can be moved to the start of the Boot Flash section by setting the IVSEL
bit in the MCU Control Register (MCUCR). Refer to “Interrupts” on page 68 for more information.
The Reset Vector can also be moved to the start of the Boot Flash section by programming the
BOOTRST Fuse, see “Memory programming” on page 359.
When an interrupt occurs, the Global Interrupt Enable I-bit is cleared and all interrupts are disabled. The user software can write logic one to the I-bit to enable nested interrupts. All enabled
interrupts can then interrupt the current interrupt routine. The I-bit is automatically set when a
Return from Interrupt instruction – RETI – is executed.
There are basically two types of interrupts. The first type is triggered by an event that sets the
Interrupt Flag. For these interrupts, the Program Counter is vectored to the actual Interrupt Vector in order to execute the interrupt handling routine, and hardware clears the corresponding
Interrupt Flag. Interrupt Flags can also be cleared by writing a logic one to the flag bit position(s)
to be cleared. If an interrupt condition occurs while the corresponding interrupt enable bit is
cleared, the Interrupt Flag will be set and remembered until the interrupt is enabled, or the flag is
cleared by software. Similarly, if one or more interrupt conditions occur while the Global Interrupt
Enable bit is cleared, the corresponding Interrupt Flag(s) will be set and remembered until the
Global Interrupt Enable bit is set, and will then be executed by order of priority.
The second type of interrupts will trigger as long as the interrupt condition is present. These
interrupts do not necessarily have Interrupt Flags. If the interrupt condition disappears before the
interrupt is enabled, the interrupt will not be triggered.
When the AVR exits from an interrupt, it will always return to the main program and execute one
more instruction before any pending interrupt is served.
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Note that the Status Register is not automatically stored when entering an interrupt routine, nor
restored when returning from an interrupt routine. This must be handled by software.
When using the CLI instruction to disable interrupts, the interrupts will be immediately disabled.
No interrupt will be executed after the CLI instruction, even if it occurs simultaneously with the
CLI instruction. The following example shows how this can be used to avoid interrupts during the
timed EEPROM write sequence.
Assembly code example
in r16, SREG
cli
; store SREG value
; disable interrupts during timed sequence
sbi EECR, EEMPE
; start EEPROM write
sbi EECR, EEPE
out SREG, r16
; restore SREG value (I-bit)
C code example
char cSREG;
cSREG = SREG; /* store SREG value */
/* disable interrupts during timed sequence */
__disable_interrupt();
EECR |= (1<<EEMPE); /* start EEPROM write */
EECR |= (1<<EEPE);
SREG = cSREG; /* restore SREG value (I-bit) */
When using the SEI instruction to enable interrupts, the instruction following SEI will be executed before any pending interrupts, as shown in this example.
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AT90USB64/128
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AT90USB64/128
Assembly code example
sei
; set Global Interrupt Enable
sleep; enter sleep, waiting for interrupt
; note: will enter sleep before any pending
; interrupt(s)
C code example
__enable_interrupt(); /* set Global Interrupt Enable */
__sleep(); /* enter sleep, waiting for interrupt */
/* note: will enter sleep before any pending interrupt(s) */
5.8.1
Interrupt response time
The interrupt execution response for all the enabled AVR interrupts is five clock cycles minimum.
After five clock cycles the program vector address for the actual interrupt handling routine is executed. During these five clock cycle period, the Program Counter is pushed onto the Stack. The
vector is normally a jump to the interrupt routine, and this jump takes three clock cycles. If an
interrupt occurs during execution of a multi-cycle instruction, this instruction is completed before
the interrupt is served. If an interrupt occurs when the MCU is in sleep mode, the interrupt execution response time is increased by five clock cycles. This increase comes in addition to the
start-up time from the selected sleep mode.
A return from an interrupt handling routine takes five clock cycles. During these five clock cycles,
the Program Counter (two bytes) is popped back from the Stack, the Stack Pointer is incremented by two, and the I-bit in SREG is set.
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6. Atmel AVR AT90USB64/128 memories
This section describes the different memories in the AT90USB64/128. The AVR architecture has
two main memory spaces, the Data Memory and the Program Memory space. In addition, the
AT90USB64/128 features an EEPROM Memory for data storage. All three memory spaces are
linear and regular.
Table 6-1.
Memory mapping.
Memory
Mnemonic
AT90USB64
AT90USB128
Flash size
64Kbytes
128K bytes
Start address
-
0x00000
End address
Flash end
0x0FFFF (1)
0x7FFF (2)
Size
-
32bytes
Start address
-
0x0000
End address
-
0x001F
Size
-
64 bytes
Start address
-
0x0020
End address
-
0x005F
Size
-
160bytes
Start address
-
0x0060
End address
-
0x00FF
Size
ISRAM size
4Kbytes
Start address
ISRAM start
0x0100
End address
ISRAM end
0x10FF
Size
XMem size
0-64Kbytes
Start address
XMem start
0x1100
End address
XMem end
0xFFFF
E2 size
2Kbytes
Start address
-
0x0000
End address
E2 end
0x07FF
Size
Flash
32 registers
I/O registers
Ext I/O
registers
Internal
SRAM
External
Memory
Size
EEPROM
Notes:
0x1FFFF (1)
0xFFFF (2)
8Kbytes
0x20FF
0x2100
4Kbytes
0x0FFF
1. Byte address.
2. Word (16-bit) address.
6.1
In-system re-programmable flash program memory
The AT90USB64/128 contains 128Kbytes On-chip In-System Re-programmable Flash memory
for program storage. Since all AVR instructions are 16 or 32 bits wide, the Flash is organized as
64K × 16. For software security, the Flash Program memory space is divided into two sections,
Boot Program section and Application Program section.
The Flash memory has an endurance of at least 100,000 write/erase cycles. The
AT90USB64/128 Program Counter (PC) is 16 bits wide, thus addressing the 128K program
memory locations. The operation of Boot Program section and associated Boot Lock bits for
20
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
software protection are described in detail in “Memory programming” on page 359. “Memory programming” on page 359 contains a detailed description on Flash data serial downloading using
the SPI pins or the JTAG interface.
Constant tables can be allocated within the entire program memory address space (see the LPM
– Load Program Memory instruction description and ELPM - Extended Load Program Memory
instruction description).
Timing diagrams for instruction fetch and execution are presented in “Instruction execution timing” on page 16.
Figure 6-1.
Program memory map.
Program memory
0x00000
Application flash section
Boot flash section
Flash end
6.2
SRAM data memory
Figure 6-2 shows how the Atmel AT90USB64/128 SRAM memory is organized.
The AT90USB64/128 is a complex microcontroller with more peripheral units than can be supported within the 64 location reserved in the Opcode for the IN and OUT instructions. For the
Extended I/O space from $060 - $0FF in SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
The first 4,352/8,448 Data Memory locations address both the Register File, the I/O Memory,
Extended I/O Memory, and the internal data SRAM. The first 32 locations address the Register
file, the next 64 location the standard I/O Memory, then 160 locations of Extended I/O memory
and the next 4,096/8,192 locations address the internal data SRAM.
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An optional external data SRAM can be used with the Atmel AT90USB64/128. This SRAM will
occupy an area in the remaining address locations in the 64K address space. This area starts at
the address following the internal SRAM. The Register file, I/O, Extended I/O and Internal SRAM
occupies the lowest 4,352/8,448 bytes, so when using 64KB (65,536 bytes) of External Memory,
61,184/57,088 Bytes of External Memory are available. See “External memory interface” on
page 31 for details on how to take advantage of the external memory map.
When the addresses accessing the SRAM memory space exceeds the internal data memory
locations, the external data SRAM is accessed using the same instructions as for the internal
data memory access. When the internal data memories are accessed, the read and write strobe
pins (PE0 and PE1) are inactive during the whole access cycle. External SRAM operation is
enabled by setting the SRE bit in the XMCRA Register.
Accessing external SRAM takes one additional clock cycle per byte compared to access of the
internal SRAM. This means that the commands LD, ST, LDS, STS, LDD, STD, PUSH, and POP
take one additional clock cycle. If the Stack is placed in external SRAM, interrupts, subroutine
calls and returns take three clock cycles extra because the three-byte program counter is
pushed and popped, and external memory access does not take advantage of the internal pipeline memory access. When external SRAM interface is used with wait-state, one-byte external
access takes two, three, or four additional clock cycles for one, two, and three wait-states
respectively. Interrupts, subroutine calls and returns will need five, seven, or nine clock cycles
more than specified in the Instruction set Manual for one, two, and three wait-states.
The five different addressing modes for the data memory cover: Direct, Indirect with Displacement, Indirect, Indirect with Pre-decrement, and Indirect with Post-increment. In the Register file,
registers R26 to R31 feature the indirect addressing pointer registers.
The direct addressing reaches the entire data space.
The Indirect with Displacement mode reaches 63 address locations from the base address given
by the Y- or Z-register.
When using register indirect addressing modes with automatic pre-decrement and post-increment, the address registers X, Y, and Z are decremented or incremented.
The 32 general purpose working registers, 64 I/O registers, and the 8,192 bytes of internal data
SRAM in the AT90USB64/128 are all accessible through all these addressing modes. The Register File is described in “General purpose register file” on page 14.
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AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 6-2.
Data memory map.
Data memory
32 registers
64 I/O registers
160 Ext I/O reg.
$0000 - $001F
$0020 - $005F
$0060 - $00FF
ISRAM start
Internal SRAM
(8192 x 8)
ISRAM end
XMem start
External SRAM
(0 - 64K x 8)
$FFFF
6.2.1
Data memory access times
This section describes the general access timing concepts for internal memory access. The
internal data SRAM access is performed in two clkCPU cycles as described in Figure 6-3.
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Figure 6-3.
On-chip data SRAM access cycles.
T1
T2
T3
clkCPU
Address
Compute address
Address valid
Write
Data
WR
Read
Data
RD
Memory access instruction
6.3
Next instruction
EEPROM data memory
The Atmel AT90USB64/128 contains 2K/4K bytes of data EEPROM memory. It is organized as
a separate data space, in which single bytes can be read and written. The EEPROM has an
endurance of at least 100,000 write/erase cycles. The access between the EEPROM and the
CPU is described in the following, specifying the EEPROM Address Registers, the EEPROM
Data Register, and the EEPROM Control Register.
For a detailed description of SPI, JTAG and Parallel data downloading to the EEPROM, see
page 373, page 377, and page 362 respectively.
6.3.1
EEPROM Read/Write Access
The EEPROM Access Registers are accessible in the I/O space.
The write access time for the EEPROM is given in Table 6-3. A self-timing function, however,
lets the user software detect when the next byte can be written. If the user code contains instructions that write the EEPROM, some precautions must be taken. In heavily filtered power
supplies, VCC is likely to rise or fall slowly on power-up/down. This causes the device for some
period of time to run at a voltage lower than specified as minimum for the clock frequency used.
See “Preventing EEPROM corruption” on page 29. for details on how to avoid problems in these
situations.
In order to prevent unintentional EEPROM writes, a specific write procedure must be followed.
Refer to the description of the EEPROM Control Register for details on this.
When the EEPROM is read, the CPU is halted for four clock cycles before the next instruction is
executed. When the EEPROM is written, the CPU is halted for two clock cycles before the next
instruction is executed.
24
AT90USB64/128
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AT90USB64/128
6.3.2
EEARH and EEARL – The EEPROM Address Register
Bit
Read/write
Initial value
15
14
13
12
11
10
9
8
–
–
–
–
EEAR11
EEAR10
EEAR9
EEAR8
EEARH
EEAR7
EEAR6
EEAR5
EEAR4
EEAR3
EEAR2
EEAR1
EEAR0
EEARL
7
6
5
4
3
2
1
0
R
R
R
R
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
X
X
X
X
X
X
X
X
X
X
X
X
• Bits 15..12 – Res: Reserved bits
These bits are reserved bits in the Atmel AT90USB64/128 and will always read as zero.
• Bits 11..0 – EEAR8..0: EEPROM address
The EEPROM Address Registers – EEARH and EEARL specify the EEPROM address in the 4K
bytes EEPROM space. The EEPROM data bytes are addressed linearly between 0 and 4096.
The initial value of EEAR is undefined. A proper value must be written before the EEPROM may
be accessed.
6.3.3
EEDR – The EEPROM Data Register
Bit
7
6
5
4
3
2
1
0
MSB
LSB
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
EEDR
• Bits 7..0 – EEDR7.0: EEPROM data
For the EEPROM write operation, the EEDR Register contains the data to be written to the
EEPROM in the address given by the EEAR Register. For the EEPROM read operation, the
EEDR contains the data read out from the EEPROM at the address given by EEAR.
6.3.4
EECR – The EEPROM Control Register
Bit
7
6
5
4
3
2
1
0
–
–
EEPM1
EEPM0
EERIE
EEMPE
EEPE
EERE
Read/write
R
R
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
X
X
0
0
X
0
EECR
• Bits 7..6 – Res: Reserved bits
These bits are reserved bits in the AT90USB64/128 and will always read as zero.
• Bits 5, 4 – EEPM1 and EEPM0: EEPROM Programming Mode bits
The EEPROM Programming Mode bit setting defines which programming action that will be triggered when writing EEPE. It is possible to program data in one atomic operation (erase the old
value and program the new value) or to split the Erase and Write operations in two different
operations. The Programming times for the different modes are shown in Table 6-2 on page 26.
While EEPE is set, any write to EEPMn will be ignored. During reset, the EEPMn bits will be
reset to 0b00 unless the EEPROM is busy programming.
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7593L–AVR–09/12
Table 6-2.
EEPROM Mode bits.
EEPM1
EEPM0
Programming
time
0
0
3.4ms
Erase and Write in one operation (atomic operation)
0
1
1.8ms
Erase only
1
0
1.8ms
Write only
1
1
–
Operation
Reserved for future use
• Bit 3 – EERIE: EEPROM Ready Interrupt Enable
Writing EERIE to one enables the EEPROM Ready Interrupt if the I bit in SREG is set. Writing
EERIE to zero disables the interrupt. The EEPROM Ready interrupt generates a constant interrupt when EEPE is cleared.
• Bit 2 – EEMPE: EEPROM Master Programming Enable
The EEMPE bit determines whether setting EEPE to one causes the EEPROM to be written.
When EEMPE is set, setting EEPE within four clock cycles will write data to the EEPROM at the
selected address If EEMPE is zero, setting EEPE will have no effect. When EEMPE has been
written to one by software, hardware clears the bit to zero after four clock cycles. See the
description of the EEPE bit for an EEPROM write procedure.
• Bit 1 – EEPE: EEPROM Programming Enable
The EEPROM Write Enable Signal EEPE is the write strobe to the EEPROM. When address
and data are correctly set up, the EEPE bit must be written to one to write the value into the
EEPROM. The EEMPE bit must be written to one before a logical one is written to EEPE, otherwise no EEPROM write takes place. The following procedure should be followed when writing
the EEPROM (the order of steps 3 and 4 is not essential):
1. Wait until EEPE becomes zero.
2. Wait until SELFPRGEN in SPMCSR becomes zero.
3. Write new EEPROM address to EEAR (optional).
4. Write new EEPROM data to EEDR (optional).
5. Write a logical one to the EEMPE bit while writing a zero to EEPE in EECR.
6. Within four clock cycles after setting EEMPE, write a logical one to EEPE.
The EEPROM can not be programmed during a CPU write to the Flash memory. The software
must check that the Flash programming is completed before initiating a new EEPROM write.
Step 2 is only relevant if the software contains a Boot Loader allowing the CPU to program the
Flash. If the Flash is never being updated by the CPU, step 2 can be omitted. See “Memory programming” on page 359 for details about Boot programming.
Caution: An interrupt between step 5 and step 6 will make the write cycle fail, since the
EEPROM Master Write Enable will time-out. If an interrupt routine accessing the EEPROM is
interrupting another EEPROM access, the EEAR or EEDR Register will be modified, causing the
interrupted EEPROM access to fail. It is recommended to have the Global Interrupt Flag cleared
during all the steps to avoid these problems.
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AT90USB64/128
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AT90USB64/128
When the write access time has elapsed, the EEPE bit is cleared by hardware. The user software can poll this bit and wait for a zero before writing the next byte. When EEPE has been set,
the CPU is halted for two cycles before the next instruction is executed.
• Bit 0 – EERE: EEPROM Read Enable
The EEPROM Read Enable Signal EERE is the read strobe to the EEPROM. When the correct
address is set up in the EEAR Register, the EERE bit must be written to a logic one to trigger the
EEPROM read. The EEPROM read access takes one instruction, and the requested data is
available immediately. When the EEPROM is read, the CPU is halted for four cycles before the
next instruction is executed.
The user should poll the EEPE bit before starting the read operation. If a write operation is in
progress, it is neither possible to read the EEPROM, nor to change the EEAR Register.
The calibrated Oscillator is used to time the EEPROM accesses. Table 6-3 lists the typical programming time for EEPROM access from the CPU.
Table 6-3.
EEPROM programming time.
Symbol
EEPROM write
(from CPU)
Number of calibrated RC oscillator cycles
Typical programming time
26,368
3.3ms
The following code examples show one assembly and one C function for writing to the
EEPROM. The examples assume that interrupts are controlled (for example by disabling interrupts globally) so that no interrupts will occur during execution of these functions. The examples
also assume that no Flash Boot Loader is present in the software. If such code is present, the
EEPROM write function must also wait for any ongoing SPM command to finish.
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Assembly code example (1)
EEPROM_write:
; Wait for completion of previous write
sbic EECR,EEPE
rjmp EEPROM_write
; Set up address (r18:r17) in address register
out EEARH, r18
out EEARL, r17
; Write data (r16) to Data Register
out EEDR,r16
; Write logical one to EEMPE
sbi EECR,EEMPE
; Start eeprom write by setting EEPE
sbi EECR,EEPE
ret
C code example (1)
void EEPROM_write(unsigned int uiAddress, unsigned char ucData)
{
/* Wait for completion of previous write */
while(EECR & (1<<EEPE))
;
/* Set up address and Data Registers */
EEAR = uiAddress;
EEDR = ucData;
/* Write logical one to EEMPE */
EECR |= (1<<EEMPE);
/* Start eeprom write by setting EEPE */
EECR |= (1<<EEPE);
}
Note:
28
1. See “About code examples” on page 10.
AT90USB64/128
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AT90USB64/128
The next code examples show assembly and C functions for reading the EEPROM. The examples assume that interrupts are controlled so that no interrupts will occur during execution of
these functions.
Assembly code example (1)
EEPROM_read:
; Wait for completion of previous write
sbic EECR,EEPE
rjmp EEPROM_read
; Set up address (r18:r17) in address register
out EEARH, r18
out EEARL, r17
; Start eeprom read by writing EERE
sbi EECR,EERE
; Read data from Data Register
in
r16,EEDR
ret
C code example (1)
unsigned char EEPROM_read(unsigned int uiAddress)
{
/* Wait for completion of previous write */
while(EECR & (1<<EEPE))
;
/* Set up address register */
EEAR = uiAddress;
/* Start eeprom read by writing EERE */
EECR |= (1<<EERE);
/* Return data from Data Register */
return EEDR;
}
Note:
6.3.5
1. See “About code examples” on page 10.
Preventing EEPROM corruption
During periods of low VCC, the EEPROM data can be corrupted because the supply voltage is
too low for the CPU and the EEPROM to operate properly. These issues are the same as for
board level systems using EEPROM, and the same design solutions should be applied.
An EEPROM data corruption can be caused by two situations when the voltage is too low. First,
a regular write sequence to the EEPROM requires a minimum voltage to operate correctly. Secondly, the CPU itself can execute instructions incorrectly, if the supply voltage is too low.
EEPROM data corruption can easily be avoided by following this design recommendation:
Keep the AVR RESET active (low) during periods of insufficient power supply voltage. This can
be done by enabling the internal Brown-out Detector (BOD). If the detection level of the internal
BOD does not match the needed detection level, an external low VCC reset Protection circuit can
be used. If a reset occurs while a write operation is in progress, the write operation will be completed provided that the power supply voltage is sufficient.
29
7593L–AVR–09/12
6.4
I/O memory
The I/O space definition of the Atmel AT90USB64/128 is shown in “Register summary” on page
419.
All AT90USB64/128 I/Os and peripherals are placed in the I/O space. All I/O locations may be
accessed by the LD/LDS/LDD and ST/STS/STD instructions, transferring data between the 32
general purpose working registers and the I/O space. I/O Registers within the address range
0x00 - 0x1F are directly bit-accessible using the SBI and CBI instructions. In these registers, the
value of single bits can be checked by using the SBIS and SBIC instructions. Refer to the
instruction set section for more details. When using the I/O specific commands IN and OUT, the
I/O addresses 0x00 - 0x3F must be used. When addressing I/O Registers as data space using
LD and ST instructions, 0x20 must be added to these addresses. The AT90USB64/128 is a
complex microcontroller with more peripheral units than can be supported within the 64 location
reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 0xFF in SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
For compatibility with future devices, reserved bits should be written to zero if accessed.
Reserved I/O memory addresses should never be written.
Some of the Status Flags are cleared by writing a logical one to them. Note that, unlike most
other AVRs, the CBI and SBI instructions will only operate on the specified bit, and can therefore
be used on registers containing such Status Flags. The CBI and SBI instructions work with registers 0x00 to 0x1F only.
The I/O and peripherals control registers are explained in later sections.
6.4.1
General purpose I/O registers
The AT90USB64/128 contains three General Purpose I/O Registers. These registers can be
used for storing any information, and they are particularly useful for storing global variables and
Status Flags. General Purpose I/O Registers within the address range 0x00 - 0x1F are directly
bit-accessible using the SBI, CBI, SBIS, and SBIC instructions.
6.4.2
GPIOR2 – General purpose I/O Register 2
Bit
7
6
5
4
3
2
1
0
MSB
6.4.3
LSB
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
6
5
4
3
2
1
0
GPIOR1 – General purpose I/O Register 1
Bit
7
MSB
6.4.4
LSB
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
6
5
4
3
2
1
0
GPIOR1
GPIOR0 – General purpose I/O Register 0
Bit
7
MSB
30
GPIOR2
LSB
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
GPIOR0
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
6.5
External memory interface
With all the features the External Memory Interface provides, it is well suited to operate as an
interface to memory devices such as External SRAM and Flash, and peripherals such as LCDdisplay, A/D, and D/A. The main features are:
•
•
•
•
6.5.1
Four different wait-state settings (including no wait-state)
Independent wait-state setting for different external Memory sectors (configurable sector size)
The number of bits dedicated to address high byte is selectable
Bus keepers on data lines to minimize current consumption (optional)
Overview
When the eXternal MEMory (XMEM) is enabled, address space outside the internal SRAM
becomes available using the dedicated External Memory pins (see Figure 2-1 on page 6, Table
11-3 on page 78, and Table 11-9 on page 82). The memory configuration is shown in Figure 6-4.
Figure 6-4.
External memory with sector select.
Memory configuration A
0x0000
Internal memory
ISRAM end
XMem start
Lower sector
SRW01
SRW00
SRL[2..0]
External memory
(0-60K x 8)
Upper sector
SRW11
SRW10
0xFFFF
6.5.2
Using the external memory interface
The interface consists of:
• AD7:0: Multiplexed low-order address bus and data bus
• A15:8: High-order address bus (configurable number of bits)
• ALE: Address latch enable
• RD: Read strobe
• WR: Write strobe
The control bits for the External Memory Interface are located in two registers, the External
Memory Control Register A – XMCRA, and the External Memory Control Register B – XMCRB.
31
7593L–AVR–09/12
When the XMEM interface is enabled, the XMEM interface will override the setting in the data
direction registers that corresponds to the ports dedicated to the XMEM interface. For details
about the port override, see the alternate functions in section “I/O-ports” on page 71. The XMEM
interface will auto-detect whether an access is internal or external. If the access is external, the
XMEM interface will output address, data, and the control signals on the ports according to Figure 6-6 on page 33 (this figure shows the wave forms without wait-states). When ALE goes from
high-to-low, there is a valid address on AD7:0. ALE is low during a data transfer. When the
XMEM interface is enabled, also an internal access will cause activity on address, data and ALE
ports, but the RD and WR strobes will not toggle during internal access. When the External
Memory Interface is disabled, the normal pin and data direction settings are used. Note that
when the XMEM interface is disabled, the address space above the internal SRAM boundary is
not mapped into the internal SRAM. Figure 6-5 illustrates how to connect an external SRAM to
the AVR using an octal latch (typically “74 × 573” or equivalent) which is transparent when G is
high.
6.5.3
Address latch requirements
Due to the high-speed operation of the XRAM interface, the address latch must be selected with
care for system frequencies above 8MHz @ 4V and 4MHz @ 2.7V. When operating at conditions above these frequencies, the typical old style 74HC series latch becomes inadequate. The
External Memory Interface is designed in compliance to the 74AHC series latch. However, most
latches can be used as long they comply with the main timing parameters. The main parameters
for the address latch are:
• D to Q propagation delay (tPD)
• Data setup time before G low (tSU)
• Data (address) hold time after G low (TH)
The External Memory Interface is designed to guaranty minimum address hold time after G is
asserted low of th = 5ns. Refer to tLAXX_LD/tLLAXX_ST in “External data memory timing” Tables 31-7
through Tables 31-13 on pages 399 - 401. The D-to-Q propagation delay (tPD) must be taken
into consideration when calculating the access time requirement of the external component. The
data setup time before G low (tSU) must not exceed address valid to ALE low (tAVLLC) minus PCB
wiring delay (dependent on the capacitive load).
Figure 6-5.
External SRAM connected to the AVR.
D[7:0]
AD7:0
D
ALE
G
AVR
A15:8
RD
WR
32
Q
A[7:0]
SRAM
A[15:8]
RD
WR
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
6.5.4
Pull-up and bus-keeper
The pull-ups on the AD7:0 ports may be activated if the corresponding Port register is written to
one. To reduce power consumption in sleep mode, it is recommended to disable the pull-ups by
writing the Port register to zero before entering sleep.
The XMEM interface also provides a bus-keeper on the AD7:0 lines. The bus-keeper can be disabled and enabled in software as described in “XMCRB – External Memory Control Register B”
on page 36. When enabled, the bus-keeper will keep the previous value on the AD7:0 bus while
these lines are tri-stated by the XMEM interface.
6.5.5
Timing
External Memory devices have different timing requirements. To meet these requirements, the
XMEM interface provides four different wait-states as shown in Table 6-5 on page 36. It is important to consider the timing specification of the External Memory device before selecting the waitstate. The most important parameters are the access time for the external memory compared to
the setup requirement. The access time for the External Memory is defined to be the time from
receiving the chip select/address until the data of this address actually is driven on the bus. The
access time cannot exceed the time from the ALE pulse must be asserted low until data is stable
during a read sequence (see tLLRL+ tRLRH - tDVRH in Tables 31-6 through Tables 31-13 on pages
399 - 401). The different wait-states are set up in software. As an additional feature, it is possible
to divide the external memory space in two sectors with individual wait-state settings. This
makes it possible to connect two different memory devices with different timing requirements to
the same XMEM interface. For XMEM interface timing details, please refer to Tables 31-6
through Tables 31-13 and Figure 31-7 to Figure 31-10 in the “External data memory timing” on
page 399.
Note that the XMEM interface is asynchronous and that the waveforms in the following figures
are related to the internal system clock. The skew between the internal and external clock
(XTAL1) is not guarantied (varies between devices temperature, and supply voltage). Consequently, the XMEM interface is not suited for synchronous operation.
Figure 6-6.
External data memory cycles without wait-state (SRWn1=0 and SRWn0=0).
T1
T2
T3
T4
System Clock (CLKCPU )
ALE
A15:8
Prev. addr.
DA7:0
Prev. data
Address
DA7:0 (XMBK = 0)
Prev. data
Address
DA7:0 (XMBK = 1)
Prev. data
XX
Data
Write
Address
WR
Data
Read
Address
Data
RD
33
7593L–AVR–09/12
Note:
1. SRWn1 = SRW11 (upper sector) or SRW01 (lower sector), SRWn0 = SRW10 (upper sector) or
SRW00 (lower sector). The ALE pulse in period T4 is only present if the next instruction
accesses the RAM (internal or external).
External data memory cycles with SRWn1 = 0 and SRWn0 = 1 (1).
Figure 6-7.
T1
T2
T3
T4
T5
System clock (CLK CPU )
ALE
A15:8
Prev. addr.
DA7:0
Prev. data
Address
DA7:0 (XMBK = 0)
Prev. data
Address
DA7:0 (XMBK = 1)
Prev. data
XX
Write
Address
Data
WR
Address
Read
Data
Data
RD
Note:
1. SRWn1 = SRW11 (upper sector) or SRW01 (lower sector), SRWn0 = SRW10 (upper sector) or
SRW00 (lower sector).
The ALE pulse in period T5 is only present if the next instruction accesses the RAM (internal
or external).
External data memory cycles with SRWn1 = 1 and SRWn0 = 0 (1).
Figure 6-8.
T1
T2
T3
T4
T5
T6
System clock (CLK CPU )
ALE
A15:8
Prev. addr.
DA7:0
Prev. data
Address
DA7:0 (XMBK = 0)
Prev. data
Address
DA7:0 (XMBK = 1)
Prev. data
XX
Data
Write
Address
WR
Data
Read
Address
Data
RD
Note:
34
1. SRWn1 = SRW11 (upper sector) or SRW01 (lower sector), SRWn0 = SRW10 (upper sector) or
SRW00 (lower sector).
The ALE pulse in period T6 is only present if the next instruction accesses the RAM (internal
or external).
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
External data memory cycles with SRWn1 = 1 and SRWn0 = 1 (1).
Figure 6-9.
T1
T2
T3
T4
T5
T6
T7
System clock (CLK CPU )
ALE
A15:8
Prev. addr.
DA7:0
Prev. data
Address
DA7:0 (XMBK = 0)
Prev. data
Address
DA7:0 (XMBK = 1)
Prev. data
XX
Write
Address
Data
WR
Address
Read
Data
Data
RD
Note:
6.5.6
1. SRWn1 = SRW11 (upper sector) or SRW01 (lower sector), SRWn0 = SRW10 (upper sector) or
SRW00 (lower sector).
The ALE pulse in period T7 is only present if the next instruction accesses the RAM (internal
or external).
XMCRA – External Memory Control Register A
Bit
7
6
5
4
3
2
1
0
SRE
SRL2
SRL1
SRL0
SRW11
SRW10
SRW01
SRW00
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
XMCRA
• Bit 7 – SRE: External SRAM/XMEM Enable
Writing SRE to one enables the External Memory Interface.The pin functions AD7:0, A15:8,
ALE, WR, and RD are activated as the alternate pin functions. The SRE bit overrides any pin
direction settings in the respective data direction registers. Writing SRE to zero, disables the
External Memory Interface and the normal pin and data direction settings are used.
• Bit 6..4 – SRL2:0: Wait-state Sector Limit
It is possible to configure different wait-states for different External Memory addresses. The
external memory address space can be divided in two sectors that have separate wait-state bits.
The SRL2, SRL1, and SRL0 bits select the split of the sectors, see Table 6-4 on page 36 and
Figure 6-4 on page 31. By default, the SRL2, SRL1, and SRL0 bits are set to zero and the entire
external memory address space is treated as one sector. When the entire SRAM address space
is configured as one sector, the wait-states are configured by the SRW11 and SRW10 bits.
35
7593L–AVR–09/12
Table 6-4.
Sector limits with different settings of SRL2..0.
SRL2
SRL1
SRL0
Sector limits
0
0
x
Lower sector = N/A
Upper sector = 0x2100 - 0xFFFF
0
1
0
Lower sector = 0x2100 - 0x3FFF
Upper sector = 0x4000 - 0xFFFF
0
1
1
Lower sector = 0x2100 - 0x5FFF
Upper sector = 0x6000 - 0xFFFF
1
0
0
Lower sector = 0x2100 - 0x7FFF
Upper sector = 0x8000 - 0xFFFF
1
0
1
Lower sector = 0x2100 - 0x9FFF
Upper sector = 0xA000 - 0xFFFF
1
1
0
Lower sector = 0x2100 - 0xBFFF
Upper sector = 0xC000 - 0xFFFF
1
1
1
Lower sector = 0x2100 - 0xDFFF
Upper sector = 0xE000 - 0xFFFF
• Bit 3..2 – SRW11, SRW10: Wait-state Select bits for upper sector
The SRW11 and SRW10 bits control the number of wait-states for the upper sector of the external memory address space, see Table 6-5.
• Bit 1..0 – SRW01, SRW00: Wait-state Select bits for lower sector
The SRW01 and SRW00 bits control the number of wait-states for the lower sector of the external memory address space, see Table 6-5.
Wait states (1).
Table 6-5.
SRWn1
SRWn0
0
0
No wait-states
0
1
Wait one cycle during read/write strobe
1
0
Wait two cycles during read/write strobe
1
1
Wait two cycles during read/write and wait one cycle before driving out
new address
Note:
6.5.7
Wait states
1. n = 0 or 1 (lower/upper sector).
For further details of the timing and wait-states of the External Memory Interface, see Figures
6-6 through Figures 6-9 on page 33 to page 35 for how the setting of the SRW bits affects the
timing.
XMCRB – External Memory Control Register B
Bit
7
6
5
4
3
2
1
0
XMBK
–
–
–
–
XMM2
XMM1
XMM0
Read/write
R/W
R
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
XMCRB
• Bit 7– XMBK: External Memory Bus-keeper Enable
Writing XMBK to one enables the bus keeper on the AD7:0 lines. When the bus keeper is
enabled, AD7:0 will keep the last driven value on the lines even if the XMEM interface has tri-
36
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
stated the lines. Writing XMBK to zero disables the bus keeper. XMBK is not qualified with SRE,
so even if the XMEM interface is disabled, the bus keepers are still activated as long as XMBK is
one.
• Bit 6..3 – Res: Reserved Bits
These bits are reserved and will always read as zero. When writing to this address location,
write these bits to zero for compatibility with future devices.
• Bit 2..0 – XMM2, XMM1, XMM0: External Memory High Mask
When the External Memory is enabled, all Port C pins are default used for the high address byte.
If the full 60KB address space is not required to access the External Memory, some, or all, Port
C pins can be released for normal Port Pin function as described in Table 6-6. As described in
“Using all 64KB locations of external memory” on page 38, it is possible to use the XMMn bits to
access all 64KB locations of the External Memory.
Table 6-6.
6.5.8
Port C pins released as normal port pins when the external memory is enabled.
XMM2
XMM1
XMM0
# bits for external memory address
Released port pins
0
0
0
8 (full 56KB space)
None
0
0
1
7
PC7
0
1
0
6
PC7 - PC6
0
1
1
5
PC7 - PC5
1
0
0
4
PC7 - PC4
1
0
1
3
PC7 - PC3
1
1
0
2
PC7 - PC2
1
1
1
No address high bits
Full Port C
Using all locations of external memory smaller than 64KB
Since the external memory is mapped after the internal memory as shown in Figure 6-4 on page
31, the external memory is not addressed when addressing the first 8,448/4,352 bytes
(128/64Kbytes version) of data space. It may appear that the first 8,448/4,352 bytes of the external memory are inaccessible (external memory addresses 0x0000 to 0x10FF or 0x0000 to
0x20FF). However, when connecting an external memory smaller than 64KB, for example 32KB,
these locations are easily accessed simply by addressing from address 0x8000 to 0xA1FF.
Since the External Memory Address bit A15 is not connected to the external memory, addresses
0x8000 to 0xA1FF will appear as addresses 0x0000 to 0x21FF for the external memory.
Addressing above address 0xA1FF is not recommended, since this will address an external
memory location that is already accessed by another (lower) address. To the Application software, the external 32KB memory will appear as one linear 32KB address space from 0x2200 to
0xA1FF. This is illustrated in Figure 6-10 on page 38.
37
7593L–AVR–09/12
Figure 6-10. Address map with 32KB external memory.
Memory configuration A
AVR memory map
0x0000
External 32K SRAM
0x0000
Internal memory
0x20FF
0x2100
0x7FFF
0x8000
ISRAM end
XMem start
External
0x7FFF
memory
ISRAM end + 0x8000
XMem start + 0x8000
(Unused)
0xFFFF
6.5.9
Using all 64KB locations of external memory
Since the External Memory is mapped after the Internal Memory as shown in Figure 6-4, only
56KB of External Memory is available by default (address space 0x0000 to 0x20FF is reserved
for internal memory). However, it is possible to take advantage of the entire External Memory by
masking the higher address bits to zero. This can be done by using the XMMn bits and control
by software the most significant bits of the address. By setting Port C to output 0x00, and releasing the most significant bits for normal Port Pin operation, the Memory Interface will address
0x0000 - 0x2FFF. See the following code examples.
Care must be exercised using this option as most of the memory is masked away.
38
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Assembly code example (1)
;
;
;
;
;
OFFSET is defined to 0x4000 to ensure
external memory access
Configure Port C (address high byte) to
output 0x00 when the pins are released
for normal Port Pin operation
ldi r16, 0xFF
out DDRC, r16
ldi r16, 0x00
out PORTC, r16
; release PC7:6
ldi r16, (1<<XMM1)
sts XMCRB, r16
; write 0xAA to address 0x0001 of external
; memory
ldi r16, 0xaa
sts 0x0001+OFFSET, r16
; re-enable PC7:6 for external memory
ldi r16, (0<<XMM1)
sts XMCRB, r16
; store 0x55 to address (OFFSET + 1) of
; external memory
ldi r16, 0x55
sts 0x0001+OFFSET, r16
C code example (1)
#define OFFSET 0x4000
void XRAM_example(void)
{
unsigned char *p = (unsigned char *) (OFFSET + 1);
DDRC = 0xFF;
PORTC = 0x00;
XMCRB = (1<<XMM1);
*p = 0xaa;
XMCRB = 0x00;
*p = 0x55;
}
Note:
1. See “About code examples” on page 10.
39
7593L–AVR–09/12
7. System clock and clock options
7.1
Clock systems and their distribution
Figure 7-1 presents the principal clock systems in the AVR and their distribution. All of the clocks
need not be active at a given time. In order to reduce power consumption, the clocks to modules
not being used can be halted by using different sleep modes, as described in “Power management and sleep modes” on page 51. The clock systems are detailed below.
Figure 7-1.
Clock distribution.
USB
Asynchronous
timer/counter
General I/O
modules
ADC
CPU Core
RAM
Flash and
EEPROM
clkADC
clkI/O
clkUSB (48MHz)
USB PLL
X24
AVR clock
control unit
clkASY
clkCPU
clkFLASH
clkPllin (2MHz)
Reset logic
PLL clock
prescaler
System clock
prescaler
Watchdog timer
Watchdog clock
Source clock
Clock
multiplexer
Timer/counter
oscillator
Crystal
oscillator
External clock
Watchdog
oscillator
Calibrated RC
oscillator
7.1.1
CPU Clock – clkCPU
The CPU clock is routed to parts of the system concerned with operation of the AVR core.
Examples of such modules are the General Purpose Register File, the Status Register and the
data memory holding the Stack Pointer. Halting the CPU clock inhibits the core from performing
general operations and calculations.
7.1.2
I/O Clock – clkI/O
The I/O clock is used by the majority of the I/O modules, like Timer/Counters, SPI, and USART.
The I/O clock is also used by the External Interrupt module, but note that some external interrupts are detected by asynchronous logic, allowing such interrupts to be detected even if the I/O
clock is halted. Also, TWI address recognition is handled in all sleep modes.
7.1.3
Flash Clock – clkFLASH
The Flash clock controls operation of the Flash interface. The Flash clock is usually active simultaneously with the CPU clock.
40
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
7.1.4
Asynchronous Timer Clock – clkASY
The Asynchronous Timer clock allows the Asynchronous Timer/Counter to be clocked directly
from an external clock or an external 32kHz clock crystal. The dedicated clock domain allows
using this Timer/Counter as a real-time counter even when the device is in sleep mode.
7.1.5
ADC Clock – clkADC
The ADC is provided with a dedicated clock domain. This allows halting the CPU and I/O clocks
in order to reduce noise generated by digital circuitry. This gives more accurate ADC conversion
results.
7.1.6
USB Clock – clkUSB
The USB is provided with a dedicated clock domain. This clock is generated with an on-chip PLL
running at 48MHz. The PLL always multiply its input frequency by 24. Thus the PLL clock register should be programmed by software to generate a 2MHz clock on the PLL input.
7.2
Clock sources
The device has the following clock source options, selectable by Flash Fuse bits as shown
below. The clock from the selected source is input to the AVR clock generator, and routed to the
appropriate modules.
Table 7-1.
Device clocking options select (1).
Device clocking option
CKSEL3..0
Low power crystal oscillator
1111 - 1000
Reserved
0111 - 0110
Low frequency crystal oscillator
0101 - 0100
Reserved
0011
Calibrated internal RC oscillator
0010
External clock
0000
Reserved
0001
Note:
1. For all fuses “1” means unprogrammed while “0” means programmed.
7.2.1
Default clock source
The device is shipped with Low Power Crystal Oscillator (8.0MHz-max) enabled and with the
fuse CKDIV8 programmed, resulting in 1.0MHz system clock (with a 8MHz crystal). The default
fuse configuration is CKSEL = "1110", SUT = "01", CKDIV8 = "0". This default setting ensures
that all users can make their desired clock source setting using any available programming
interface.
7.2.2
Clock startup sequence
Any clock source needs a sufficient VCC to start oscillating and a minimum number of oscillating
cycles before it can be considered stable.
To ensure sufficient VCC, the device issues an internal reset with a time-out delay (tTOUT) after
the device reset is released by all other reset sources. “On-chip debug system” on page 56
describes the start conditions for the internal reset. The delay (tTOUT) is timed from the Watchdog
Oscillator and the number of cycles in the delay is set by the SUTx and CKSELx fuse bits. The
selectable delays are shown in Table 7-2. The frequency of the Watchdog Oscillator is voltage
41
7593L–AVR–09/12
dependent as shown in “Atmel AT90USB64/128 typical characteristics” on page 404.
Table 7-2.
Number of watchdog oscillator cycles.
Typical time-out (VCC = 5.0V)
Typical time-out (VCC = 3.0V)
Number of cycles
0ms
0ms
0
4.1ms
4.3ms
512
65ms
69ms
8K (8,192)
Main purpose of the delay is to keep the AVR in reset until it is supplied with minimum VCC. The
delay will not monitor the actual voltage and it will be required to select a delay longer than the
VCC rise time. If this is not possible, an internal or external Brown-Out Detection circuit should be
used. A BOD circuit will ensure sufficient VCC before it releases the reset, and the time-out delay
can be disabled. Disabling the time-out delay without utilizing a Brown-Out Detection circuit is
not recommended.
The oscillator is required to oscillate for a minimum number of cycles before the clock is considered stable. An internal ripple counter monitors the oscillator output clock, and keeps the internal
reset active for a given number of clock cycles. The reset is then released and the device will
start to execute. The recommended oscillator start-up time is dependent on the clock type, and
varies from 6 cycles for an externally applied clock to 32K cycles for a low frequency crystal.
The start-up sequence for the clock includes both the time-out delay and the start-up time when
the device starts up from reset. When starting up from Power-save or Power-down mode, VCC is
assumed to be at a sufficient level and only the start-up time is included.
7.3
Low power crystal oscillator
Pins XTAL1 and XTAL2 are input and output, respectively, of an inverting amplifier which can be
configured for use as an On-chip Oscillator, as shown in Figure 7-2 on page 43. Either a quartz
crystal or a ceramic resonator may be used.
This Crystal Oscillator is a low power oscillator, with reduced voltage swing on the XTAL2 output. It gives the lowest power consumption, but is not capable of driving other clock inputs, and
may be more susceptible to noise in noisy environments. In these cases, refer to the “These
options are intended for use with ceramic resonators and will ensure frequency stability at startup. They can also be used with crystals when not operating close to the maximum frequency of
the device, and if frequency stability at start-up is not important for the application.” on page 44.
C1 and C2 should always be equal for both crystals and resonators. The optimal value of the
capacitors depends on the crystal or resonator in use, the amount of stray capacitance, and the
electromagnetic noise of the environment. Some initial guidelines for choosing capacitors for
use with crystals are given in Table 7-3 on page 43. For ceramic resonators, the capacitor values given by the manufacturer should be used.
42
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 7-2.
Crystal oscillator connections.
C2
XTAL2
C1
XTAL1
GND
The low power oscillator can operate in three different modes, each optimized for a specific frequency range. The operating mode is selected by the fuses CKSEL3..1 as shown in Table 7-3.
Table 7-3.
Notes:
Low power crystal oscillator operating modes (3).
Frequency range (1) [MHz]
CKSEL3..1
Recommended range for capacitors C1
and C2 [pF]
0.4 - 0.9
100 (2)
–
0.9 - 3.0
101
12 - 22
3.0 - 8.0
110
12 - 22
8.0 - 16.0
111
12 - 22
1. The frequency ranges are preliminary values. Actual values are TBD.
2. This option should not be used with crystals, only with ceramic resonators.
3. If 8MHz frequency exceeds the specification of the device (depends on VCC), the CKDIV8
Fuse can be programmed in order to divide the internal frequency by 8. It must be ensured
that the resulting divided clock meets the frequency specification of the device.
The CKSEL0 Fuse together with the SUT1..0 fuses select the start-up times as shown in Table
7-4.
Table 7-4.
Start-up times for the low power crystal oscillator clock selection.
Start-up time from
power-down and
power-save
Additional delay
from reset
(VCC = 5.0V)
CKSEL0
SUT1..0
Ceramic resonator, fast
rising power
258CK
14CK + 4.1ms (1)
0
00
Ceramic resonator, slowly
rising power
258CK
14CK + 65ms (1)
0
01
Ceramic resonator, BOD
enabled
1KCK
14CK (2)
0
10
Ceramic resonator, fast
rising power
1KCK
14CK + 4.1ms (2)
0
11
Ceramic resonator, slowly
rising power
1KCK
14CK + 65ms (2)
1
00
Oscillator source /
power conditions
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7593L–AVR–09/12
Table 7-4.
Start-up times for the low power crystal oscillator clock selection. (Continued)
Start-up time from
power-down and
power-save
Additional delay
from reset
(VCC = 5.0V)
CKSEL0
SUT1..0
Crystal Oscillator, BOD
enabled
16KCK
14CK
1
01
Crystal Oscillator, fast
rising power
16KCK
14CK + 4.1ms
1
10
Crystal Oscillator, slowly
rising power
16KCK
14CK + 65ms
1
11
Oscillator source /
power conditions
Notes:
1. These options should only be used when not operating close to the maximum frequency of the
device, and only if frequency stability at start-up is not important for the application. These
options are not suitable for crystals.
2. These options are intended for use with ceramic resonators and will ensure frequency stability
at start-up. They can also be used with crystals when not operating close to the maximum frequency of the device, and if frequency stability at start-up is not important for the application.
Table 7-5.
Start-up times for the internal calibrated RC oscillator clock selection.
Start-up time from powerdown and power-save
Additional delay from
reset (VCC = 5.0V)
SUT1..0
BOD enabled
6CK
14CK
00
Fast rising power
6CK
14CK + 4.1ms
Power conditions
Slowly rising power
6CK
14CK + 65ms
01
(1)
10
Reserved
Note:
7.4
11
1. The device is shipped with this option selected.
Low frequency crystal oscillator
The device can utilize a 32.768kHz watch crystal as clock source by a dedicated low frequency
crystal oscillator. The crystal should be connected as shown in Figure 7-2 on page 43. When this
Oscillator is selected, start-up times are determined by the SUT Fuses and CKSEL0 as shown in
Table 7-6.
Table 7-6.
Start-up times for the low frequency crystal oscillator clock selection.
Power conditions
BOD enabled
Fast rising power
Slowly rising power
Start-up time from
power-down and
power-save
1KCK
1KCK
1KCK
Additional delay
from reset
(VCC = 5.0V)
(1)
SUT1..0
0
00
14CK + 4.1ms
(1)
0
01
14CK + 65ms
(1)
0
10
0
11
14CK
Reserved
BOD enabled
32KCK
14CK
1
00
Fast rising power
32KCK
14CK + 4.1ms
1
01
Slowly rising power
32KCK
14CK + 65ms
1
10
1
11
Reserved
44
CKSEL0
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Note:
7.5
1. These options should only be used if frequency stability at start-up is not important for the
application.
Calibrated internal RC oscillator
The calibrated internal RC oscillator by default provides a 8.0MHz clock. The frequency is nominal value at 3V and 25°C. The device is shipped with the CKDIV8 Fuse programmed. See
“System clock prescaler” on page 47 for more details. This clock may be selected as the system
clock by programming the CKSEL Fuses as shown in Table 7-7. If selected, it will operate with
no external components. During reset, hardware loads the calibration byte into the OSCCAL
Register and thereby automatically calibrates the RC oscillator. At 3V and 25°C, this calibration
gives a frequency of 8MHz ±10%. The oscillator can be calibrated to any frequency in the range
7.3 - 8.1MHz within ±10% accuracy, by changing the OSCCAL register. When this oscillator is
used as the chip clock, the Watchdog Oscillator will still be used for the Watchdog Timer and for
the Reset Time-out. For more information on the pre-programmed calibration value, see Section
“Calibration byte” on page 362
Table 7-7.
Notes:
Internal calibrated RC oscillator operating modes (1)(3).
Frequency range (2) [MHz]
CKSEL3..0
7.3 - 8.1
0010
1. The device is shipped with this option selected.
2. The frequency ranges are preliminary values. Actual values are TBD.
3. If 8MHz frequency exceeds the specification of the device (depends on VCC), the CKDIV8
Fuse can be programmed in order to divide the internal frequency by 8.
When this oscillator is selected, start-up times are determined by the SUT Fuses as shown in
Table 7-5 on page 44.
Table 7-8.
Start-up times for the internal calibrated RC oscillator clock selection.
Start-up time from powerdown and power-save
Additional delay from
reset (VCC = 5.0V)
SUT1..0
BOD enabled
6CK
14CK
00
Fast rising power
6CK
14CK + 4.1ms
01
Slowly rising power
6CK
14CK + 65ms (1)
10
Power conditions
Reserved
Note:
7.5.1
11
1. The device is shipped with this option selected.
OSCCAL – Oscillator Calibration Register
Bit
7
6
5
4
3
2
1
0
CAL7
CAL6
CAL5
CAL4
CAL3
CAL2
CAL1
CAL0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
Device specific calibration value
OSCCAL
• Bits 7..0 – CAL7..0: Oscillator calibration value
The Oscillator Calibration Register is used to trim the calibrated internal RC oscillator to remove
process variations from the oscillator frequency. The factory-calibrated value is automatically
written to this register during chip reset, giving an oscillator frequency of 8.0MHz at 25°C. The
application software can write this register to change the oscillator frequency. The oscillator can
45
7593L–AVR–09/12
be calibrated to any frequency in the range 7.3 - 8.1MHz within ±10% accuracy. Calibration outside that range is not guaranteed.
Note that this oscillator is used to time EEPROM and Flash write accesses, and these write
times will be affected accordingly. If the EEPROM or Flash are written, do not calibrate to more
than 8.8MHz. Otherwise, the EEPROM or Flash write may fail.
The CAL7 bit determines the range of operation for the oscillator. Setting this bit to 0 gives the
lowest frequency range, setting this bit to 1 gives the highest frequency range. The two frequency ranges are overlapping, in other words a setting of OSCCAL = 0x7F gives a higher
frequency than OSCCAL = 0x80.
The CAL6..0 bits are used to tune the frequency within the selected range. A setting of 0x00
gives the lowest frequency in that range, and a setting of 0x7F gives the highest frequency in the
range. Incrementing CAL6..0 by 1 will give a frequency increment of less than 2% in the frequency range 7.3 - 8.1MHz.
7.6
External clock
The device can utilize a external clock source as shown in Figure 7-3. To run the device on an
external clock, the CKSEL fuses must be programmed as shown in Table 7-1 on page 41.
Figure 7-3.
External clock drive configuration.
NC
XTAL2
EXTERNAL
CLOCK
SIGNAL
XTAL1
GND
When this clock source is selected, start-up times are determined by the SUT fuses as shown in
Table 7-9.
Table 7-9.
Start-up times for the external clock selection.
Start-up time from powerdown and power-save
Additional delay from
reset (VCC = 5.0V)
SUT1..0
BOD enabled
6CK
14CK
00
Fast rising power
6CK
14CK + 4.1ms
01
Slowly rising power
6CK
14CK + 65ms
10
Power conditions
Reserved
11
When applying an external clock, it is required to avoid sudden changes in the applied clock frequency to ensure stable operation of the MCU. A variation in frequency of more than 2% from
one clock cycle to the next can lead to unpredictable behavior. If changes of more than 2% is
required, ensure that the MCU is kept in Reset during the changes.
46
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Note that the System Clock Prescaler can be used to implement run-time changes of the internal
clock frequency while still ensuring stable operation. Refer to “System clock prescaler” on page
47 for details.
7.7
Clock output buffer
The device can output the system clock on the CLKO pin. To enable the output, the CKOUT
Fuse has to be programmed. This mode is suitable when the chip clock is used to drive other circuits on the system. The clock also will be output during reset, and the normal operation of I/O
pin will be overridden when the fuse is programmed. Any clock source, including the internal RC
Oscillator, can be selected when the clock is output on CLKO. If the System Clock Prescaler is
used, it is the divided system clock that is output.
7.8
Timer/counter oscillator
The device can operate its Timer/Counter2 from an external 32.768kHz watch crystal or a external clock source. See Figure 7-2 on page 43 for crystal connection.
Applying an external clock source to TOSC1 requires EXCLK in the ASSR Register written to
logic one. See “Asynchronous operation of the Timer/Counter” on page 161 for further description on selecting external clock as input instead of a 32kHz crystal.
7.9
System clock prescaler
The Atmel AT90USB64/128 has a system clock prescaler, and the system clock can be divided
by setting the “CLKPR – Clock Prescale Register” on page 48. This feature can be used to
decrease the system clock frequency and the power consumption when the requirement for processing power is low. This can be used with all clock source options, and it will affect the clock
frequency of the CPU and all synchronous peripherals. clkI/O, clkADC, clkCPU, and clkFLASH are
divided by a factor as shown in Table 7-10 on page 48.
When switching between prescaler settings, the System Clock Prescaler ensures that no
glitches occurs in the clock system. It also ensures that no intermediate frequency is higher than
neither the clock frequency corresponding to the previous setting, nor the clock frequency corresponding to the new setting.
The ripple counter that implements the prescaler runs at the frequency of the undivided clock,
which may be faster than the CPU's clock frequency. Hence, it is not possible to determine the
state of the prescaler - even if it were readable, and the exact time it takes to switch from one
clock division to the other cannot be exactly predicted. From the time the CLKPS values are written, it takes between T1 + T2 and T1 + 2 × T2 before the new clock frequency is active. In this
interval, two active clock edges are produced. Here, T1 is the previous clock period, and T2 is
the period corresponding to the new prescaler setting.
To avoid unintentional changes of clock frequency, a special write procedure must be followed
to change the CLKPS bits:
1. Write the Clock Prescaler Change Enable (CLKPCE) bit to one and all other bits in
CLKPR to zero.
2. Within four cycles, write the desired value to CLKPS while writing a zero to CLKPCE.
Interrupts must be disabled when changing prescaler setting to make sure the write procedure is
not interrupted.
47
7593L–AVR–09/12
7.9.1
CLKPR – Clock Prescale Register
Bit
7
6
5
4
3
2
1
CLKPCE
–
–
–
CLKPS3
CLKPS2
CLKPS1
0
CLKPS0
Read/write
R/W
R
R
R
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
See bit description
CLKPR
• Bit 7 – CLKPCE: Clock Prescaler Change Enable
The CLKPCE bit must be written to logic one to enable change of the CLKPS bits. The CLKPCE
bit is only updated when the other bits in CLKPR are simultaneously written to zero. CLKPCE is
cleared by hardware four cycles after it is written or when CLKPS bits are written. Rewriting the
CLKPCE bit within this timeout period does neither extend the timeout period, nor clear the CLKPCE bit.
• Bits 3..0 – CLKPS3..0: Clock Prescaler Select Bits 3 - 0
These bits define the division factor between the selected clock source and the internal system
clock. These bits can be written run-time to vary the clock frequency to suit the application
requirements. As the divider divides the master clock input to the MCU, the speed of all synchronous peripherals is reduced when a division factor is used. The division factors are given in
Table 7-10.
The CKDIV8 Fuse determines the initial value of the CLKPS bits. If CKDIV8 is unprogrammed,
the CLKPS bits will be reset to “0000”. If CKDIV8 is programmed, CLKPS bits are reset to
“0011”, giving a division factor of 8 at start up. This feature should be used if the selected clock
source has a higher frequency than the maximum frequency of the device at the present operating conditions. Note that any value can be written to the CLKPS bits regardless of the CKDIV8
Fuse setting. The Application software must ensure that a sufficient division factor is chosen if
the selected clock source has a higher frequency than the maximum frequency of the device at
the present operating conditions. The device is shipped with the CKDIV8 fuse programmed.
Table 7-10.
48
Clock prescaler select.
CLKPS3
CLKPS2
CLKPS1
CLKPS0
Clock division factor
0
0
0
0
1
0
0
0
1
2
0
0
1
0
4
0
0
1
1
8
0
1
0
0
16
0
1
0
1
32
0
1
1
0
64
0
1
1
1
128
1
0
0
0
256
1
0
0
1
Reserved
1
0
1
0
Reserved
1
0
1
1
Reserved
1
1
0
0
Reserved
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
7.10
CLKPS3
CLKPS2
CLKPS1
CLKPS0
Clock division factor
1
1
0
1
Reserved
1
1
1
0
Reserved
1
1
1
1
Reserved
PLL
The PLL is used to generate internal high frequency (48MHz) clock for USB interface, the PLL
input is generated from an external low-frequency (the crystal oscillator or external clock input
pin from XTAL1). The internal RC oscillator can not be used for USB operations.
7.10.1
Internal PLL for USB interface
The internal PLL in Atmel AT90USB64/128 generates a clock frequency that is 24× multiplied
from nominally 2MHz input. The source of the 2MHz PLL input clock is the output of the internal
PLL clock prescaler that generates the 2MHz (see Section 7.10.2 for PLL interface).
Figure 7-4.
PLL clocking system.
PLOCK
PLLE
Lock
detector
clk
2MHz
PLL clock
prescaler
XTAL1
XTAL2
PLL
24x
clk USB
(48MHz)
OSCILLATORS
System clock
RC OSCILLATOR
8MHz
7.10.2
PLLCSR – PLL Control and Status Register
Bit
7
6
5
$29 ($29)
4
3
2
1
0
PLLP2
PLLP1
PLLP0
PLLE
PLOCK
Read/write
R
R
R
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0/1
0
PLLCSR
• Bit 7..5 – Res: Reserved bits
These bits are reserved bits in the AT90USB64/128 and always read as zero.
• Bit 4..2 – PLLP2:0 PLL prescaler
These bits allow to configure the PLL input prescaler to generate the 2MHz input clock for the
PLL.
49
7593L–AVR–09/12
Table 7-11.
PLL input prescaler configurations.
PLLP2
PLLP1
PLLP0
Clock division factor
External XTAL required for USB
operation [MHz]
0
0
0
Reserved
-
0
0
1
Reserved
-
0
1
0
Reserved
-
0
1
1
4
8
1
0
0
Reserved
-
Note:
(1)
16 (1)
1
0
1
8
1
1
0
8 (2)
16 (2)
1
1
1
Reserved
-
1. For Atmel AT90USB128x only. Do not use with Atmel AT90USB64x.
2. For AT90USB64x only. Do not use with AT90USB128x.
• Bit 1 – PLLE: PLL Enable
When the PLLE is set, the PLL is started.
• Bit 0 – PLOCK: PLL Lock Detector
When the PLOCK bit is set, the PLL is locked to the reference clock. After the PLL is enabled, it
takes about 100ms for the PLL to lock.
To clear PLOCK, clear PLLE and PLLPx bits.
50
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
8. Power management and sleep modes
Sleep modes enable the application to shut down unused modules in the MCU, thereby saving
power. The AVR provides various sleep modes allowing the user to tailor the power consumption to the application’s requirements.
To enter any of the five sleep modes, the SE bit in SMCR must be written to logic one and a
SLEEP instruction must be executed. The SM2, SM1, and SM0 bits in the SMCR Register select
which sleep mode (Idle, ADC Noise Reduction, Power-down, Power-save, or Standby) will be
activated by the SLEEP instruction. See Table 8-1 for a summary. If an enabled interrupt occurs
while the MCU is in a sleep mode, the MCU wakes up. The MCU is then halted for four cycles in
addition to the start-up time, executes the interrupt routine, and resumes execution from the
instruction following SLEEP. The contents of the Register File and SRAM are unaltered when
the device wakes up from sleep. If a reset occurs during sleep mode, the MCU wakes up and
executes from the Reset Vector.
Figure 7-1 on page 40 presents the different clock systems in the Atmel AT90USB64/128, and
their distribution. The figure is helpful in selecting an appropriate sleep mode.
8.0.1
SMCR – Sleep Mode Control Register
The Sleep Mode Control Register contains control bits for power management.
Bit
7
6
5
4
3
2
1
0
–
–
–
–
SM2
SM1
SM0
SE
Read/write
R
R
R
R
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
SMCR
• Bits 3, 2, 1 – SM2..0: Sleep Mode Select Bits 2, 1, and 0
These bits select between the six available sleep modes as shown in Table 8-1.
Table 8-1.
Note:
Sleep mode select.
SM2
SM1
SM0
Sleep mode
0
0
0
Idle
0
0
1
ADC noise reduction
0
1
0
Power-down
0
1
1
Power-save
1
0
0
Reserved
1
0
1
Reserved
1
1
0
Standby (1)
1
1
1
Extended Standby (1)
1. Standby modes are only recommended for use with external crystals or resonators.
• Bit 1 – SE: Sleep Enable
The SE bit must be written to logic one to make the MCU enter the sleep mode when the SLEEP
instruction is executed. To avoid the MCU entering the sleep mode unless it is the programmer’s
purpose, it is recommended to write the Sleep Enable (SE) bit to one just before the execution of
the SLEEP instruction and to clear it immediately after waking up.
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7593L–AVR–09/12
8.1
Idle mode
When the SM2..0 bits are written to 000, the SLEEP instruction makes the MCU enter Idle
mode, stopping the CPU but allowing the USB, SPI, USART, Analog Comparator, ADC, 2-wire
Serial Interface, Timer/Counters, Watchdog, and the interrupt system to continue operating. This
sleep mode basically halts clkCPU and clkFLASH, while allowing the other clocks to run.
Idle mode enables the MCU to wake up from external triggered interrupts as well as internal
ones like the Timer Overflow and USART Transmit Complete interrupts. If wake-up from the
Analog Comparator interrupt is not required, the Analog Comparator can be powered down by
setting the ACD bit in the Analog Comparator Control and Status Register – ACSR. This will
reduce power consumption in Idle mode. If the ADC is enabled, a conversion starts automatically when this mode is entered.
8.2
ADC noise reduction mode
When the SM2..0 bits are written to 001, the SLEEP instruction makes the MCU enter ADC
Noise Reduction mode, stopping the CPU but allowing the ADC, the external interrupts, 2-wire
Serial Interface address match, Timer/Counter2 and the Watchdog to continue operating (if
enabled). This sleep mode basically halts clkI/O, clkCPU, and clkFLASH, while allowing the
other clocks to run (including clkUSB).
This improves the noise environment for the ADC, enabling higher resolution measurements. If
the ADC is enabled, a conversion starts automatically when this mode is entered. Apart form the
ADC Conversion Complete interrupt, only an External Reset, a Watchdog System Reset, a
Watchdog interrupt, a Brown-out Reset, a 2-wire serial interface interrupt, a Timer/Counter2
interrupt, an SPM/EEPROM ready interrupt, an external level interrupt on INT7:4 or a pin
change interrupt can wakeup the MCU from ADC Noise Reduction mode.
8.3
Power-down mode
When the SM2..0 bits are written to 010, the SLEEP instruction makes the MCU enter Powerdown mode. In this mode, the external Oscillator is stopped, while the external interrupts, the 2wire Serial Interface, and the Watchdog continue operating (if enabled). Only an External Reset,
a Watchdog Reset, a Brown-out Reset, 2-wire Serial Interface address match, an external level
interrupt on INT7:4, an external interrupt on INT3:0, a pin change interrupt or an asynchronous
USB interrupt sources (VBUSTI, WAKEUPI, IDTI and HWUPI), can wake up the MCU. This
sleep mode basically halts all generated clocks, allowing operation of asynchronous modules
only.
Note that if a level triggered interrupt is used for wake-up from Power-down mode, the changed
level must be held for some time to wake up the MCU. Refer to “External interrupts” on page 92
for details.
When waking up from Power-down mode, there is a delay from the wake-up condition occurs
until the wake-up becomes effective. This allows the clock to restart and become stable after
having been stopped. The wake-up period is defined by the same CKSEL Fuses that define the
Reset Time-out period, as described in “Clock sources” on page 41.
8.4
Power-save mode
When the SM2..0 bits are written to 011, the SLEEP instruction makes the MCU enter Powersave mode. This mode is identical to Power-down, with one exception:
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AT90USB64/128
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AT90USB64/128
If Timer/Counter2 is enabled, it will keep running during sleep. The device can wake up from
either Timer Overflow or Output Compare event from Timer/Counter2 if the corresponding
Timer/Counter2 interrupt enable bits are set in TIMSK2, and the Global Interrupt Enable bit in
SREG is set.
If Timer/Counter2 is not running, Power-down mode is recommended instead of Power-save
mode.
The Timer/Counter2 can be clocked both synchronously and asynchronously in Power-save
mode. If the Timer/Counter2 is not using the asynchronous clock, the Timer/Counter Oscillator is
stopped during sleep. If the Timer/Counter2 is not using the synchronous clock, the clock source
is stopped during sleep. Note that even if the synchronous clock is running in Power-save, this
clock is only available for the Timer/Counter2.
8.5
Standby mode
When the SM2..0 bits are 110 and an external crystal/resonator clock option is selected, the
SLEEP instruction makes the MCU enter Standby mode. This mode is identical to Power-down
with the exception that the Oscillator is kept running. From Standby mode, the device wakes up
in six clock cycles. Note that in Stanby mode the PLL is disabled and the USB interface will not
function.
8.6
Extended Standby mode
When the SM2..0 bits are 111 and an external crystal/resonator clock option is selected, the
SLEEP instruction makes the MCU enter Extended Standby mode. This mode is identical to
Power-save mode with the exception that the Oscillator is kept running. From Extended Standby
mode, the device wakes up in six clock cycles.
Active clock domains and wake-up sources in the different sleep modes.
Idle
X
ADCNRM
X
X
X
X
X (2)
X
(2)
X
Power-down
Power-save
Standby
(1)
Extended
standby
Notes:
X (2)
X
X
X (2)
X
X
X
X
(3)
X
X
(3)
X
X (3)
X
(3)
X
X (3)
X
X
X (2)
X
X
(2)
X
X
X
X
X
X
X
X
X
interrupts (4)
USB asynchonous
interrupts
USB synchronous
Other I/O
WDT interrupt
ADC
SPM/
EEPROM ready
Timer2
TWI address
match
Wake-up sources
INT7:0 and
Pin Change
clkASY
X
Timer oscillator
enabled
Oscillators
clkADC
clkIO
clkFLASH
Sleep mode
clkCPU
Active clock domains
Main clock
source
enabled
Table 8-2.
X
X
X
X
X
X
X
X
X
X
X
X
1. Only recommended with external crystal or resonator selected as clock source.
2. If Timer/Counter2 is running in asynchronous mode.
3. For INT7:4, only level interrupt.
4. Asynchronous USB interrupts are VBUSTI, WAKEUPI, IDTI and HWUPI.
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7593L–AVR–09/12
8.7
Power Reduction Register
The Power Reduction Register, PRR, provides a method to stop the clock to individual peripherals to reduce power consumption. The current state of the peripheral is frozen and the I/O
registers can not be read or written. Resources used by the peripheral when stopping the clock
will remain occupied, hence the peripheral should in most cases be disabled before stopping the
clock. Waking up a module, which is done by clearing the bit in PRR, puts the module in the
same state as before shutdown.
Module shutdown can be used in Idle mode and Active mode to significantly reduce the overall
power consumption. In all other sleep modes, the clock is already stopped.
8.7.1
PRR0 – Power Reduction Register 0
Bit
7
6
5
4
3
2
1
0
PRTWI
PRTIM2
PRTIM0
–
PRTIM1
PRSPI
-
PRADC
Read/write
R/W
R/W
R/W
R
R/W
R/W
R
R/W
Initial value
0
0
0
0
0
0
0
0
PRR0
• Bit 7 - PRTWI: Power Reduction TWI
Writing a logic one to this bit shuts down the TWI by stopping the clock to the module. When
waking up the TWI again, the TWI should be re initialized to ensure proper operation.
• Bit 6 - PRTIM2: Power Reduction Timer/Counter2
Writing a logic one to this bit shuts down the Timer/Counter2 module in synchronous mode (AS2
is 0). When the Timer/Counter2 is enabled, operation will continue like before the shutdown.
• Bit 5 - PRTIM0: Power Reduction Timer/Counter0
Writing a logic one to this bit shuts down the Timer/Counter0 module. When the Timer/Counter0
is enabled, operation will continue like before the shutdown.
• Bit 4 - Res: Reserved bit
This bit is reserved and will always read as zero.
• Bit 3 - PRTIM1: Power Reduction Timer/Counter1
Writing a logic one to this bit shuts down the Timer/Counter1 module. When the Timer/Counter1
is enabled, operation will continue like before the shutdown.
• Bit 2 - PRSPI: Power Reduction Serial Peripheral Interface
Writing a logic one to this bit shuts down the Serial Peripheral Interface by stopping the clock to
the module. When waking up the SPI again, the SPI should be re initialized to ensure proper
operation.
• Bit 1 - Res: Reserved bit
These bits are reserved and will always read as zero.
• Bit 0 - PRADC: Power Reduction ADC
Writing a logic one to this bit shuts down the ADC. The ADC must be disabled before shut down.
The analog comparator cannot use the ADC input MUX when the ADC is shut down.
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AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
8.7.2
PRR1 – Power Reduction Register 1
Bit
7
6
5
4
3
2
1
0
PRUSB
–
–
–
PRTIM3
–
–
PRUSART1
Read/write
R/W
R
R
R
R/W
R
R
R/W
Initial value
0
0
0
0
0
0
0
0
PRR1
• Bit 7 - PRUSB: Power Reduction USB
Writing a logic one to this bit shuts down the USB by stopping the clock to the module. When
waking up the USB again, the USB should be re initialized to ensure proper operation.
• Bit 6..4 - Res: Reserved bits
These bits are reserved and will always read as zero.
• Bit 3 - PRTIM3: Power Reduction Timer/Counter3
Writing a logic one to this bit shuts down the Timer/Counter3 module. When the Timer/Counter3
is enabled, operation will continue like before the shutdown.
• Bit 2..1 - Res: Reserved bits
These bits are reserved and will always read as zero.
• Bit 0 - PRUSART1: Power Reduction USART1
Writing a logic one to this bit shuts down the USART1 by stopping the clock to the module.
When waking up the USART1 again, the USART1 should be re-initialized to ensure proper
operation.
8.8
Minimizing power consumption
There are several issues to consider when trying to minimize the power consumption in an AVR
controlled system. In general, sleep modes should be used as much as possible, and the sleep
mode should be selected so that as few as possible of the device’s functions are operating. All
functions not needed should be disabled. In particular, the following modules may need special
consideration when trying to achieve the lowest possible power consumption.
8.8.1
Analog to digital converter
If enabled, the ADC will be enabled in all sleep modes. To save power, the ADC should be disabled before entering any sleep mode. When the ADC is turned off and on again, the next
conversion will be an extended conversion. Refer to “ADC – Analog to Digital Converter” on
page 307 for details on ADC operation.
8.8.2
Analog comparator
When entering Idle mode, the Analog Comparator should be disabled if not used. When entering
ADC Noise Reduction mode, the Analog Comparator should be disabled. In other sleep modes,
the Analog Comparator is automatically disabled. However, if the Analog Comparator is set up
to use the Internal Voltage Reference as input, the Analog Comparator should be disabled in all
sleep modes. Otherwise, the Internal Voltage Reference will be enabled, independent of sleep
mode. Refer to “Analog Comparator” on page 304 for details on how to configure the Analog
Comparator.
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7593L–AVR–09/12
8.8.3
Brown-out detector
If the Brown-out Detector is not needed by the application, this module should be turned off. If
the Brown-out Detector is enabled by the BODLEVEL Fuses, it will be enabled in all sleep
modes, and hence, always consume power. In the deeper sleep modes, this will contribute significantly to the total current consumption. Refer to “Brown-out detection” on page 60 for details
on how to configure the Brown-out Detector.
8.8.4
Internal voltage reference
The internal voltage reference will be enabled when needed by the Brown-out Detection, the
Analog Comparator or the ADC. If these modules are disabled as described in the sections
above, the internal voltage reference will be disabled and it will not be consuming power. When
turned on again, the user must allow the reference to start up before the output is used. If the
reference is kept on in sleep mode, the output can be used immediately. Refer to “Internal voltage reference” on page 62 for details on the start-up time.
8.8.5
Watchdog timer
If the Watchdog Timer is not needed in the application, the module should be turned off. If the
Watchdog Timer is enabled, it will be enabled in all sleep modes, and hence, always consume
power. In the deeper sleep modes, this will contribute significantly to the total current consumption. Refer to “Interrupts” on page 68 for details on how to configure the Watchdog Timer.
8.8.6
Port pins
When entering a sleep mode, all port pins should be configured to use minimum power. The
most important is then to ensure that no pins drive resistive loads. In sleep modes where both
the I/O clock (clkI/O) and the ADC clock (clkADC) are stopped, the input buffers of the device will
be disabled. This ensures that no power is consumed by the input logic when not needed. In
some cases, the input logic is needed for detecting wake-up conditions, and it will then be
enabled. Refer to the section “Digital input enable and sleep modes” on page 75 for details on
which pins are enabled. If the input buffer is enabled and the input signal is left floating or have
an analog signal level close to VCC/2, the input buffer will use excessive power.
For analog input pins, the digital input buffer should be disabled at all times. An analog signal
level close to VCC/2 on an input pin can cause significant current even in active mode. Digital
input buffers can be disabled by writing to the Digital Input Disable Registers (DIDR1 and
DIDR0). Refer to “DIDR1 – Digital Input Disable Register 1” on page 306 and “DIDR0 – Digital
Input Disable Register 0” on page 326 for details.
8.8.7
On-chip debug system
If the On-chip debug system is enabled by the OCDEN Fuse and the chip enters sleep mode,
the main clock source is enabled, and hence, always consumes power. In the deeper sleep
modes, this will contribute significantly to the total current consumption.
There are three alternative ways to disable the OCD system:
• Disable the OCDEN Fuse
• Disable the JTAGEN Fuse
• Write one to the JTD bit in MCUCR
56
AT90USB64/128
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AT90USB64/128
9. System control and reset
9.1
Resetting the AVR
During reset, all I/O Registers are set to their initial values, and the program starts execution
from the Reset Vector. The instruction placed at the Reset Vector must be a JMP – Absolute
Jump – instruction to the reset handling routine. If the program never enables an interrupt
source, the Interrupt Vectors are not used, and regular program code can be placed at these
locations. This is also the case if the Reset Vector is in the Application section while the Interrupt
Vectors are in the Boot section or vice versa. The circuit diagram in Figure 9-1 on page 58
shows the reset logic. Table 9-1 on page 58 defines the electrical parameters of the reset
circuitry.
The I/O ports of the AVR are immediately reset to their initial state when a reset source goes
active. This does not require any clock source to be running.
After all reset sources have gone inactive, a delay counter is invoked, stretching the internal
reset. This allows the power to reach a stable level before normal operation starts. The time-out
period of the delay counter is defined by the user through the SUT and CKSEL Fuses. The different selections for the delay period are presented in “Clock sources” on page 41.
9.2
Reset sources
The Atmel AT90USB64/128 has five sources of reset:
• Power-on Reset. The MCU is reset when the supply voltage is below the Power-on Reset
threshold (VPOT)
• External Reset. The MCU is reset when a low level is present on the RESET pin for longer
than the minimum pulse length
• Watchdog Reset. The MCU is reset when the Watchdog Timer period expires and the
Watchdog is enabled
• Brown-out Reset. The MCU is reset when the supply voltage VCC is below the Brown-out
Reset threshold (VBOT) and the Brown-out Detector is enabled
• JTAG AVR Reset. The MCU is reset as long as there is a logic one in the Reset Register, one
of the scan chains of the JTAG system. Refer to Section “IEEE 1149.1 (JTAG) boundaryscan” on page 333 for details
57
7593L–AVR–09/12
Figure 9-1.
Reset logic.
DATA BUS
PORF
BORF
EXTRF
WDRF
JTRF
MCU status
register (MCUSR)
Power-on reset
circuit
Brown-out
reset circuit
BODLEVEL [2..0]
Pull-up resistor
SPIKE
FILTER
JTAG reset
register
Watchdog
oscillator
Clock
generator
Delay counters
CK
TIMEOUT
CKSEL[3:0]
SUT[1:0]
Table 9-1.
Reset characteristics.
Symbol
Parameter
Condition
Min.
Power-on reset threshold voltage (rising)
VPOT
VPOR
VCC start voltage to ensure internal poweron reset signal
-0.1
VCCRR
VCC rise rate to ensure internal power_on
reset signal
0.3
VRST
RESET pin threshold voltage
0.2
VCC
tRST
Minimum pulse width on RESET Pin
Notes:
9.3
Power-on reset threshold voltage (falling)
(1)
5V, 25°C
Typ.
Max.
1.4
2.3
1.3
2.3
Units
V
0.1
V/ms
0.85
VCC
400
V
ns
1. The POR will not work unless the supply voltage has been below VPOT (falling).
Power-on reset
A Power-on Reset (POR) pulse is generated by an on-chip detection circuit. The detection level
is defined in Table 9-1. The POR is activated whenever VCC is below the detection level. The
POR circuit can be used to trigger the start-up reset, as well as to detect a failure in supply
voltage.
A Power-on Reset (POR) circuit ensures that the device is properly reset from Power-on if Vcc
started from VPOR with a rise rate upper than VCCRR. Reaching the Power-on Reset threshold
58
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
voltage invokes the delay counter, which determines how long the device is kept in RESET after
VCC rise. The RESET signal is activated again, without any delay, when VCC decreases below
the detection level.
Figure 9-2.
VCC
MCU start-up, RESET tied to VCC.
VPOR
VPOT
VRST
RESET
tTOUT
TIME-OUT
INTERNAL
RESET
Figure 9-3.
VCC
RESET
TIMEOUT
MCU start-up, RESET extended externally.
VPOR
VPOT
VRST
tTOUT
INTERNAL
RESET
Note:
9.4
If VPOR or VCCRR parameter range can not be followed, an external reset is required.
External reset
An External Reset is generated by a low level on the RESET pin. Reset pulses longer than the
minimum pulse width (see Table 9-1 on page 58) will generate a reset, even if the clock is not
running. Shorter pulses are not guaranteed to generate a reset. When the applied signal
reaches the Reset Threshold Voltage – VRST – on its positive edge, the delay counter starts the
MCU after the Time-out period – tTOUT – has expired.
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7593L–AVR–09/12
Figure 9-4.
External reset during operation.
CC
9.5
Brown-out detection
Atmel AT90USB64/128 has an on-chip Brown-out Detection (BOD) circuit for monitoring the VCC
level during operation by comparing it to a fixed trigger level. The trigger level for the BOD can
be selected by the BODLEVEL Fuses. The trigger level has a hysteresis to ensure spike free
Brown-out Detection. The hysteresis on the detection level should be interpreted as VBOT+ =
VBOT + VHYST/2 and VBOT- = VBOT - VHYST/2.
Table 9-2.
BODLEVEL fuse coding.
BODLEVEL 2..0 Fuses
Min. VBOT
Typ. VBOT
111
Max. VBOT
Units
BOD disabled
110
101
Reserved
100
Table 9-3.
011
2.4
2.6
2.8
010
3.2
3.4
3.6
001
3.3
3.5
3.7
000
4.1
4.3
4.5
V
Brown-out characteristics.
Symbol
Parameter
VHYST
Brown-out detector hysteresis
tBOD
Min. pulse width on brown-out reset
IBOD
Brown-out detector consumption
Min.
Typ.
50
Max.
Units
mV
ns
25
µA
When the BOD is enabled, and VCC decreases to a value below the trigger level (VBOT- in Figure
9-5 on page 61), the Brown-out Reset is immediately activated. When VCC increases above the
trigger level (VBOT+ in Figure 9-5 on page 61), the delay counter starts the MCU after the Timeout period tTOUT has expired.
The BOD circuit will only detect a drop in VCC if the voltage stays below the trigger level for longer than tBOD given in Table 9-1 on page 58.
60
AT90USB64/128
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AT90USB64/128
Figure 9-5.
Brown-out reset during operation.
VCC
VBOT+
VBOT-
RESET
tTOUT
TIMEOUT
INTERNAL
RESET
9.6
Watchdog reset
When the Watchdog times out, it will generate a short reset pulse of one CK cycle duration. On
the falling edge of this pulse, the delay timer starts counting the time-out period tTOUT. Refer to
page 63 for details on operation of the Watchdog Timer.
Figure 9-6.
Watchdog reset during operation.
CC
CK
9.6.1
MCUSR – MCU Status Register
The MCU Status Register provides information on which reset source caused an MCU reset.
Bit
7
6
5
4
3
2
1
–
–
–
JTRF
WDRF
BORF
EXTRF
0
PORF
Read/write
R
R
R
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
See bit description
MCUSR
• Bit 4 – JTRF: JTAG Reset Flag
This bit is set if a reset is being caused by a logic one in the JTAG Reset Register selected by
the JTAG instruction AVR_RESET. This bit is reset by a Power-on Reset, or by writing a logic
zero to the flag.
• Bit 3 – WDRF: Watchdog Reset Flag
This bit is set if a Watchdog Reset occurs. The bit is reset by a Power-on Reset, or by writing a
logic zero to the flag.
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7593L–AVR–09/12
• Bit 2 – BORF: Brown-out Reset Flag
This bit is set if a Brown-out Reset occurs. The bit is reset by a Power-on Reset, or by writing a
logic zero to the flag.
• Bit 1 – EXTRF: External Reset Flag
This bit is set if an External Reset occurs. The bit is reset by a Power-on Reset, or by writing a
logic zero to the flag.
• Bit 0 – PORF: Power-on Reset Flag
This bit is set if a Power-on Reset occurs. The bit is reset only by writing a logic zero to the flag.
To make use of the Reset Flags to identify a reset condition, the user should read and then
Reset the MCUSR as early as possible in the program. If the register is cleared before another
reset occurs, the source of the reset can be found by examining the Reset Flags.
9.7
Internal voltage reference
Atmel AT90USB64/128 features an internal bandgap reference. This reference is used for
Brown-out Detection, and it can be used as an input to the Analog Comparator or the ADC.
9.7.1
Voltage reference enable signals and start-up time
The voltage reference has a start-up time that may influence the way it should be used. The
start-up time is given in Table 9-4. To save power, the reference is not always turned on. The
reference is on during the following situations:
1. When the BOD is enabled (by programming the BODLEVEL [2..0] Fuse).
2. When the bandgap reference is connected to the Analog Comparator (by setting the
ACBG bit in ACSR).
3. When the ADC is enabled.
Thus, when the BOD is not enabled, after setting the ACBG bit or enabling the ADC, the user
must always allow the reference to start up before the output from the Analog Comparator or
ADC is used. To reduce power consumption in Power-down mode, the user can avoid the three
conditions above to ensure that the reference is turned off before entering Power-down mode.
Table 9-4.
Symbol
62
Internal voltage reference characteristics.
Parameter
Condition
Min.
Typ.
Max.
Units
1.0
1.1
1.2
V
70
µs
VBG
Bandgap reference voltage
tBG
Bandgap reference start-up time
40
IBG
Bandgap reference current
consumption
10
µA
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
9.8
Watchdog timer
The Atmel AT90USB64/128 has an enhanced Watchdog Timer (WDT). The main features are:
• Clocked from separate on-chip oscillator
• Three operating modes
– Interrupt
– System reset
– Interrupt and system reset
• Selectable time-out period from 16ms to 8s
• Possible hardware fuse watchdog always on (WDTON) for fail-safe mode
Watchdog timer.
128kHz
OSCILLATOR
WATCHDOG
RESET
WDE
OSC/2K
OSC/4K
OSC/8K
OSC/16K
OSC/32K
OSC/64K
OSC/128K
OSC/256K
OSC/512K
OSC/1024K
Figure 9-7.
WDP0
WDP1
WDP2
WDP3
MCU RESET
WDIF
WDIE
INTERRUPT
The Watchdog Timer (WDT) is a timer counting cycles of a separate on-chip 128kHz oscillator.
The WDT gives an interrupt or a system reset when the counter reaches a given time-out value.
In normal operation mode, it is required that the system uses the WDR - Watchdog Timer Reset
- instruction to restart the counter before the time-out value is reached. If the system doesn't
restart the counter, an interrupt or system reset will be issued.
In Interrupt mode, the WDT gives an interrupt when the timer expires. This interrupt can be used
to wake the device from sleep-modes, and also as a general system timer. One example is to
limit the maximum time allowed for certain operations, giving an interrupt when the operation
has run longer than expected. In System Reset mode, the WDT gives a reset when the timer
expires. This is typically used to prevent system hang-up in case of runaway code. The third
mode, Interrupt and System Reset mode, combines the other two modes by first giving an interrupt and then switch to System Reset mode. This mode will for instance allow a safe shutdown
by saving critical parameters before a system reset.
The Watchdog always on (WDTON) fuse, if programmed, will force the Watchdog Timer to System Reset mode. With the fuse programmed the System Reset mode bit (WDE) and Interrupt
mode bit (WDIE) are locked to 1 and 0 respectively. To further ensure program security, alterations to the Watchdog set-up must follow timed sequences. The sequence for clearing WDE and
changing time-out configuration is as follows:
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7593L–AVR–09/12
1. In the same operation, write a logic one to the Watchdog change enable bit (WDCE)
and WDE. A logic one must be written to WDE regardless of the previous value of the
WDE bit.
2. Within the next four clock cycles, write the WDE and Watchdog prescaler bits (WDP) as
desired, but with the WDCE bit cleared. This must be done in one operation.
The following code example shows one assembly and one C function for turning off the Watchdog Timer. The example assumes that interrupts are controlled (for example by disabling
interrupts globally) so that no interrupts will occur during the execution of these functions.
Assembly code example (1)
WDT_off:
; Turn off global interrupt
cli
; Reset Watchdog Timer
wdr
; Clear WDRF in MCUSR
in
r16, MCUSR
andi
r16, ~(0<<WDRF)
out
MCUSR, r16
; Write logical one to WDCE and WDE
; Keep old prescaler setting to prevent unintentional time-out
in
r16, WDTCSR
ori
r16, (1<<WDCE) | (1<<WDE)
out
WDTCSR, r16
; Turn off WDT
ldi
r16, (0<<WDE)
out
WDTCSR, r16
; Turn on global interrupt
sei
ret
C code example (1)
void WDT_off(void)
{
__disable_interrupt();
__watchdog_reset();
/* Clear WDRF in MCUSR */
MCUSR &= ~(1<<WDRF);
/* Write logical one to WDCE and WDE */
/* Keep old prescaler setting to prevent unintentional time-out
*/
WDTCSR |= (1<<WDCE) | (1<<WDE);
/* Turn off WDT */
WDTCSR = 0x00;
__enable_interrupt();
}
Note:
64
1. The example code assumes that the part specific header file is included.
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Note: If the Watchdog is accidentally enabled, for example by a runaway pointer or brown-out
condition, the device will be reset and the Watchdog Timer will stay enabled. If the code is not
set up to handle the Watchdog, this might lead to an eternal loop of time-out resets. To avoid this
situation, the application software should always clear the Watchdog System Reset Flag
(WDRF) and the WDE control bit in the initialization routine, even if the Watchdog is not in use.
The following code example shows one assembly and one C function for changing the time-out
value of the Watchdog Timer.
Assembly code example (1)
WDT_Prescaler_Change:
; Turn off global interrupt
cli
; Reset Watchdog Timer
wdr
; Start timed sequence
in
r16, WDTCSR
ori
r16, (1<<WDCE) | (1<<WDE)
out
WDTCSR, r16
; --
Got four cycles to set the new values from here -
; Set new prescaler(time-out) value = 64K cycles (~0.5 s)
ldi
r16, (1<<WDE) | (1<<WDP2) | (1<<WDP0)
out
WDTCSR, r16
; --
Finished setting new values, used 2 cycles -
; Turn on global interrupt
sei
ret
C code example (1)
void WDT_Prescaler_Change(void)
{
__disable_interrupt();
__watchdog_reset();
/* Start timed
equence */
WDTCSR |= (1<<WDCE) | (1<<WDE);
/* Set new prescaler(time-out) value = 64K cycles (~0.5 s) */
WDTCSR
= (1<<WDE) | (1<<WDP2) | (1<<WDP0);
__enable_interrupt();
}
Note:
1. The example code assumes that the part specific header file is included.
Note: The Watchdog Timer should be reset before any change of the WDP bits, since a change
in the WDP bits can result in a time-out when switching to a shorter time-out period.
9.8.1
WDTCSR – Watchdog Timer Control Register
Bit
7
6
5
4
3
2
1
WDIF
WDIE
WDP3
WDCE
WDE
WDP2
WDP1
0
WDP0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
X
0
0
0
WDTCSR
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7593L–AVR–09/12
• Bit 7 - WDIF: Watchdog Interrupt Flag
This bit is set when a time-out occurs in the Watchdog Timer and the Watchdog Timer is configured for interrupt. WDIF is cleared by hardware when executing the corresponding interrupt
handling vector. Alternatively, WDIF is cleared by writing a logic one to the flag. When the I-bit in
SREG and WDIE are set, the Watchdog Time-out Interrupt is executed.
• Bit 6 - WDIE: Watchdog Interrupt Enable
When this bit is written to one and the I-bit in the Status Register is set, the Watchdog Interrupt is
enabled. If WDE is cleared in combination with this setting, the Watchdog Timer is in Interrupt
Mode, and the corresponding interrupt is executed if time-out in the Watchdog Timer occurs.
If WDE is set, the Watchdog Timer is in Interrupt and System Reset Mode. The first time-out in
the Watchdog Timer will set WDIF. Executing the corresponding interrupt vector will clear WDIE
and WDIF automatically by hardware (the Watchdog goes to System Reset Mode). This is useful for keeping the Watchdog Timer security while using the interrupt. To stay in Interrupt and
System Reset Mode, WDIE must be set after each interrupt. This should however not be done
within the interrupt service routine itself, as this might compromise the safety-function of the
Watchdog System Reset mode. If the interrupt is not executed before the next time-out, a System Reset will be applied.
Table 9-5.
Watchdog timer configuration.
WDTON
WDE
WDIE
Mode
Action on timeout
0
0
0
Stopped
None
0
0
1
Interrupt mode
Interrupt
0
1
0
System reset mode
Reset
0
1
1
Interrupt and system reset
mode
Interrupt, then go to
system reset mode
1
x
x
System reset mode
Reset
• Bit 4 - WDCE: Watchdog Change Enable
This bit is used in timed sequences for changing WDE and prescaler bits. To clear the WDE bit,
and/or change the prescaler bits, WDCE must be set.
Once written to one, hardware will clear WDCE after four clock cycles.
• Bit 3 - WDE: Watchdog System Reset Enable
WDE is overridden by WDRF in MCUSR. This means that WDE is always set when WDRF is
set. To clear WDE, WDRF must be cleared first. This feature ensures multiple resets during conditions causing failure, and a safe start-up after the failure.
• Bit 5, 2..0 - WDP3..0: Watchdog Timer Prescaler 3, 2, 1, and 0
The WDP3..0 bits determine the Watchdog Timer prescaling when the Watchdog Timer is running. The different prescaling values and their corresponding time-out periods are shown in
Table 9-6 on page 67.
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AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
.
Table 9-6.
Watchdog timer prescale select.
WDP3
WDP2
WDP1
WDP0
Number of WDT oscillator
cycles
Typical time-out at
VCC = 5.0V
0
0
0
0
2K (2048) cycles
16ms
0
0
0
1
4K (4096) cycles
32ms
0
0
1
0
8K (8192) cycles
64ms
0
0
1
1
16K (16384) cycles
0.125s
0
1
0
0
32K (32768) cycles
0.25s
0
1
0
1
64K (65536) cycles
0.5s
0
1
1
0
128K (131072) cycles
1.0s
0
1
1
1
256K (262144) cycles
2.0s
1
0
0
0
512K (524288) cycles
4.0s
1
0
0
1
1024K (1048576) cycles
8.0s
1
0
1
0
1
0
1
1
1
1
0
0
1
1
0
1
1
1
1
0
1
1
1
1
Reserved
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10. Interrupts
This section describes the specifics of the interrupt handling as performed in Atmel
AT90USB64/128. For a general explanation of the AVR interrupt handling, refer to “Reset and
interrupt handling” on page 17.
10.1
Interrupt vectors in AT90USB64/128
Table 10-1.
68
Reset and interrupt vectors.
Vector
no.
Program
address (2)
Source
Interrupt definition
1
$0000 (1)
RESET
External pin, Power-on reset, Brown-out reset,
Watchdog reset, and JTAG AVR reset
2
$0002
INT0
External Interrupt Request 0
3
$0004
INT1
External Interrupt Request 1
4
$0006
INT2
External Interrupt Request 2
5
$0008
INT3
External Interrupt Request 3
6
$000A
INT4
External Interrupt Request 4
7
$000C
INT5
External Interrupt Request 5
8
$000E
INT6
External Interrupt Request 6
9
$0010
INT7
External Interrupt Request 7
10
$0012
PCINT0
Pin Change Interrupt Request 0
11
$0014
USB General
USB General Interrupt request
12
$0016
USB Endpoint/Pipe
USB ENdpoint/Pipe Interrupt request
13
$0018
WDT
Watchdog Time-out Interrupt
14
$001A
TIMER2 COMPA
Timer/Counter2 Compare Match A
15
$001C
TIMER2 COMPB
Timer/Counter2 Compare Match B
16
$001E
TIMER2 OVF
Timer/Counter2 Overflow
17
$0020
TIMER1 CAPT
Timer/Counter1 Capture Event
18
$0022
TIMER1 COMPA
Timer/Counter1 Compare Match A
19
$0024
TIMER1 COMPB
Timer/Counter1 Compare Match B
20
$0026
TIMER1 COMPC
Timer/Counter1 Compare Match C
21
$0028
TIMER1 OVF
Timer/Counter1 Overflow
22
$002A
TIMER0 COMPA
Timer/Counter0 Compare Match A
23
$002C
TIMER0 COMPB
Timer/Counter0 Compare match B
24
$002E
TIMER0 OVF
Timer/Counter0 Overflow
25
$0030
SPI, STC
SPI Serial Transfer Complete
26
$0032
USART1 RX
USART1 Rx Complete
27
$0034
USART1 UDRE
USART1 Data Register Empty
28
$0036
USART1TX
USART1 Tx Complete
29
$0038
ANALOG COMP
Analog Comparator
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 10-1.
Reset and interrupt vectors. (Continued)
Vector
no.
Program
address (2)
30
Source
Interrupt definition
$003A
ADC
ADC Conversion Complete
31
$003C
EE READY
EEPROM Ready
32
$003E
TIMER3 CAPT
Timer/Counter3 Capture Event
33
$0040
TIMER3 COMPA
Timer/Counter3 Compare Match A
34
$0042
TIMER3 COMPB
Timer/Counter3 Compare Match B
35
$0044
TIMER3 COMPC
Timer/Counter3 Compare Match C
36
$0046
TIMER3 OVF
Timer/Counter3 Overflow
37
$0048
TWI
2-wire Serial Interface
38
$004A
SPM READY
Store Program Memory Ready
Notes:
1. When the BOOTRST Fuse is programmed, the device will jump to the Boot Loader address at
reset, see “Memory programming” on page 359.
2. When the IVSEL bit in MCUCR is set, Interrupt Vectors will be moved to the start of the Boot
Flash Section. The address of each Interrupt Vector will then be the address in this table
added to the start address of the Boot Flash Section.
Table 10-2 shows reset and Interrupt Vectors placement for the various combinations of
BOOTRST and IVSEL settings. If the program never enables an interrupt source, the Interrupt
Vectors are not used, and regular program code can be placed at these locations. This is also
the case if the Reset Vector is in the Application section while the Interrupt Vectors are in the
Boot section or vice versa.
Reset and interrupt vectors placement (1).
Table 10-2.
BOOTRST
IVSEL
1
Note:
Reset address
Interrupt vectors start address
0
0x0000
0x0002
1
1
0x0000
Boot Reset Address + 0x0002
0
0
Boot Reset Address
0x0002
0
1
Boot Reset Address
Boot Reset Address + 0x0002
1. The Boot Reset Address is shown in Table 29-8 on page 357. For the BOOTRST Fuse “1”
means unprogrammed while “0” means programmed.
10.1.1
Moving interrupts between application and boot space
The General Interrupt Control Register controls the placement of the Interrupt Vector table.
10.1.2
MCUCR – MCU Control Register
Bit
7
6
5
4
3
2
1
0
JTD
–
–
PUD
–
–
IVSEL
IVCE
Read/write
R/W
R
R
R/W
R
R
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
MCUCR
• Bit 1 – IVSEL: Interrupt Vector Select
When the IVSEL bit is cleared (zero), the Interrupt Vectors are placed at the start of the Flash
memory. When this bit is set (one), the Interrupt Vectors are moved to the beginning of the Boot
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7593L–AVR–09/12
Loader section of the Flash. The actual address of the start of the Boot Flash Section is determined by the BOOTSZ Fuses. Refer to Section “Memory programming” on page 359 for details.
To avoid unintentional changes of Interrupt Vector tables, a special write procedure must be followed to change the IVSEL bit:
a. Write the Interrupt Vector Change Enable (IVCE) bit to one.
b.
Within four cycles, write the desired value to IVSEL while writing a zero to IVCE.
Interrupts will automatically be disabled while this sequence is executed. Interrupts are disabled
in the cycle IVCE is set, and they remain disabled until after the instruction following the write to
IVSEL. If IVSEL is not written, interrupts remain disabled for four cycles. The I-bit in the Status
Register is unaffected by the automatic disabling.
Note:
If Interrupt Vectors are placed in the Boot Loader section and Boot Lock bit BLB02 is programmed,
interrupts are disabled while executing from the Application section. If Interrupt Vectors are placed
in the Application section and Boot Lock bit BLB12 is programed, interrupts are disabled while
executing from the Boot Loader section. Refer to the section “Memory programming” on page 359
for details on Boot Lock bits.
• Bit 0 – IVCE: Interrupt Vector Change Enable
The IVCE bit must be written to logic one to enable change of the IVSEL bit. IVCE is cleared by
hardware four cycles after it is written or when IVSEL is written. Setting the IVCE bit will disable
interrupts, as explained in the IVSEL description above. See code example below.
Assembly code example
Move_interrupts:
; Get MCUCR
in r16, MCUCR
mov r17, r16
; Enable change of Interrupt Vectors
ori r16, (1<<IVCE)
out MCUCR, r16
; Move interrupts to Boot Flash section
ori r17, (1<<IVSEL)
out MCUCR, r17
ret
C code example
void Move_interrupts(void)
{
unsigned char temp;
/* Get MCUCR */
temp = MCUCR;
/* Enable change of Interrupt Vectors */
MCUCR = temp | (1<<IVCE);
/* Move interrupts to Boot Flash section */
MCUCR = temp | (1<<IVSEL);
}
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AT90USB64/128
11. I/O-ports
11.1
Introduction
All AVR ports have true Read-Modify-Write functionality when used as general digital I/O ports.
This means that the direction of one port pin can be changed without unintentionally changing
the direction of any other pin with the SBI and CBI instructions. The same applies when changing drive value (if configured as output) or enabling/disabling of pull-up resistors (if configured as
input). Each output buffer has symmetrical drive characteristics with both high sink and source
capability. The pin driver is strong enough to drive LED displays directly. All port pins have individually selectable pull-up resistors with a supply-voltage invariant resistance. All I/O pins have
protection diodes to both VCC and Ground as indicated in Figure 11-1. Refer to “Electrical characteristics for Atmel AT90USB64/128” on page 390 for a complete list of parameters.
Figure 11-1. I/O pin equivalent schematic.
All registers and bit references in this section are written in general form. A lower case “x” represents the numbering letter for the port, and a lower case “n” represents the bit number. However,
when using the register or bit defines in a program, the precise form must be used. For example,
PORTB3 for bit no. 3 in Port B, here documented generally as PORTxn. The physical I/O Registers and bit locations are listed in “Register description for I/O-ports” on page 89.
Three I/O memory address locations are allocated for each port, one each for the Data Register
– PORTx, Data Direction Register – DDRx, and the Port Input Pins – PINx. The Port Input Pins
I/O location is read only, while the Data Register and the Data Direction Register are read/write.
However, writing a logic one to a bit in the PINx Register, will result in a toggle in the corresponding bit in the Data Register. In addition, the Pull-up Disable – PUD bit in MCUCR disables the
pull-up function for all pins in all ports when set.
Using the I/O port as General Digital I/O is described in “Ports as general digital I/O” on page 72.
Most port pins are multiplexed with alternate functions for the peripheral features on the device.
How each alternate function interferes with the port pin is described in “Alternate port functions”
on page 76. Refer to the individual module sections for a full description of the alternate
functions.
Note that enabling the alternate function of some of the port pins does not affect the use of the
other pins in the port as general digital I/O.
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11.2
Ports as general digital I/O
The ports are bi-directional I/O ports with optional internal pull-ups. Figure 11-2 shows a functional description of one I/O-port pin, here generically called Pxn.
Figure 11-2. General digital I/O (1).
PUD
Q
D
DDxn
Q CLR
WDx
RESET
DATA BUS
RDx
1
Q
Pxn
D
0
PORTxn
Q CLR
RESET
WRx
WPx
RRx
SLEEP
SYNCHRONIZER
D
Q
L
Q
D
RPx
Q
PINxn
Q
clk I/O
PUD:
SLEEP:
clkI/O:
Note:
11.2.1
PULLUP DISABLE
SLEEP CONTROL
I/O CLOCK
WDx:
RDx:
WRx:
RRx:
RPx:
WPx:
WRITE DDRx
READ DDRx
WRITE PORTx
READ PORTx REGISTER
READ PORTx PIN
WRITE PINx REGISTER
1. WRx, WPx, WDx, RRx, RPx, and RDx are common to all pins within the same port. clkI/O,
SLEEP, and PUD are common to all ports.
Configuring the pin
Each port pin consists of three register bits: DDxn, PORTxn, and PINxn. As shown in “Register
description for I/O-ports” on page 89, the DDxn bits are accessed at the DDRx I/O address, the
PORTxn bits at the PORTx I/O address, and the PINxn bits at the PINx I/O address.
The DDxn bit in the DDRx Register selects the direction of this pin. If DDxn is written logic one,
Pxn is configured as an output pin. If DDxn is written logic zero, Pxn is configured as an input
pin.
If PORTxn is written logic one when the pin is configured as an input pin, the pull-up resistor is
activated. To switch the pull-up resistor off, PORTxn has to be written logic zero or the pin has to
be configured as an output pin. The port pins are tri-stated when reset condition becomes active,
even if no clocks are running.
If PORTxn is written logic one when the pin is configured as an output pin, the port pin is driven
high (one). If PORTxn is written logic zero when the pin is configured as an output pin, the port
pin is driven low (zero).
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AT90USB64/128
11.2.2
Toggling the pin
Writing a logic one to PINxn toggles the value of PORTxn, independent on the value of DDRxn.
Note that the SBI instruction can be used to toggle one single bit in a port.
11.2.3
Switching between input and output
When switching between tri-state ({DDxn, PORTxn} = 0b00) and output high ({DDxn, PORTxn}
= 0b11), an intermediate state with either pull-up enabled {DDxn, PORTxn} = 0b01) or output
low ({DDxn, PORTxn} = 0b10) occurs. Normally, the pull-up enabled state is fully acceptable, as
a high-impedant environment will not notice the difference between a strong high driver and a
pull-up. If this is not the case, the PUD bit in the MCUCR Register can be set to disable all pullups in all ports.
Switching between input with pull-up and output low generates the same problem. The user
must use either the tri-state ({DDxn, PORTxn} = 0b00) or the output high state ({DDxn, PORTxn}
= 0b11) as an intermediate step.
Table 11-1 summarizes the control signals for the pin value.
Table 11-1.
11.2.4
Port pin configurations.
DDxn
PORTxn
PUD
(in MCUCR)
I/O
Pull-up
0
0
X
Input
No
Tri-state (Hi-Z)
0
1
0
Input
Yes
Pxn will source current if ext. pulled low
0
1
1
Input
No
Tri-state (Hi-Z)
1
0
X
Output
No
Output Low (Sink)
1
1
X
Output
No
Output High (Source)
Comment
Reading the pin value
Independent of the setting of Data Direction bit DDxn, the port pin can be read through the
PINxn Register bit. As shown in Figure 11-2 on page 72, the PINxn Register bit and the preceding latch constitute a synchronizer. This is needed to avoid metastability if the physical pin
changes value near the edge of the internal clock, but it also introduces a delay. Figure 11-3 on
page 74 shows a timing diagram of the synchronization when reading an externally applied pin
value. The maximum and minimum propagation delays are denoted t pd,max and t pd,min
respectively.
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7593L–AVR–09/12
Figure 11-3. Synchronization when reading an externally applied pin value.
SYSTEM CLK
INSTRUCTIONS
XXX
XXX
in r17, PINx
SYNC LATCH
PINxn
r17
0x00
0xFF
t pd, max
t pd, min
Consider the clock period starting shortly after the first falling edge of the system clock. The latch
is closed when the clock is low, and goes transparent when the clock is high, as indicated by the
shaded region of the “SYNC LATCH” signal. The signal value is latched when the system clock
goes low. It is clocked into the PINxn Register at the succeeding positive clock edge. As indicated by the two arrows tpd,max and tpd,min, a single signal transition on the pin will be delayed
between ½ and 1½ system clock period depending upon the time of assertion.
When reading back a software assigned pin value, a nop instruction must be inserted as indicated in Figure 11-4. The out instruction sets the “SYNC LATCH” signal at the positive edge of
the clock. In this case, the delay tpd through the synchronizer is one system clock period.
Figure 11-4. Synchronization when reading a software assigned pin value.
SYSTEM CLK
r16
INSTRUCTIONS
0xFF
out PORTx, r16
nop
in r17, PINx
SYNC LATCH
PINxn
r17
0x00
0xFF
t pd
The following code example shows how to set port B pins 0 and 1 high, 2 and 3 low, and define
the port pins from 4 to 7 as input with pull-ups assigned to port pins 6 and 7. The resulting pin
values are read back again, but as previously discussed, a nop instruction is included to be able
to read back the value recently assigned to some of the pins.
74
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Assembly code example (1)
...
; Define pull-ups and set outputs high
; Define directions for port pins
ldi
r16,(1<<PB7)|(1<<PB6)|(1<<PB1)|(1<<PB0)
ldi
r17,(1<<DDB3)|(1<<DDB2)|(1<<DDB1)|(1<<DDB0)
out
PORTB,r16
out
DDRB,r17
; Insert nop for synchronization
nop
; Read port pins
in
r16,PINB
...
C code example
unsigned char i;
...
/* Define pull-ups and set outputs high */
/* Define directions for port pins */
PORTB = (1<<PB7)|(1<<PB6)|(1<<PB1)|(1<<PB0);
DDRB = (1<<DDB3)|(1<<DDB2)|(1<<DDB1)|(1<<DDB0);
/* Insert nop for synchronization*/
__no_operation();
/* Read port pins */
i = PINB;
...
Note:
11.2.5
1. For the assembly program, two temporary registers are used to minimize the time from pullups are set on pins 0, 1, 6, and 7, until the direction bits are correctly set, defining bit 2 and 3
as low and redefining bits 0 and 1 as strong high drivers.
Digital input enable and sleep modes
As shown in Figure 11-2 on page 72, the digital input signal can be clamped to ground at the
input of the schmitt-trigger. The signal denoted SLEEP in the figure, is set by the MCU Sleep
Controller in Power-down mode, Power-save mode, and Standby mode to avoid high power
consumption if some input signals are left floating, or have an analog signal level close to VCC/2.
SLEEP is overridden for port pins enabled as external interrupt pins. If the external interrupt
request is not enabled, SLEEP is active also for these pins. SLEEP is also overridden by various
other alternate functions as described in “Alternate port functions” on page 76.
If a logic high level (“one”) is present on an asynchronous external interrupt pin configured as
“Interrupt on Rising Edge, Falling Edge, or Any Logic Change on Pin” while the external interrupt
is not enabled, the corresponding External Interrupt Flag will be set when resuming from the
above mentioned Sleep mode, as the clamping in these sleep mode produces the requested
logic change.
11.2.6
Unconnected pins
If some pins are unused, it is recommended to ensure that these pins have a defined level. Even
though most of the digital inputs are disabled in the deep sleep modes as described above, float75
7593L–AVR–09/12
ing inputs should be avoided to reduce current consumption in all other modes where the digital
inputs are enabled (Reset, Active mode and Idle mode).
The simplest method to ensure a defined level of an unused pin, is to enable the internal pull-up.
In this case, the pull-up will be disabled during reset. If low power consumption during reset is
important, it is recommended to use an external pull-up or pull-down. Connecting unused pins
directly to VCC or GND is not recommended, since this may cause excessive currents if the pin is
accidentally configured as an output.
11.3
Alternate port functions
Most port pins have alternate functions in addition to being general digital I/Os. Figure 11-5
shows how the port pin control signals from the simplified Figure 11-2 on page 72 can be overridden by alternate functions. The overriding signals may not be present in all port pins, but the
figure serves as a generic description applicable to all port pins in the AVR microcontroller
family.
Figure 11-5. Alternate port functions (1).
PUOExn
PUOVxn
1
PUD
0
DDOExn
DDOVxn
1
Q
D
DDxn
0
Q CLR
WDx
PVOExn
RESET
RDx
1
DATA BUS
PVOVxn
1
Pxn
Q
0
D
0
PORTxn
PTOExn
Q CLR
DIEOExn
WPx
DIEOVxn
RESET
WRx
1
0
RRx
SLEEP
SYNCHRONIZER
D
SET
Q
RPx
Q
D
PINxn
L
CLR
Q
CLR
Q
clk I/O
DIxn
AIOxn
PUOExn:
PUOVxn:
DDOExn:
DDOVxn:
PVOExn:
PVOVxn:
DIEOExn:
DIEOVxn:
SLEEP:
PTOExn:
Note:
76
Pxn PULL-UP OVERRIDE ENABLE
Pxn PULL-UP OVERRIDE VALUE
Pxn DATA DIRECTION OVERRIDE ENABLE
Pxn DATA DIRECTION OVERRIDE VALUE
Pxn PORT VALUE OVERRIDE ENABLE
Pxn PORT VALUE OVERRIDE VALUE
Pxn DIGITAL INPUT-ENABLE OVERRIDE ENABLE
Pxn DIGITAL INPUT-ENABLE OVERRIDE VALUE
SLEEP CONTROL
Pxn, PORT TOGGLE OVERRIDE ENABLE
PUD:
WDx:
RDx:
RRx:
WRx:
RPx:
WPx:
clkI/O:
DIxn:
AIOxn:
PULLUP DISABLE
WRITE DDRx
READ DDRx
READ PORTx REGISTER
WRITE PORTx
READ PORTx PIN
WRITE PINx
I/O CLOCK
DIGITAL INPUT PIN n ON PORTx
ANALOG INPUT/OUTPUT PIN n ON PORTx
1. WRx, WPx, WDx, RRx, RPx, and RDx are common to all pins within the same port. clkI/O,
SLEEP, and PUD are common to all ports. All other signals are unique for each pin.
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 11-2 summarizes the function of the overriding signals. The pin and port indexes from Figure 11-5 on page 76 are not shown in the succeeding tables. The overriding signals are
generated internally in the modules having the alternate function.
Table 11-2.
Generic description of overriding signals for alternate functions.
Signal name
Full name
Description
PUOE
Pull-up Override
Enable
If this signal is set, the pull-up enable is controlled by the
PUOV signal. If this signal is cleared, the pull-up is
enabled when {DDxn, PORTxn, PUD} = 0b010.
PUOV
Pull-up Override
Value
If PUOE is set, the pull-up is enabled/disabled when
PUOV is set/cleared, regardless of the setting of the
DDxn, PORTxn, and PUD Register bits.
DDOE
Data Direction
Override Enable
If this signal is set, the Output Driver Enable is controlled
by the DDOV signal. If this signal is cleared, the Output
driver is enabled by the DDxn Register bit.
DDOV
Data Direction
Override Value
If DDOE is set, the Output Driver is enabled/disabled
when DDOV is set/cleared, regardless of the setting of
the DDxn Register bit.
PVOE
Port Value
Override Enable
If this signal is set and the Output Driver is enabled, the
port value is controlled by the PVOV signal. If PVOE is
cleared, and the Output Driver is enabled, the port Value
is controlled by the PORTxn Register bit.
PVOV
Port Value
Override Value
If PVOE is set, the port value is set to PVOV, regardless
of the setting of the PORTxn Register bit.
PTOE
Port Toggle
Override Enable
If PTOE is set, the PORTxn Register bit is inverted.
DIEOE
Digital Input
Enable Override
Enable
If this bit is set, the Digital Input Enable is controlled by
the DIEOV signal. If this signal is cleared, the Digital Input
Enable is determined by MCU state (Normal mode, sleep
mode).
DIEOV
Digital Input
Enable Override
Value
If DIEOE is set, the Digital Input is enabled/disabled when
DIEOV is set/cleared, regardless of the MCU state
(Normal mode, sleep mode).
DI
Digital Input
This is the Digital Input to alternate functions. In the
figure, the signal is connected to the output of the schmitt
trigger but before the synchronizer. Unless the Digital
Input is used as a clock source, the module with the
alternate function will use its own synchronizer.
AIO
Analog
Input/Output
This is the Analog Input/output to/from alternate
functions. The signal is connected directly to the pad, and
can be used bi-directionally.
The following subsections shortly describe the alternate functions for each port, and relate the
overriding signals to the alternate function. Refer to the alternate function description for further
details.
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7593L–AVR–09/12
11.3.1
MCUCR – MCU Control Register
Bit
7
6
5
4
3
2
1
0
JTD
–
–
PUD
–
–
IVSEL
IVCE
Read/write
R/W
R
R
R/W
R
R
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
MCUCR
• Bit 4 – PUD: Pull-up Disable
When this bit is written to one, the pull-ups in the I/O ports are disabled even if the DDxn and
PORTxn Registers are configured to enable the pull-ups ({DDxn, PORTxn} = 0b01). See “Configuring the pin” on page 72 for more details about this feature.
11.3.2
Alternate functions of Port A
The Port A has an alternate function as the address low byte and data lines for the External
Memory Interface.
Table 11-3.
Port pin
Port A pins alternate functions.
Alternate function
PA7
AD7 (External memory interface address and data bit 7)
PA6
AD6 (External memory interface address and data bit 6)
PA5
AD5 (External memory interface address and data bit 5)
PA4
AD4 (External memory interface address and data bit 4)
PA3
AD3 (External memory interface address and data bit 3)
PA2
AD2 (External memory interface address and data bit 2)
PA1
AD1 (External memory interface address and data bit 1)
PA0
AD0 (External memory interface address and data bit 0)
Table 11-4 and Table 11-5 on page 79 relates the alternate functions of Port A to the overriding
signals shown in Figure 11-5 on page 76.
Table 11-4.
Overriding signals for alternate functions in PA7..PA4.
Signal
name
PA7/AD7
PUOE
SRE
(1)
78
PA6/AD6
PA5/AD5
PA4/AD4
SRE
SRE
SRE
PUOV
~(WR | ADA ) •
PORTA7 • PUD
~(WR | ADA) •
PORTA6 • PUD
~(WR | ADA) •
PORTA5 • PUD
~(WR | ADA) •
PORTA4 • PUD
DDOE
SRE
SRE
SRE
SRE
DDOV
WR | ADA
WR | ADA
WR | ADA
WR | ADA
PVOE
SRE
SRE
SRE
SRE
PVOV
A7 • ADA | D7
OUTPUT • WR
A6 • ADA | D6
OUTPUT • WR
A5 • ADA | D5
OUTPUT • WR
A4 • ADA | D4
OUTPUT • WR
DIEOE
0
0
0
0
DIEOV
0
0
0
0
DI
D7 INPUT
D6 INPUT
D5 INPUT
D4 INPUT
AIO
–
–
–
–
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Note:
1. ADA is short for ADdress Active and represents the time when address is output. See “External memory interface” on page 31 for details.
Table 11-5.
11.3.3
Overriding signals for alternate functions in PA3..PA0.
Signal
name
PA3/AD3
PA2/AD2
PA1/AD1
PA0/AD0
PUOE
SRE
SRE
SRE
SRE
PUOV
~(WR | ADA) •
PORTA3 • PUD
~(WR | ADA) •
PORTA2 • PUD
~(WR | ADA) •
PORTA1 • PUD
~(WR | ADA) •
PORTA0 • PUD
DDOE
SRE
SRE
SRE
SRE
DDOV
WR | ADA
WR | ADA
WR | ADA
WR | ADA
PVOE
SRE
SRE
SRE
SRE
PVOV
A3 • ADA | D3
OUTPUT • WR
A2• ADA | D2
OUTPUT • WR
A1 • ADA | D1
OUTPUT • WR
A0 • ADA | D0
OUTPUT • WR
DIEOE
0
0
0
0
DIEOV
0
0
0
0
DI
D3 INPUT
D2 INPUT
D1 INPUT
D0 INPUT
AIO
–
–
–
–
Alternate functions of Port B
The Port B pins with alternate functions are shown in Table 11-6.
Table 11-6.
Port pin
Port B pins alternate functions.
Alternate functions
PB7
OC0A/OC1C/PCINT7 (Output Compare and PWM Output A for Timer/Counter0,
Output Compare and PWM Output C for Timer/Counter1 or Pin Change Interrupt 7)
PB6
OC1B/PCINT6 (Output Compare and PWM Output B for Timer/Counter1 or Pin
Change Interrupt 6)
PB5
OC1A/PCINT5 (Output Compare and PWM Output A for Timer/Counter1 or Pin
Change Interrupt 5)
PB4
OC2A/PCINT4 (Output Compare and PWM Output A for Timer/Counter2 or Pin
Change Interrupt 4)
PB3
PDO/MISO/PCINT3 (Programming Data Output or SPI Bus Master Input/Slave
Output or Pin Change Interrupt 3)
PB2
PDI/MOSI/PCINT2 (Programming Data Input orSPI Bus Master Output/Slave Input
or Pin Change Interrupt 2)
PB1
SCK/PCINT1 (SPI Bus Serial Clock or Pin Change Interrupt 1)
PB0
SS/PCINT0 (SPI Slave Select input or Pin Change Interrupt 0)
The alternate pin configuration is as follows:
• OC0A/OC1C/PCINT7, bit 7
OC0A, Output Compare Match A output: The PB7 pin can serve as an external output for the
Timer/Counter0 Output Compare. The pin has to be configured as an output (DDB7 set “one”) to
serve this function. The OC0A pin is also the output pin for the PWM mode timer function.
79
7593L–AVR–09/12
OC1C, Output Compare Match C output: The PB7 pin can serve as an external output for the
Timer/Counter1 Output Compare C. The pin has to be configured as an output (DDB7 set (one))
to serve this function. The OC1C pin is also the output pin for the PWM mode timer function.
PCINT7, Pin Change Interrupt source 7: The PB7 pin can serve as an external interrupt source.
• OC1B/PCINT6, bit 6
OC1B, Output Compare Match B output: The PB6 pin can serve as an external output for the
Timer/Counter1 Output Compare B. The pin has to be configured as an output (DDB6 set (one))
to serve this function. The OC1B pin is also the output pin for the PWM mode timer function.
PCINT6, Pin Change Interrupt source 6: The PB6 pin can serve as an external interrupt source.
• OC1A/PCINT5, bit 5
OC1A, Output Compare Match A output: The PB5 pin can serve as an external output for the
Timer/Counter1 Output Compare A. The pin has to be configured as an output (DDB5 set (one))
to serve this function. The OC1A pin is also the output pin for the PWM mode timer function.
PCINT5, Pin Change Interrupt source 5: The PB5 pin can serve as an external interrupt source.
• OC2A/PCINT4, bit 4
OC2A, Output Compare Match output: The PB4 pin can serve as an external output for the
Timer/Counter2 Output Compare. The pin has to be configured as an output (DDB4 set (one)) to
serve this function. The OC2A pin is also the output pin for the PWM mode timer function.
PCINT4, Pin Change Interrupt source 4: The PB4 pin can serve as an external interrupt source.
• PDO/MISO/PCINT3 – Port B, bit 3
PDO, SPI Serial Programming Data Output. During Serial Program Downloading, this pin is
used as data output line for the Atmel AT90USB64/128.
MISO: Master Data input, Slave Data output pin for SPI channel. When the SPI is enabled as a
master, this pin is configured as an input regardless of the setting of DDB3. When the SPI is
enabled as a slave, the data direction of this pin is controlled by DDB3. When the pin is forced to
be an input, the pull-up can still be controlled by the PORTB3 bit.
PCINT3, Pin Change Interrupt source 3: The PB3 pin can serve as an external interrupt source.
• PDI/MOSI/PCINT2 – Port B, bit 2
PDI, SPI Serial Programming Data Input. During Serial Program Downloading, this pin is used
as data input line for the AT90USB64/128.
MOSI: SPI Master Data output, Slave Data input for SPI channel. When the SPI is enabled as a
slave, this pin is configured as an input regardless of the setting of DDB2. When the SPI is
enabled as a master, the data direction of this pin is controlled by DDB2. When the pin is forced
to be an input, the pull-up can still be controlled by the PORTB2 bit.
PCINT2, Pin Change Interrupt source 2: The PB2 pin can serve as an external interrupt source.
• SCK/PCINT1 – Port B, bit 1
SCK: Master Clock output, Slave Clock input pin for SPI channel. When the SPI is enabled as a
slave, this pin is configured as an input regardless of the setting of DDB1. When the SPI0 is
enabled as a master, the data direction of this pin is controlled by DDB1. When the pin is forced
to be an input, the pull-up can still be controlled by the PORTB1 bit.
80
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
PCINT1, Pin Change Interrupt source 1: The PB1 pin can serve as an external interrupt source.
• SS/PCINT0 – Port B, bit 0
SS: Slave Port Select input. When the SPI is enabled as a slave, this pin is configured as an
input regardless of the setting of DDB0. As a slave, the SPI is activated when this pin is driven
low. When the SPI is enabled as a master, the data direction of this pin is controlled by DDB0.
When the pin is forced to be an input, the pull-up can still be controlled by the PORTB0 bit.
Table 11-7 and Table 11-8 relate the alternate functions of Port B to the overriding signals
shown in Figure 11-5 on page 76. SPI MSTR INPUT and SPI SLAVE OUTPUT constitute the
MISO signal, while MOSI is divided into SPI MSTR OUTPUT and SPI SLAVE INPUT.
PCINT0, Pin Change Interrupt source 0: The PB0 pin can serve as an external interrupt source..
Table 11-7.
Overriding signals for alternate functions in PB7..PB4.
Signal
name
PB7/PCINT7/OC0A/
OC1C
PB6/PCINT6/OC1B
PB5/PCINT5/OC1A
PB4/PCINT4/OC2A
PUOE
0
0
0
0
PUOV
0
0
0
0
DDOE
0
0
0
0
DDOV
0
0
0
0
PVOE
OC0/OC1C
ENABLE
OC1B ENABLE
OC1A ENABLE
OC2A ENABLE
PVOV
OC0/OC1C
OC1B
OC1A
OC2A
DIEOE
PCINT7 • PCIE0
PCINT6 • PCIE0
PCINT5 • PCIE0
PCINT4 • PCIE0
DIEOV
1
1
1
1
DI
PCINT7 INPUT
PCINT6 INPUT
PCINT5 INPUT
PCINT4 INPUT
AIO
–
–
–
–
Table 11-8.
Overriding signals for alternate functions in PB3..PB0.
Signal
name
PB3/PD0/PCINT3/
MISO
PB2/PDI/PCINT2/
MOSI
PB1/PCINT1/
SCK
PB0/PCINT0/
SS
PUOE
SPE • MSTR
SPE • MSTR
SPE • MSTR
SPE • MSTR
PUOV
PORTB3 • PUD
PORTB2 • PUD
PORTB1 • PUD
PORTB0 • PUD
DDOE
SPE • MSTR
SPE • MSTR
SPE • MSTR
SPE • MSTR
DDOV
0
0
0
0
PVOE
SPE • MSTR
SPE • MSTR
SPE • MSTR
0
PVOV
SPI SLAVE
OUTPUT
SPI MSTR OUTPUT
SCK OUTPUT
0
DIEOE
PCINT3 • PCIE0
PCINT2 • PCIE0
PCINT1 • PCIE0
PCINT0 • PCIE0
DIEOV
1
1
1
1
DI
SPI MSTR INPUT
PCINT3 INPUT
SPI SLAVE INPUT
PCINT2 INPUT
SCK INPUT
PCINT1 INPUT
SPI SS
PCINT0 INPUT
AIO
–
–
–
–
81
7593L–AVR–09/12
11.3.4
Alternate functions of Port C
The Port C alternate function is as follows:
Table 11-9.
Port pin
Port C pins alternate functions.
Alternate function
PC7
A15/IC.3/CLKO(External Memory interface address bit 15 or Input Capture Timer 3 or CLKO
(Divided System Clock)
PC6
A14/OC.3A(External Memory interface address bit 14 or Output Compare and PWM output
A for Timer/Counter3)
PC5
A13/OC.3B(External Memory interface address bit 13 or Output Compare and PWM output
B for Timer/Counter3)
PC4
A12/OC.3C(External Memory interface address bit 12 or Output Compare and PWM output
C for Timer/Counter3)
PC3
A11/T.3(External Memory interface address bit 11or Timer/Counter3 Clok Input)
PC2
A10(External Memory interface address bit 10)
PC1
A9(External Memory interface address bit 9)
PC0
A8(External Memory interface address bit 8)
Table 11-10 and Table 11-11 on page 83 relate the alternate functions of Port C to the overriding
signals shown in Figure 11-5 on page 76.
Table 11-10. Overriding signals for alternate functions in PC7..PC4.
82
Signal
name
PC7/A15/IC.3/CLKO
PC6/A14/OC.3A
PC5/A13/OC.3B
PC4/A12/OC.3C
PUOE
SRE • (XMM<1)
SRE •
(XMM<2)|OC3A
enable
SRE •
(XMM<3)|OC3B
enable
SRE •
(XMM<4)|OC3C
enable
PUOV
0
0
0
0
DDOE
SRE • (XMM<1)
SRE • (XMM<2)
SRE • (XMM<3)
SRE • (XMM<4)
DDOV
1
1
1
1
PVOE
SRE • (XMM<1)
SRE • (XMM<2)
SRE • (XMM<3)
SRE • (XMM<4)
PVOV
A15
if (SRE.XMM<2)
then A14
else OC3A
if (SRE.XMM<2)
then A13
else OC3B
if (SRE.XMM<2)
then A12
else OC3C
DIEOE
0
0
0
0
DIEOV
0
0
0
0
DI
ICP3 input
–
–
–
AIO
–
–
–
–
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 11-11. Overriding signals for alternate functions in PC3..PC0.
11.3.5
Signal
name
PC3/A11/T.3
PC2/A10
PC1/A9
PC0/A8
PUOE
SRE • (XMM<5)
SRE • (XMM<6)
SRE • (XMM<7)
SRE • (XMM<7)
PUOV
0
0
0
0
DDOE
SRE • (XMM<5)
SRE • (XMM<6)
SRE • (XMM<7)
SRE • (XMM<7)
DDOV
1
1
1
1
PVOE
SRE • (XMM<5)
SRE • (XMM<6)
SRE • (XMM<7)
SRE • (XMM<7)
PVOV
A11
A10
A9
A8
DIEOE
0
0
0
0
DIEOV
0
0
0
0
DI
T3 input
–
–
–
AIO
–
–
–
–
Alternate Functions of Port D
The Port D pins with alternate functions are shown in Table 11-12.
Table 11-12. Port D pins alternate functions.
Port pin
Alternate function
PD7
T0 (Timer/Counter0 Clock Input)
PD6
T1 (Timer/Counter1 Clock Input)
PD5
XCK1 (USART1 External Clock Input/Output)
PD4
ICP1 (Timer/Counter1 Input Capture Trigger)
PD3
INT3/TXD1 (External Interrupt3 Input or USART1 Transmit Pin)
PD2
INT2/RXD1 (External Interrupt2 Input or USART1 Receive Pin)
PD1
INT1/SDA/OC2B (External Interrupt1 Input or TWI Serial DAta or Output Compare for
Timer/Counter2)
PD0
INT0/SCL/OC0B (External Interrupt0 Input or TWI Serial CLock or Output Compare for
Timer/Counter0)
The alternate pin configuration is as follows:
• T0 – Port D, bit 7
T0, Timer/Counter0 counter source.
• T1 – Port D, bit 6
T1, Timer/Counter1 counter source.
• XCK1 – Port D, bit 5
XCK1, USART1 External clock. The Data Direction Register (DDD5) controls whether the clock
is output (DDD5 set) or input (DDD5 cleared). The XCK1 pin is active only when the USART1
operates in Synchronous mode.
83
7593L–AVR–09/12
• ICP1 – Port D, bit 4
ICP1 – Input Capture Pin 1: The PD4 pin can act as an input capture pin for Timer/Counter1.
• INT3/TXD1 – Port D, bit 3
INT3, External Interrupt source 3: The PD3 pin can serve as an external interrupt source to the
MCU.
TXD1, Transmit Data (Data output pin for the USART1). When the USART1 Transmitter is
enabled, this pin is configured as an output regardless of the value of DDD3.
• INT2/RXD1 – Port D, bit 2
INT2, External Interrupt source 2. The PD2 pin can serve as an External Interrupt source to the
MCU.
RXD1, Receive Data (Data input pin for the USART1). When the USART1 receiver is enabled
this pin is configured as an input regardless of the value of DDD2. When the USART forces this
pin to be an input, the pull-up can still be controlled by the PORTD2 bit.
• INT1/SDA/OC2B – Port D, bit 1
INT1, External Interrupt source 1. The PD1 pin can serve as an external interrupt source to the
MCU.
SDA, 2-wire Serial Interface Data: When the TWEN bit in TWCR is set (one) to enable the 2-wire
Serial Interface, pin PD1 is disconnected from the port and becomes the Serial Data I/O pin for
the 2-wire Serial Interface. In this mode, there is a spike filter on the pin to suppress spikes
shorter than 50ns on the input signal, and the pin is driven by an open drain driver with slew-rate
limitation.
• INT0/SCL/OC0B – Port D, bit 0
INT0, External Interrupt source 0. The PD0 pin can serve as an external interrupt source to the
MCU.
SCL, 2-wire Serial Interface Clock: When the TWEN bit in TWCR is set (one) to enable the 2wire Serial Interface, pin PD0 is disconnected from the port and becomes the Serial Clock I/O
pin for the 2-wire Serial Interface. In this mode, there is a spike filter on the pin to suppress
spikes shorter than 50ns on the input signal, and the pin is driven by an open drain driver with
slew-rate limitation.
Table 11-13 on page 85 and Table 11-14 on page 85 relates the alternate functions of Port D to
the overriding signals shown in Figure 11-5 on page 76.
84
AT90USB64/128
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AT90USB64/128
Table 11-13. Overriding signals for alternate functions PD7..PD4.
Signal name
PD7/T0
PD6/T1
PD5/XCK1
PD4/ICP1
PUOE
0
0
0
0
PUOV
0
0
0
0
DDOE
0
0
XCK1 OUTPUT ENABLE
0
DDOV
0
0
1
0
PVOE
0
0
XCK1 OUTPUT ENABLE
0
PVOV
0
0
XCK1 OUTPUT
0
DIEOE
0
0
0
0
DIEOV
0
0
0
0
DI
T0 INPUT
T1 INPUT
XCK1 INPUT
ICP1 INPUT
AIO
–
–
–
–
Table 11-14. Overriding signals for alternate functions in PD3..PD0 (1).
Signal name
PD3/INT3/TXD1
PD2/INT2/RXD1
PD1/INT1/SDA/OC2
B
PD0/INT0/SCL/OC0
B
PUOE
TXEN1
RXEN1
TWEN
TWEN
PUOV
0
PORTD2 • PUD
PORTD1 • PUD
PORTD0 • PUD
DDOE
TXEN1
RXEN1
TWEN
TWEN
DDOV
1
0
SDA_OUT
SCL_OUT
PVOE
TXEN1
0
TWEN | OC2B
ENABLE
TWEN | OC0B
ENABLE
PVOV
TXD1
0
OC2B
OC0B
DIEOE
INT3 ENABLE
INT2 ENABLE
INT1 ENABLE
INT0 ENABLE
DIEOV
1
1
1
1
DI
INT3 INPUT
INT2 INPUT/RXD1
INT1 INPUT
INT0 INPUT
AIO
–
–
SDA INPUT
SCL INPUT
Note:
1. When enabled, the 2-wire Serial Interface enables Slew-Rate controls on the output pins PD0
and PD1. This is not shown in this table. In addition, spike filters are connected between the
AIO outputs shown in the port figure and the digital logic of the TWI module.
85
7593L–AVR–09/12
11.3.6
Alternate functions of Port E
The Port E pins with alternate functions are shown in Table 11-15.
Table 11-15. Port E pins alternate functions.
Port pin
Alternate function
PE7
INT7/AIN.1/UVCON (External Interrupt 7 Input, Analog Comparator Positive Input
or VBUS Control)
PE6
INT6/AIN.0 (External Interrupt 6 Input or Analog Comparator Positive Input)
PE5
INT5/TOSC2 (External Interrupt 5 Input or RTC Oscillator Timer/Counter2))
PE4
INT4/TOSC2 (External Interrupt4 Input or RTC Oscillator Timer/Counter2)
PE3
UID
PE2
ALE/HWB (Address latch to extenal memory or Hardware bootloader activation)
PE1
RD (Read strobe to external memory)
PE0
WR (Write strobe to external memory)
• INT7/AIN.1/UVCON – Port E, bit 7
INT7, External Interrupt source 7: The PE7 pin can serve as an external interrupt source.
AIN1 – Analog Comparator Negative input. This pin is directly connected to the negative input of
the Analog Comparator.
UVCON - When using USB host mode, this pin allows to control an external VBUS generator
(active high).
• INT6/AIN.0 – Port E, bit 6
INT6, External Interrupt source 6: The PE6 pin can serve as an external interrupt source.
AIN0 – Analog Comparator Negative input. This pin is directly connected to the negative input of
the Analog Comparator.
• INT5/TOSC2 – Port E, bit 5
INT5, External Interrupt source 5: The PE5 pin can serve as an External Interrupt source.
TOSC2, Timer/Counter2 Oscillator pin1. When the AS2 bit in ASSR is set to enable asynchronous clocking of Timer/Counter2, pin PE5 is disconnected from the port, and becomes the ouput
of the inverting Oscillator amplifier. In this mode, a crystal is connected to this pin, and the pin
can not be used as an I/O pin.
• INT4/TOSC1 – Port E, bit 4
INT4, External Interrupt source 4: The PE4 pin can serve as an External Interrupt source.
TOSC1, Timer/Counter2 Oscillator pin2. When the AS2 bit in ASSR is set to enable asynchronous clocking of Timer/Counter2, pin PE4 is disconnected from the port, and becomes the input
of the inverting Oscillator amplifier. In this mode, a crystal is connected to this pin, and the pin
can not be used as an I/O pin.
• UID – Port E, bit 3
ID pin of the USB bus.
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AT90USB64/128
• ALE/HWB – Port E, bit 2
ALE is the external data memory Address latch enable.
HWB allows to execute the boot loader section after reset when tied to ground during external
reset pulse. The HWB mode of this pin is active only when the HWBE fuse is enable.
• RD – Port E, bit 1
RD is the external data memory read control enable.
• WR – Port E, bit 0
WR is the external data memory write control enable.
Table 11-16. Overriding signals for alternate functions PE7..PE4.
Signal
name
PE7/INT7/AIN.1/
UVCON
PE6/INT6/AIN.0
PE5/INT5/TOSC1
PE4/INT4/TOSC2
PUOE
0
0
0
0
PUOV
0
0
0
0
DDOE
UVCONE
0
0
0
DDOV
UVCONE
0
0
0
PVOE
UVCONE
0
0
0
PVOV
UVCON
0
0
0
DIEOE
INT7 ENABLE
INT6 ENABLE
INT5 ENABLE
INT4 ENABLE
DIEOV
1
1
1
1
DI
INT7 INPUT
INT6 INPUT
INT5 INPUT
INT4 INPUT
AIO
AIN1 INPUT
AIN0 INPUT
–
–
Table 11-17. Overriding signals for alternate functions in PE3..PE0.
Signal
name
PE3/UID
PE2/ALE/HWB
PE1/RD
PE0/WR
PUOE
UIDE
0
SRE
SRE
PUOV
1
0
0
0
DDOE
UIDE
SRE
SRE
SRE
DDOV
0
1
1
0
PVOE
0
SRE
SRE
SRE
PVOV
0
ALE
RD
WR
DIEOE
UIDE
0
0
0
DIEOV
1
0
0
1
DI
UID
HWB
–
–
PE0
0
0
0
0
AIO
–
–
–
–
87
7593L–AVR–09/12
11.3.7
Alternate functions of Port F
The Port F has an alternate function as analog input for the ADC as shown in Table 11-18. If
some Port F pins are configured as outputs, it is essential that these do not switch when a conversion is in progress. This might corrupt the result of the conversion. If the JTAG interface is
enabled, the pull-up resistors on pins PF7(TDI), PF5(TMS), and PF4(TCK) will be activated even
if a Reset occurs.
Table 11-18. Port F pins alternate functions.
Port pin
Alternate function
PF7
ADC7/TDI (ADC input channel 7 or JTAG Test Data Input)
PF6
ADC6/TDO (ADC input channel 6 or JTAG Test Data Output)
PF5
ADC5/TMS (ADC input channel 5 or JTAG Test Mode Select)
PF4
ADC4/TCK (ADC input channel 4 or JTAG Test ClocK)
PF3
ADC3 (ADC input channel 3)
PF2
ADC2 (ADC input channel 2)
PF1
ADC1 (ADC input channel 1)
PF0
ADC0 (ADC input channel 0)
• TDI, ADC7 – Port F, bit 7
ADC7, Analog to Digital Converter, Channel 7.
TDI, JTAG Test Data In: Serial input data to be shifted in to the Instruction Register or Data Register (scan chains). When the JTAG interface is enabled, this pin can not be used as an I/O pin.
• TDO, ADC6 – Port F, bit 6
ADC6, Analog to Digital Converter, Channel 6.
TDO, JTAG Test Data Out: Serial output data from Instruction Register or Data Register. When
the JTAG interface is enabled, this pin can not be used as an I/O pin.
The TDO pin is tri-stated unless TAP states that shift out data are entered.
• TMS, ADC5 – Port F, bit 5
ADC5, Analog to Digital Converter, Channel 5.
TMS, JTAG Test Mode Select: This pin is used for navigating through the TAP-controller state
machine. When the JTAG interface is enabled, this pin can not be used as an I/O pin.
• TCK, ADC4 – Port F, bit 4
ADC4, Analog to Digital Converter, Channel 4.
TCK, JTAG Test Clock: JTAG operation is synchronous to TCK. When the JTAG interface is
enabled, this pin can not be used as an I/O pin.
• ADC3 – ADC0 – Port F, bit 3..0
Analog to Digital Converter, Channel 3..0.
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AT90USB64/128
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AT90USB64/128
Table 11-19. Overriding signals for alternate functions in PF7..PF4.
Signal name
PF7/ADC7/TDI
PF6/ADC6/TDO
PF5/ADC5/TMS
PF4/ADC4/TCK
PUOE
JTAGEN
JTAGEN
JTAGEN
JTAGEN
PUOV
1
0
1
1
DDOE
JTAGEN
JTAGEN
JTAGEN
JTAGEN
DDOV
0
SHIFT_IR +
SHIFT_DR
0
0
PVOE
0
JTAGEN
0
0
PVOV
0
TDO
0
0
DIEOE
JTAGEN
JTAGEN
JTAGEN
JTAGEN
DIEOV
0
0
0
0
DI
–
–
–
–
AIO
TDI/ADC7 INPUT
ADC6 INPUT
TMS/ADC5 INPUT
TCK/ADC4 INPUT
Table 11-20. Overriding signals for alternate functions in PF3..PF0.
11.4
11.4.1
Signal name
PF3/ADC3
PF2/ADC2
PF1/ADC1
PF0/ADC0
PUOE
0
0
0
0
PUOV
0
0
0
0
DDOE
0
0
0
0
DDOV
0
0
0
0
PVOE
0
0
0
0
PVOV
0
0
0
0
DIEOE
0
0
0
0
DIEOV
0
0
0
0
DI
–
–
–
–
AIO
ADC3 INPUT
ADC2 INPUT
ADC1 INPUT
ADC0 INPUT
Register description for I/O-ports
PORTA – Port A Data Register
Bit
7
6
5
4
3
2
1
PORTA7
PORTA6
PORTA5
PORTA4
PORTA3
PORTA2
PORTA1
0
PORTA0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
PORTA
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11.4.2
DDRA – Port A Data Direction Register
Bit
11.4.3
7
6
5
4
3
2
1
0
DDA7
DDA6
DDA5
DDA4
DDA3
DDA2
DDA1
DDA0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
7
6
5
4
3
2
1
0
PINA7
PINA6
PINA5
PINA4
PINA3
PINA2
PINA1
PINA0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
7
6
5
4
3
2
1
0
PORTB7
PORTB6
PORTB5
PORTB4
PORTB3
PORTB2
PORTB1
PORTB0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
PINA – Port A Input Pins Address
Bit
11.4.4
7
6
5
4
3
2
1
0
DDB7
DDB6
DDB5
DDB4
DDB3
DDB2
DDB1
DDB0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
7
6
5
4
3
2
1
0
PINB7
PINB6
PINB5
PINB4
PINB3
PINB2
PINB1
PINB0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
7
6
5
4
3
2
1
0
PORTC7
PORTC6
PORTC5
PORTC4
PORTC3
PORTC2
PORTC1
PORTC0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
7
6
5
4
3
2
1
0
DDC7
DDC6
DDC5
DDC4
DDC3
DDC2
DDC1
DDC0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
7
6
5
4
3
2
1
0
PINC7
PINC6
PINC5
PINC4
PINC3
PINC2
PINC1
PINC0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
7
6
5
4
3
2
1
0
PORTD7
PORTD6
PORTD5
PORTD4
PORTD3
PORTD2
PORTD1
PORTD0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
PINC
PORTD – Port D Data Register
Bit
90
DDRC
PINC – Port C Input Pins Address
Bit
11.4.10
PORTC
DDRC – Port C Data Direction Register
Bit
11.4.9
PINB
PORTC – Port C Data Register
Bit
11.4.8
DDRB
PINB – Port B Input Pins Address
Bit
11.4.7
PORTB
DDRB – Port B Data Direction Register
Bit
11.4.6
PINA
PORTB – Port B Data Register
Bit
11.4.5
DDRA
PORTD
AT90USB64/128
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AT90USB64/128
11.4.11
DDRD – Port D Data Direction Register
Bit
11.4.12
7
6
5
4
3
2
1
0
DDD7
DDD6
DDD5
DDD4
DDD3
DDD2
DDD1
DDD0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
PIND – Port D Input Pins Address
Bit
11.4.13
7
6
5
4
3
2
1
0
PIND7
PIND6
PIND5
PIND4
PIND3
PIND2
PIND1
PIND0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
7
6
5
4
3
2
1
0
PORTE7
PORTE6
PORTE5
PORTE4
PORTE3
PORTE2
PORTE1
PORTE0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
7
6
5
4
3
2
1
0
DDE7
DDE6
DDE5
DDE4
DDE3
DDE2
DDE1
DDE0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
7
6
5
4
3
2
1
0
PINE7
PINE6
PINE5
PINE4
PINE3
PINE2
PINE1
PINE0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
7
6
5
4
3
2
1
0
PORTF7
PORTF6
PORTF5
PORTF4
PORTF3
PORTF2
PORTF1
PORTF0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
0
PORTF
DDRF – Port F Data Direction Register
Bit
11.4.18
PINE
PORTF – Port F Data Register
Bit
11.4.17
DDRE
PINE – Port E Input Pins Address
Bit
11.4.16
PORTE
DDRE – Port E Data Direction Register
Bit
11.4.15
PIND
PORTE – Port E Data Register
Bit
11.4.14
DDRD
7
6
5
4
3
2
1
DDF7
DDF6
DDF5
DDF4
DDF3
DDF2
DDF1
DDF0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
7
6
5
4
3
2
1
0
PINF7
PINF6
PINF5
PINF4
PINF3
PINF2
PINF1
PINF0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
DDRF
PINF – Port F Input Pins Address
Bit
PINF
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12. External interrupts
The External Interrupts are triggered by the INT7:0 pin or any of the PCINT7..0 pins. Observe
that, if enabled, the interrupts will trigger even if the INT7:0 or PCINT7..0 pins are configured as
outputs. This feature provides a way of generating a software interrupt.
The Pin change interrupt PCI0 will trigger if any enabled PCINT7:0 pin toggles. PCMSK0 Register control which pins contribute to the pin change interrupts. Pin change interrupts on PCINT7
..0 are detected asynchronously. This implies that these interrupts can be used for waking the
part also from sleep modes other than Idle mode.
The External Interrupts can be triggered by a falling or rising edge or a low level. This is set up
as indicated in the specification for the External Interrupt Control Registers – EICRA (INT3:0)
and EICRB (INT7:4). When the external interrupt is enabled and is configured as level triggered,
the interrupt will trigger as long as the pin is held low. Note that recognition of falling or rising
edge interrupts on INT7:4 requires the presence of an I/O clock, described in “System clock and
clock options” on page 40. Low level interrupts and the edge interrupt on INT3:0 are detected
asynchronously. This implies that these interrupts can be used for waking the part also from
sleep modes other than Idle mode. The I/O clock is halted in all sleep modes except Idle mode.
Note that if a level triggered interrupt is used for wake-up from Power-down, the required level
must be held long enough for the MCU to complete the wake-up to trigger the level interrupt. If
the level disappears before the end of the Start-up Time, the MCU will still wake up, but no interrupt will be generated. The start-up time is defined by the SUT and CKSEL Fuses as described
in “System clock and clock options” on page 40.
12.0.1
EICRA – External Interrupt Control Register A
The External Interrupt Control Register A contains control bits for interrupt sense control.
Bit
7
6
5
4
3
2
1
0
ISC31
ISC30
ISC21
ISC20
ISC11
ISC10
ISC01
ISC00
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
EICRA
• Bits 7..0 – ISC31, ISC30 – ISC00, ISC00: External Interrupt 3 - 0 Sense Control bits
The External Interrupts 3 - 0 are activated by the external pins INT3:0 if the SREG I-flag and the
corresponding interrupt mask in the EIMSK is set. The level and edges on the external pins that
activate the interrupts are defined in Table 12-1. Edges on INT3..INT0 are registered asynchronously. Pulses on INT3:0 pins wider than the minimum pulse width given in Table 12-2 will
generate an interrupt. Shorter pulses are not guaranteed to generate an interrupt. If low level
interrupt is selected, the low level must be held until the completion of the currently executing
instruction to generate an interrupt. If enabled, a level triggered interrupt will generate an interrupt request as long as the pin is held low. When changing the ISCn bit, an interrupt can occur.
Therefore, it is recommended to first disable INTn by clearing its Interrupt Enable bit in the
EIMSK Register. Then, the ISCn bit can be changed. Finally, the INTn interrupt flag should be
cleared by writing a logical one to its Interrupt Flag bit (INTFn) in the EIFR Register before the
interrupt is re-enabled.
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Table 12-1.
ISCn1
ISCn0
0
0
The low level of INTn generates an interrupt request.
0
1
Any edge of INTn generates asynchronously an interrupt request.
1
0
The falling edge of INTn generates asynchronously an interrupt request.
1
1
The rising edge of INTn generates asynchronously an interrupt request.
Note:
Description
1. n = 3, 2, 1or 0.
When changing the ISCn1/ISCn0 bits, the interrupt must be disabled by clearing its Interrupt
Enable bit in the EIMSK Register. Otherwise an interrupt can occur when the bits are changed.
Table 12-2.
Symbol
Asynchronous external interrupt characteristics.
Parameter
Condition
Min.
Minimum pulse width for asynchronous
external interrupt
tINT
12.0.2
Interrupt sense control (1).
Typ.
Max.
50
Units
ns
EICRB – External Interrupt Control Register B
Bit
7
6
5
4
3
2
1
0
ISC71
ISC70
ISC61
ISC60
ISC51
ISC50
ISC41
ISC40
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
EICRB
• Bits 7..0 – ISC71, ISC70 - ISC41, ISC40: External Interrupt 7 - 4 Sense Control Bits
The External Interrupts 7 - 4 are activated by the external pins INT7:4 if the SREG I-flag and the
corresponding interrupt mask in the EIMSK is set. The level and edges on the external pins that
activate the interrupts are defined in Table 12-3. The value on the INT7:4 pins are sampled
before detecting edges. If edge or toggle interrupt is selected, pulses that last longer than one
clock period will generate an interrupt. Shorter pulses are not guaranteed to generate an interrupt. Observe that CPU clock frequency can be lower than the XTAL frequency if the XTAL
divider is enabled. If low level interrupt is selected, the low level must be held until the completion of the currently executing instruction to generate an interrupt. If enabled, a level triggered
interrupt will generate an interrupt request as long as the pin is held low.
Table 12-3.
ISCn1
ISCn0
0
0
The low level of INTn generates an interrupt request.
0
1
Any logical change on INTn generates an interrupt request.
1
0
The falling edge between two samples of INTn generates an interrupt request.
1
1
The rising edge between two samples of INTn generates an interrupt request.
Note:
12.0.3
Interrupt sense control (1).
Description
1. n = 7, 6, 5 or 4.
When changing the ISCn1/ISCn0 bits, the interrupt must be disabled by clearing its Interrupt
Enable bit in the EIMSK Register. Otherwise an interrupt can occur when the bits are changed.
EIMSK – External Interrupt Mask Register
Bit
7
6
5
4
3
2
1
0
INT7
INT6
INT5
INT4
INT3
INT2
INT1
IINT0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
EIMSK
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• Bits 7..0 – INT7 – INT0: External Interrupt Request 7 - 0 Enable
When an INT7 – INT0 bit is written to one and the I-bit in the Status Register (SREG) is set
(one), the corresponding external pin interrupt is enabled. The Interrupt Sense Control bits in the
External Interrupt Control Registers – EICRA and EICRB – defines whether the external interrupt is activated on rising or falling edge or level sensed. Activity on any of these pins will trigger
an interrupt request even if the pin is enabled as an output. This provides a way of generating a
software interrupt.
12.0.4
EIFR – External Interrupt Flag Register
Bit
7
6
5
4
3
2
1
0
INTF7
INTF6
INTF5
INTF4
INTF3
INTF2
INTF1
IINTF0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
EIFR
• Bits 7..0 – INTF7 - INTF0: External Interrupt Flags 7 - 0
When an edge or logic change on the INT7:0 pin triggers an interrupt request, INTF7:0 becomes
set (one). If the I-bit in SREG and the corresponding interrupt enable bit, INT7:0 in EIMSK, are
set (one), the MCU will jump to the interrupt vector. The flag is cleared when the interrupt routine
is executed. Alternatively, the flag can be cleared by writing a logical one to it. These flags are
always cleared when INT7:0 are configured as level interrupt. Note that when entering sleep
mode with the INT3:0 interrupts disabled, the input buffers on these pins will be disabled. This
may cause a logic change in internal signals which will set the INTF3:0 flags. See “Digital input
enable and sleep modes” on page 75 for more information.
12.0.5
PCICR – Pin Change Interrupt Control Register
Bit
7
6
5
4
3
2
1
0
–
–
–
–
–
PCIE0
Read/write
R
R
R
R
R
R
R
R/W
Initial value
0
0
0
0
0
0
0
0
PCICR
• Bit 0 – PCIE0: Pin Change Interrupt Enable 0
When the PCIE0 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), pin
change interrupt 0 is enabled. Any change on any enabled PCINT7..0 pin will cause an interrupt.
The corresponding interrupt of Pin Change Interrupt Request is executed from the PCI0 Interrupt
Vector. PCINT7..0 pins are enabled individually by the PCMSK0 Register.
12.0.6
PCIFR – Pin Change Interrupt Flag Register
Bit
7
6
5
4
3
2
1
0
–
–
–
–
–
PCIF0
Read/write
R
R
R
R
R
R
R
R/W
Initial value
0
0
0
0
0
0
0
0
PCIFR
• Bit 0 – PCIF0: Pin Change Interrupt Flag 0
When a logic change on any PCINT7..0 pin triggers an interrupt request, PCIF0 becomes set
(one). If the I-bit in SREG and the PCIE0 bit in EIMSK are set (one), the MCU will jump to the
corresponding Interrupt Vector. The flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing a logical one to it.
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12.0.7
PCMSK0 – Pin Change Mask Register 0
Bit
7
6
5
4
3
2
1
0
PCINT7
PCINT6
PCINT5
PCINT4
PCINT3
PCINT2
PCINT1
PCINT0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
PCMSK0
• Bit 7..0 – PCINT7..0: Pin Change Enable Mask 7..0
Each PCINT7..0 bit selects whether pin change interrupt is enabled on the corresponding I/O
pin. If PCINT7..0 is set and the PCIE0 bit in PCICR is set, pin change interrupt is enabled on the
corresponding I/O pin. If PCINT7..0 is cleared, pin change interrupt on the corresponding I/O pin
is disabled.
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13. Timer/Counter0, Timer/Counter1, and Timer/Counter3 prescalers
Timer/Counter0, 1, and 3 share the same prescaler module, but the Timer/Counters can have
different prescaler settings. The description below applies to all Timer/Counters. Tn is used as a
general name, n = 0, 1 or 3.
13.1
Internal clock source
The Timer/Counter can be clocked directly by the system clock (by setting the CSn2:0 = 1). This
provides the fastest operation, with a maximum Timer/Counter clock frequency equal to system
clock frequency (fCLK_I/O). Alternatively, one of four taps from the prescaler can be used as a
clock source. The prescaled clock has a frequency of either fCLK_I/O/8, fCLK_I/O/64, fCLK_I/O/256, or
fCLK_I/O/1024.
13.2
Prescaler reset
The prescaler is free running, that is, operates independently of the Clock Select logic of the
Timer/Counter, and it is shared by the Timer/Counter Tn. Since the prescaler is not affected by
the Timer/Counter’s clock select, the state of the prescaler will have implications for situations
where a prescaled clock is used. One example of prescaling artefacts occurs when the timer is
enabled and clocked by the prescaler (6 > CSn2:0 > 1). The number of system clock cycles from
when the timer is enabled to the first count occurs can be from 1 to N+1 system clock cycles,
where N equals the prescaler divisor (8, 64, 256, or 1024).
It is possible to use the prescaler reset for synchronizing the Timer/Counter to program execution. However, care must be taken if the other Timer/Counter that shares the same prescaler
also uses prescaling. A prescaler reset will affect the prescaler period for all Timer/Counters it is
connected to.
13.3
External clock source
An external clock source applied to the Tn pin can be used as Timer/Counter clock (clkTn). The
Tn pin is sampled once every system clock cycle by the pin synchronization logic. The synchronized (sampled) signal is then passed through the edge detector. Figure 13-1 shows a functional
equivalent block diagram of the Tn synchronization and edge detector logic. The registers are
clocked at the positive edge of the internal system clock (clkI/O). The latch is transparent in the
high period of the internal system clock.
The edge detector generates one clkTn pulse for each positive (CSn2:0 = 7) or negative (CSn2:0
= 6) edge it detects.
Figure 13-1. Tn/T0 pin sampling.
Tn
D
Q
D
Q
D
Tn_sync
(To clock
select logic)
Q
LE
clk I/O
Synchronization
Edge detector
The synchronization and edge detector logic introduces a delay of 2.5 to 3.5 system clock cycles
from an edge has been applied to the Tn pin to the counter is updated.
Enabling and disabling of the clock input must be done when Tn has been stable for at least one
system clock cycle, otherwise it is a risk that a false Timer/Counter clock pulse is generated.
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Each half period of the external clock applied must be longer than one system clock cycle to
ensure correct sampling. The external clock must be guaranteed to have less than half the system clock frequency (fExtClk < fclk_I/O/2) given a 50/50% duty cycle. Since the edge detector uses
sampling, the maximum frequency of an external clock it can detect is half the sampling frequency (Nyquist sampling theorem). However, due to variation of the system clock frequency
and duty cycle caused by Oscillator source (crystal, resonator, and capacitors) tolerances, it is
recommended that maximum frequency of an external clock source is less than fclk_I/O/2.5.
An external clock source can not be prescaled.
Figure 13-2. Prescaler for synchronous Timer/Counters
clk I/O
Clear
PSR10
Tn
Synchronization
Tn
Synchronization
CSn0
CSn0
CSn1
CSn1
CSn2
CSn2
TIMER/COUNTERn CLOCK SOURCE
clkTn
13.4
TIMER/COUNTERn CLOCK SOURCE
clkTn
GTCCR – General Timer/Counter Control Register
Bit
7
6
5
4
3
2
1
0
TSM
–
–
–
–
–
PSRASY
PSRSYNC
Read/write
R/W
R
R
R
R
R
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
GTCCR
• Bit 7 – TSM: Timer/Counter Synchronization Mode
Writing the TSM bit to one activates the Timer/Counter Synchronization mode. In this mode, the
value that is written to the PSRASY and PSRSYNC bits is kept, hence keeping the corresponding prescaler reset signals asserted. This ensures that the corresponding Timer/Counters are
halted and can be configured to the same value without the risk of one of them advancing during
configuration. When the TSM bit is written to zero, the PSRASY and PSRSYNC bits are cleared
by hardware, and the Timer/Counters start counting simultaneously.
• Bit 0 – PSRSYNC: Prescaler Reset for Synchronous Timer/Counters
When this bit is one, Timer/Counter0 and Timer/Counter1 and Timer/Counter3 prescaler will be
Reset. This bit is normally cleared immediately by hardware, except if the TSM bit is set. Note
that Timer/Counter0, Timer/Counter1 and Timer/Counter3 share the same prescaler and a reset
of this prescaler will affect all timers.
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14. 8-bit Timer/Counter0 with PWM
Timer/Counter0 is a general purpose 8-bit Timer/Counter module, with two independent Output
Compare Units, and with PWM support. It allows accurate program execution timing (event management) and wave generation. The main features are:
•
•
•
•
•
•
•
14.1
Two independent output compare units
Double buffered output compare registers
Clear timer on compare match (auto reload)
Glitch free, phase correct pulse width modulator (PWM)
Variable PWM period
Frequency generator
Three independent interrupt sources (TOV0, OCF0A, and OCF0B)
Overview
A simplified block diagram of the 8-bit Timer/Counter is shown in Figure 14-1. For the actual
placement of I/O pins, refer to “Pinout Atmel AT90USB64/128-TQFP.” on page 3. CPU accessible I/O Registers, including I/O bits and I/O pins, are shown in bold. The device-specific I/O
Register and bit locations are listed in the “8-bit Timer/Counter register description” on page 108.
Figure 14-1. 8-bit Timer/Counter block diagram.
Count
Clear
Direction
TOVn
(int.req.)
Control logic
clkTn
Clock select
Edge
detector
TOP
Tn
BOTTOM
(From prescaler)
Timer/Counter
TCNTn
=
=0
OCnA
(int.req.)
Waveform
generation
=
OCnA
DATA BUS
OCRnA
Fixed
TOP
value
Waveform
generation
=
OCnB
OCRnB
TCCRnA
14.1.1
OCnB
(Int.Req.)
TCCRnB
Registers
The Timer/Counter (TCNT0) and Output Compare Registers (OCR0A and OCR0B) are 8-bit
registers. Interrupt request (abbreviated to Int.Req. in the figure) signals are all visible in the
Timer Interrupt Flag Register (TIFR0). All interrupts are individually masked with the Timer Interrupt Mask Register (TIMSK0). TIFR0 and TIMSK0 are not shown in the figure.
The Timer/Counter can be clocked internally, via the prescaler, or by an external clock source on
the T0 pin. The Clock Select logic block controls which clock source and edge the Timer/Counter
uses to increment (or decrement) its value. The Timer/Counter is inactive when no clock source
is selected. The output from the Clock Select logic is referred to as the timer clock (clkT0).
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The double buffered Output Compare Registers (OCR0A and OCR0B) are compared with the
Timer/Counter value at all times. The result of the compare can be used by the Waveform Generator to generate a PWM or variable frequency output on the Output Compare pins (OC0A and
OC0B). See “Output compare unit” on page 100. for details. The Compare Match event will also
set the Compare Flag (OCF0A or OCF0B) which can be used to generate an Output Compare
interrupt request.
14.1.2
Definitions
Many register and bit references in this section are written in general form. A lower case “n”
replaces the Timer/Counter number, in this case 0. A lower case “x” replaces the Output Compare Unit, in this case Compare Unit A or Compare Unit B. However, when using the register or
bit defines in a program, the precise form must be used, that is, TCNT0 for accessing
Timer/Counter0 counter value and so on.
The definitions in the table below are also used extensively throughout the document.
14.2
BOTTOM
The counter reaches the BOTTOM when it becomes 0x00.
MAX
The counter reaches its MAXimum when it becomes 0xFF (decimal 255).
TOP
The counter reaches the TOP when it becomes equal to the highest value in the
count sequence. The TOP value can be assigned to be the fixed value 0xFF
(MAX) or the value stored in the OCR0A Register. The assignment is dependent
on the mode of operation.
Timer/Counter clock sources
The Timer/Counter can be clocked by an internal or an external clock source. The clock source
is selected by the Clock Select logic which is controlled by the Clock Select (CS02:0) bits
located in the Timer/Counter Control Register (TCCR0B). For details on clock sources and prescaler, see “Timer/Counter0, Timer/Counter1, and Timer/Counter3 prescalers” on page 96.
14.3
Counter unit
The main part of the 8-bit Timer/Counter is the programmable bi-directional counter unit. Figure
14-2 shows a block diagram of the counter and its surroundings.
Figure 14-2. Counter unit block diagram.
TOVn
(int.req.)
DATA BUS
Clock select
count
TCNTn
clear
Control logic
clkTn
Edge
detector
Tn
direction
(From prescaler)
bottom
top
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Signal description (internal signals):
count
Increment or decrement TCNT0 by 1.
direction
Select between increment and decrement.
clear
Clear TCNT0 (set all bits to zero).
clkTn
Timer/Counter clock, referred to as clkT0 in the following.
top
Signalize that TCNT0 has reached maximum value.
bottom
Signalize that TCNT0 has reached minimum value (zero).
Depending of the mode of operation used, the counter is cleared, incremented, or decremented
at each timer clock (clkT0). clkT0 can be generated from an external or internal clock source,
selected by the Clock Select bits (CS02:0). When no clock source is selected (CS02:0 = 0) the
timer is stopped. However, the TCNT0 value can be accessed by the CPU, regardless of
whether clkT0 is present or not. A CPU write overrides (has priority over) all counter clear or
count operations.
The counting sequence is determined by the setting of the WGM01 and WGM00 bits located in
the Timer/Counter Control Register (TCCR0A) and the WGM02 bit located in the Timer/Counter
Control Register B (TCCR0B). There are close connections between how the counter behaves
(counts) and how waveforms are generated on the Output Compare outputs OC0A and OC0B.
For more details about advanced counting sequences and waveform generation, see “Modes of
operation” on page 103.
The Timer/Counter Overflow Flag (TOV0) is set according to the mode of operation selected by
the WGM02:0 bits. TOV0 can be used for generating a CPU interrupt.
14.4
Output compare unit
The 8-bit comparator continuously compares TCNT0 with the Output Compare Registers
(OCR0A and OCR0B). Whenever TCNT0 equals OCR0A or OCR0B, the comparator signals a
match. A match will set the Output Compare Flag (OCF0A or OCF0B) at the next timer clock
cycle. If the corresponding interrupt is enabled, the Output Compare Flag generates an Output
Compare interrupt. The Output Compare Flag is automatically cleared when the interrupt is executed. Alternatively, the flag can be cleared by software by writing a logical one to its I/O bit
location. The Waveform Generator uses the match signal to generate an output according to
operating mode set by the WGM02:0 bits and Compare Output mode (COM0x1:0) bits. The
maximum and bottom signals are used by the Waveform Generator for handling the special
cases of the extreme values in some modes of operation (“Modes of operation” on page 103).
Figure 14-3 on page 101 shows a block diagram of the Output Compare unit.
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Figure 14-3. Output Compare Unit, block diagram.
DATA BUS
OCRnx
TCNTn
= (8-bit comparator)
OCFnx (int.req.)
top
bottom
Waveform generator
OCnx
FOCn
WGMn1:0
COMnX1:0
The OCR0x Registers are double buffered when using any of the Pulse Width Modulation
(PWM) modes. For the normal and Clear Timer on Compare (CTC) modes of operation, the double buffering is disabled. The double buffering synchronizes the update of the OCR0x Compare
Registers to either top or bottom of the counting sequence. The synchronization prevents the
occurrence of odd-length, non-symmetrical PWM pulses, thereby making the output glitch-free.
The OCR0x Register access may seem complex, but this is not case. When the double buffering
is enabled, the CPU has access to the OCR0x Buffer Register, and if double buffering is disabled the CPU will access the OCR0x directly.
14.4.1
Force output compare
In non-PWM waveform generation modes, the match output of the comparator can be forced by
writing a one to the Force Output Compare (FOC0x) bit. Forcing Compare Match will not set the
OCF0x Flag or reload/clear the timer, but the OC0x pin will be updated as if a real Compare
Match had occurred (the COM0x1:0 bits settings define whether the OC0x pin is set, cleared or
toggled).
14.4.2
Compare match blocking by TCNT0 write
All CPU write operations to the TCNT0 Register will block any Compare Match that occur in the
next timer clock cycle, even when the timer is stopped. This feature allows OCR0x to be initialized to the same value as TCNT0 without triggering an interrupt when the Timer/Counter clock is
enabled.
14.4.3
Using the output compare unit
Since writing TCNT0 in any mode of operation will block all Compare Matches for one timer
clock cycle, there are risks involved when changing TCNT0 when using the Output Compare
Unit, independently of whether the Timer/Counter is running or not. If the value written to TCNT0
equals the OCR0x value, the Compare Match will be missed, resulting in incorrect waveform
generation. Similarly, do not write the TCNT0 value equal to BOTTOM when the counter is
down-counting.
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The setup of the OC0x should be performed before setting the Data Direction Register for the
port pin to output. The easiest way of setting the OC0x value is to use the Force Output Compare (FOC0x) strobe bits in Normal mode. The OC0x Registers keep their values even when
changing between Waveform Generation modes.
Be aware that the COM0x1:0 bits are not double buffered together with the compare value.
Changing the COM0x1:0 bits will take effect immediately.
14.5
Compare Match Output Unit
The Compare Output mode (COM0x1:0) bits have two functions. The Waveform Generator uses
the COM0x1:0 bits for defining the Output Compare (OC0x) state at the next Compare Match.
Also, the COM0x1:0 bits control the OC0x pin output source. Figure 14-4 shows a simplified
schematic of the logic affected by the COM0x1:0 bit setting. The I/O Registers, I/O bits, and I/O
pins in the figure are shown in bold. Only the parts of the general I/O Port Control Registers
(DDR and PORT) that are affected by the COM0x1:0 bits are shown. When referring to the
OC0x state, the reference is for the internal OC0x Register, not the OC0x pin. If a system reset
occur, the OC0x Register is reset to “0”.
Figure 14-4. Compare Match Output Unit, schematic.
COMnx1
COMnx0
FOCn
Waveform
generator
D
Q
1
OCnx
DATA BUS
D
0
OCnx
Pin
Q
PORT
D
Q
DDR
clk I/O
The general I/O port function is overridden by the Output Compare (OC0x) from the Waveform
Generator if either of the COM0x1:0 bits are set. However, the OC0x pin direction (input or output) is still controlled by the Data Direction Register (DDR) for the port pin. The Data Direction
Register bit for the OC0x pin (DDR_OC0x) must be set as output before the OC0x value is visible on the pin. The port override function is independent of the Waveform Generation mode.
The design of the Output Compare pin logic allows initialization of the OC0x state before the output is enabled. Note that some COM0x1:0 bit settings are reserved for certain modes of
operation. See “8-bit Timer/Counter register description” on page 108.
14.5.1
102
Compare output mode and waveform generation
The Waveform Generator uses the COM0x1:0 bits differently in Normal, CTC, and PWM modes.
For all modes, setting the COM0x1:0 = 0 tells the Waveform Generator that no action on the
OC0x Register is to be performed on the next Compare Match. For compare output actions in
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the non-PWM modes refer to Table 14-1 on page 109. For fast PWM mode, refer to Table 14-2
on page 109, and for phase correct PWM refer to Table 14-3 on page 109.
A change of the COM0x1:0 bits state will have effect at the first Compare Match after the bits are
written. For non-PWM modes, the action can be forced to have immediate effect by using the
FOC0x strobe bits.
14.6
Modes of operation
The mode of operation, that is, the behavior of the Timer/Counter and the Output Compare pins,
is defined by the combination of the Waveform Generation mode (WGM02:0) and Compare Output mode (COM0x1:0) bits. The Compare Output mode bits do not affect the counting sequence,
while the Waveform Generation mode bits do. The COM0x1:0 bits control whether the PWM output generated should be inverted or not (inverted or non-inverted PWM). For non-PWM modes
the COM0x1:0 bits control whether the output should be set, cleared, or toggled at a Compare
Match (See “Compare Match Output Unit” on page 102.).
For detailed timing information see “Timer/Counter timing diagrams” on page 107.
14.6.1
Normal mode
The simplest mode of operation is the Normal mode (WGM02:0 = 0). In this mode the counting
direction is always up (incrementing), and no counter clear is performed. The counter simply
overruns when it passes its maximum 8-bit value (TOP = 0xFF) and then restarts from the bottom (0x00). In normal operation the Timer/Counter Overflow Flag (TOV0) will be set in the same
timer clock cycle as the TCNT0 becomes zero. The TOV0 Flag in this case behaves like a ninth
bit, except that it is only set, not cleared. However, combined with the timer overflow interrupt
that automatically clears the TOV0 Flag, the timer resolution can be increased by software.
There are no special cases to consider in the Normal mode, a new counter value can be written
anytime.
The Output Compare Unit can be used to generate interrupts at some given time. Using the Output Compare to generate waveforms in Normal mode is not recommended, since this will
occupy too much of the CPU time.
14.6.2
Clear Timer on Compare Match (CTC) mode
In Clear Timer on Compare or CTC mode (WGM02:0 = 2), the OCR0A Register is used to
manipulate the counter resolution. In CTC mode the counter is cleared to zero when the counter
value (TCNT0) matches the OCR0A. The OCR0A defines the top value for the counter, hence
also its resolution. This mode allows greater control of the Compare Match output frequency. It
also simplifies the operation of counting external events.
The timing diagram for the CTC mode is shown in Figure 14-5 on page 104. The counter value
(TCNT0) increases until a Compare Match occurs between TCNT0 and OCR0A, and then counter (TCNT0) is cleared.
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Figure 14-5. CTC mode, timing diagram.
OCnx Interrupt Flag Set
TCNTn
OCn
(Toggle)
Period
(COMnx1:0 = 1)
1
2
3
4
An interrupt can be generated each time the counter value reaches the TOP value by using the
OCF0A Flag. If the interrupt is enabled, the interrupt handler routine can be used for updating
the TOP value. However, changing TOP to a value close to BOTTOM when the counter is running with none or a low prescaler value must be done with care since the CTC mode does not
have the double buffering feature. If the new value written to OCR0A is lower than the current
value of TCNT0, the counter will miss the Compare Match. The counter will then have to count to
its maximum value (0xFF) and wrap around starting at 0x00 before the Compare Match can
occur.
For generating a waveform output in CTC mode, the OC0A output can be set to toggle its logical
level on each Compare Match by setting the Compare Output mode bits to toggle mode
(COM0A1:0 = 1). The OC0A value will not be visible on the port pin unless the data direction for
the pin is set to output. The waveform generated will have a maximum frequency of fOC0 =
fclk_I/O/2 when OCR0A is set to zero (0x00). The waveform frequency is defined by the following
equation:
f clk_I/O
f OCnx = ------------------------------------------------2 ⋅ N ⋅ ( 1 + OCRnx )
The N variable represents the prescale factor (1, 8, 64, 256, or 1024).
As for the Normal mode of operation, the TOV0 Flag is set in the same timer clock cycle that the
counter counts from MAX to 0x00.
14.6.3
Fast PWM mode
The fast Pulse Width Modulation or fast PWM mode (WGM02:0 = 3 or 7) provides a high frequency PWM waveform generation option. The fast PWM differs from the other PWM option by
its single-slope operation. The counter counts from BOTTOM to TOP then restarts from BOTTOM. TOP is defined as 0xFF when WGM2:0 = 3, and OCR0A when WGM2:0 = 7. In noninverting Compare Output mode, the Output Compare (OC0x) is cleared on the Compare Match
between TCNT0 and OCR0x, and set at BOTTOM. In inverting Compare Output mode, the output is set on Compare Match and cleared at BOTTOM. Due to the single-slope operation, the
operating frequency of the fast PWM mode can be twice as high as the phase correct PWM
mode that use dual-slope operation. This high frequency makes the fast PWM mode well suited
for power regulation, rectification, and DAC applications. High frequency allows physically small
sized external components (coils, capacitors), and therefore reduces total system cost.
In fast PWM mode, the counter is incremented until the counter value matches the TOP value.
The counter is then cleared at the following timer clock cycle. The timing diagram for the fast
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PWM mode is shown in Figure 14-6. The TCNT0 value is in the timing diagram shown as a histogram for illustrating the single-slope operation. The diagram includes non-inverted and
inverted PWM outputs. The small horizontal line marks on the TCNT0 slopes represent Compare Matches between OCR0x and TCNT0.
Figure 14-6. Fast PWM mode, timing diagram.
OCRnx Interrupt Flag Set
OCRnx update and
TOVn Interrupt Flag Set
TCNTn
OCnx
(COMnx1:0 = 2)
OCnx
(COMnx1:0 = 3)
Period
1
2
3
4
5
6
7
The Timer/Counter Overflow Flag (TOV0) is set each time the counter reaches TOP. If the interrupt is enabled, the interrupt handler routine can be used for updating the compare value.
In fast PWM mode, the compare unit allows generation of PWM waveforms on the OC0x pins.
Setting the COM0x1:0 bits to two will produce a non-inverted PWM and an inverted PWM output
can be generated by setting the COM0x1:0 to three: Setting the COM0A1:0 bits to one allows
the OC0A pin to toggle on Compare Matches if the WGM02 bit is set. This option is not available
for the OC0B pin (see Table 14-2 on page 109). The actual OC0x value will only be visible on
the port pin if the data direction for the port pin is set as output. The PWM waveform is generated by setting (or clearing) the OC0x Register at the Compare Match between OCR0x and
TCNT0, and clearing (or setting) the OC0x Register at the timer clock cycle the counter is
cleared (changes from TOP to BOTTOM).
The PWM frequency for the output can be calculated by the following equation:
f clk_I/O
f OCnxPWM = ----------------N ⋅ 256
The N variable represents the prescale factor (1, 8, 64, 256, or 1024).
The extreme values for the OCR0A Register represents special cases when generating a PWM
waveform output in the fast PWM mode. If the OCR0A is set equal to BOTTOM, the output will
be a narrow spike for each MAX+1 timer clock cycle. Setting the OCR0A equal to MAX will result
in a constantly high or low output (depending on the polarity of the output set by the COM0A1:0
bits.)
A frequency (with 50% duty cycle) waveform output in fast PWM mode can be achieved by setting OC0x to toggle its logical level on each Compare Match (COM0x1:0 = 1). The waveform
generated will have a maximum frequency of fOC0 = fclk_I/O/2 when OCR0A is set to zero. This
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feature is similar to the OC0A toggle in CTC mode, except the double buffer feature of the Output Compare unit is enabled in the fast PWM mode.
14.6.4
Phase correct PWM mode
The phase correct PWM mode (WGM02:0 = 1 or 5) provides a high resolution phase correct
PWM waveform generation option. The phase correct PWM mode is based on a dual-slope
operation. The counter counts repeatedly from BOTTOM to TOP and then from TOP to BOTTOM. TOP is defined as 0xFF when WGM2:0 = 1, and OCR0A when WGM2:0 = 5. In noninverting Compare Output mode, the Output Compare (OC0x) is cleared on the Compare Match
between TCNT0 and OCR0x while up-counting, and set on the Compare Match while downcounting. In inverting Output Compare mode, the operation is inverted. The dual-slope operation
has lower maximum operation frequency than single slope operation. However, due to the symmetric feature of the dual-slope PWM modes, these modes are preferred for motor control
applications.
In phase correct PWM mode the counter is incremented until the counter value matches TOP.
When the counter reaches TOP, it changes the count direction. The TCNT0 value will be equal
to TOP for one timer clock cycle. The timing diagram for the phase correct PWM mode is shown
on Figure 14-7. The TCNT0 value is in the timing diagram shown as a histogram for illustrating
the dual-slope operation. The diagram includes non-inverted and inverted PWM outputs. The
small horizontal line marks on the TCNT0 slopes represent Compare Matches between OCR0x
and TCNT0.
Figure 14-7. Phase correct PWM mode, timing diagram.
OCnx Interrupt Flag Set
OCRnx update
TOVn Interrupt Flag Set
TCNTn
OCnx
(COMnx1:0 = 2)
OCnx
(COMnx1:0 = 3)
Period
1
2
3
The Timer/Counter Overflow Flag (TOV0) is set each time the counter reaches BOTTOM. The
Interrupt Flag can be used to generate an interrupt each time the counter reaches the BOTTOM
value.
In phase correct PWM mode, the compare unit allows generation of PWM waveforms on the
OC0x pins. Setting the COM0x1:0 bits to two will produce a non-inverted PWM. An inverted
PWM output can be generated by setting the COM0x1:0 to three: Setting the COM0A0 bits to
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one allows the OC0A pin to toggle on Compare Matches if the WGM02 bit is set. This option is
not available for the OC0B pin (see Table 14-3 on page 109). The actual OC0x value will only be
visible on the port pin if the data direction for the port pin is set as output. The PWM waveform is
generated by clearing (or setting) the OC0x Register at the Compare Match between OCR0x
and TCNT0 when the counter increments, and setting (or clearing) the OC0x Register at Compare Match between OCR0x and TCNT0 when the counter decrements. The PWM frequency for
the output when using phase correct PWM can be calculated by the following equation:
f clk_I/O
f OCnxPCPWM = ----------------N ⋅ 510
The N variable represents the prescale factor (1, 8, 64, 256, or 1024).
The extreme values for the OCR0A Register represent special cases when generating a PWM
waveform output in the phase correct PWM mode. If the OCR0A is set equal to BOTTOM, the
output will be continuously low and if set equal to MAX the output will be continuously high for
non-inverted PWM mode. For inverted PWM the output will have the opposite logic values.
At the very start of period 2 in Figure 14-7 on page 106 OCnx has a transition from high to low
even though there is no Compare Match. The point of this transition is to guarantee symmetry
around BOTTOM. There are two cases that give a transition without Compare Match.
• OCR0A changes its value from MAX, like in Figure 14-7 on page 106. When the OCR0A
value is MAX the OCn pin value is the same as the result of a down-counting Compare
Match. To ensure symmetry around BOTTOM the OCn value at MAX must correspond to the
result of an up-counting Compare Match
• The timer starts counting from a value higher than the one in OCR0A, and for that reason
misses the Compare Match and hence the OCn change that would have happened on the
way up
14.7
Timer/Counter timing diagrams
The Timer/Counter is a synchronous design and the timer clock (clkT0) is therefore shown as a
clock enable signal in the following figures. The figures include information on when Interrupt
Flags are set. Figure 14-8 contains timing data for basic Timer/Counter operation. The figure
shows the count sequence close to the MAX value in all modes other than phase correct PWM
mode.
Figure 14-8. Timer/Counter timing diagram, no prescaling.
clkI/O
clkTn
(clkI/O /1)
TCNTn
MAX - 1
MAX
BOTTOM
BOTTOM + 1
TOVn
Figure 14-9 on page 108 shows the same timing data, but with the prescaler enabled.
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Figure 14-9. Timer/Counter timing diagram, with prescaler (fclk_I/O/8).
clkI/O
clkTn
(clkI/O /8)
MAX - 1
TCNTn
MAX
BOTTOM
BOTTOM + 1
TOVn
Figure 14-10 shows the setting of OCF0B in all modes and OCF0A in all modes except CTC
mode and PWM mode, where OCR0A is TOP.
Figure 14-10. Timer/Counter timing diagram, setting of OCF0x, with prescaler (fclk_I/O/8).
clkI/O
clkTn
(clkI/O /8)
OCRnx - 1
TCNTn
OCRnx
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx Value
OCFnx
Figure 14-11 shows the setting of OCF0A and the clearing of TCNT0 in CTC mode and fast
PWM mode where OCR0A is TOP.
Figure 14-11. Timer/Counter timing diagram, clear timer on Compare Match mode, with prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
TCNTn
(CTC)
TOP - 1
TOP
BOTTOM
BOTTOM + 1
TOP
OCRnx
OCFnx
14.8
14.8.1
8-bit Timer/Counter register description
TCCR0A – Timer/Counter Control Register A
Bit
108
7
6
5
4
3
2
1
COM0A1
COM0A0
COM0B1
COM0B0
–
–
WGM01
0
WGM00
Read/write
R/W
R/W
R/W
R/W
R
R
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TCCR0A
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• Bits 7:6 – COM01A:0: Compare Match Output A Mode
These bits control the Output Compare pin (OC0A) behavior. If one or both of the COM0A1:0
bits are set, the OC0A output overrides the normal port functionality of the I/O pin it is connected
to. However, note that the Data Direction Register (DDR) bit corresponding to the OC0A pin
must be set in order to enable the output driver.
When OC0A is connected to the pin, the function of the COM0A1:0 bits depends on the
WGM02:0 bit setting. Table 14-1 shows the COM0A1:0 bit functionality when the WGM02:0 bits
are set to a normal or CTC mode (non-PWM).
Table 14-1.
Compare Output mode, non-PWM mode.
COM0A1
COM0A0
Description
0
0
Normal port operation, OC0A disconnected.
0
1
Toggle OC0A on Compare Match
1
0
Clear OC0A on Compare Match
1
1
Set OC0A on Compare Match
Table 14-2 shows the COM0A1:0 bit functionality when the WGM01:0 bits are set to fast PWM
mode.
Table 14-2.
Compare Output mode, Fast PWM mode (1).
COM0A1
COM0A0
0
0
Normal port operation, OC0A disconnected.
0
1
WGM02 = 0: Normal Port Operation, OC0A Disconnected.
WGM02 = 1: Toggle OC0A on Compare Match.
1
0
Clear OC0A on Compare Match, set OC0A at TOP
1
1
Set OC0A on Compare Match, clear OC0A at TOP
Note:
Description
1. A special case occurs when OCR0A equals TOP and COM0A1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See “Fast PWM mode” on page 104
for more details.
Table 14-3 shows the COM0A1:0 bit functionality when the WGM02:0 bits are set to phase correct PWM mode.
Table 14-3.
Compare Output mode, phase correct PWM mode (1).
COM0A1
COM0A0
0
0
Normal port operation, OC0A disconnected.
0
1
WGM02 = 0: Normal Port Operation, OC0A Disconnected.
WGM02 = 1: Toggle OC0A on Compare Match.
1
0
Clear OC0A on Compare Match when up-counting. Set OC0A on Compare
Match when down-counting.
1
1
Set OC0A on Compare Match when up-counting. Clear OC0A on Compare
Match when down-counting.
Note:
Description
1. A special case occurs when OCR0A equals TOP and COM0A1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See “Phase correct PWM mode” on
page 106 for more details.
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• Bits 5:4 – COM0B1:0: Compare Match Output B mode
These bits control the Output Compare pin (OC0B) behavior. If one or both of the COM0B1:0
bits are set, the OC0B output overrides the normal port functionality of the I/O pin it is connected
to. However, note that the Data Direction Register (DDR) bit corresponding to the OC0B pin
must be set in order to enable the output driver.
When OC0B is connected to the pin, the function of the COM0B1:0 bits depends on the
WGM02:0 bit setting. Table 14-1 shows the COM0A1:0 bit functionality when the WGM02:0 bits
are set to a normal or CTC mode (non-PWM).
Table 14-4.
Compare Output mode, non-PWM mode.
COM01
COM00
Description
0
0
Normal port operation, OC0B disconnected.
0
1
Toggle OC0B on Compare Match
1
0
Clear OC0B on Compare Match
1
1
Set OC0B on Compare Match
Table 14-2 shows the COM0B1:0 bit functionality when the WGM02:0 bits are set to fast PWM
mode.
Table 14-5.
Compare Output mode, fast PWM mode (1).
COM01
COM00
0
0
Normal port operation, OC0B disconnected.
0
1
Reserved.
1
0
Clear OC0B on Compare Match, set OC0B at TOP.
1
1
Set OC0B on Compare Match, clear OC0B at TOP.
Note:
Description
1. A special case occurs when OCR0B equals TOP and COM0B1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See “Fast PWM mode” on page 104
for more details.
Table 14-3 shows the COM0B1:0 bit functionality when the WGM02:0 bits are set to phase correct PWM mode.
Table 14-6.
Compare Output mode, phase correct PWM mode (1).
COM0A1
COM0A0
0
0
Normal port operation, OC0B disconnected.
0
1
Reserved.
1
0
Clear OC0B on Compare Match when up-counting. Set OC0B on Compare
Match when down-counting.
1
1
Set OC0B on Compare Match when up-counting. Clear OC0B on Compare
Match when down-counting.
Note:
Description
1. A special case occurs when OCR0B equals TOP and COM0B1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See “Phase correct PWM mode” on
page 106 for more details.
• Bits 3, 2 – Res: Reserved bits
These bits are reserved bits in the Atmel AT90USB64/128 and will always read as zero.
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• Bits 1:0 – WGM01:0: Waveform Generation Mode
Combined with the WGM02 bit found in the TCCR0B Register, these bits control the counting
sequence of the counter, the source for maximum (TOP) counter value, and what type of waveform generation to be used, see Table 14-7. Modes of operation supported by the Timer/Counter
unit are: Normal mode (counter), Clear Timer on Compare Match (CTC) mode, and two types of
Pulse Width Modulation (PWM) modes (see “Modes of operation” on page 103).
Table 14-7.
Waveform Generation Mode bit description.
Timer/Counter mode of
operation
TOP
Update of
OCRx at
TOV flag
set on (1)(2)
0
Normal
0xFF
Immediate
MAX
0
1
PWM, phase correct
0xFF
TOP
BOTTOM
0
1
0
CTC
OCRA
Immediate
MAX
3
0
1
1
Fast PWM
0xFF
TOP
MAX
4
1
0
0
Reserved
–
–
–
5
1
0
1
PWM, phase correct
OCRA
TOP
BOTTOM
6
1
1
0
Reserved
–
–
–
7
1
1
1
Fast PWM
OCRA
TOP
TOP
Mode
WGM2
WGM1
WGM0
0
0
0
1
0
2
Notes:
1. MAX
= 0xFF
2. BOTTOM = 0x00
14.8.2
TCCR0B – Timer/Counter Control Register B
Bit
7
6
5
4
3
2
1
0
FOC0A
FOC0B
–
–
WGM02
CS02
CS01
CS00
Read/write
W
W
R
R
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TCCR0B
• Bit 7 – FOC0A: Force Output Compare A
The FOC0A bit is only active when the WGM bits specify a non-PWM mode.
However, for ensuring compatibility with future devices, this bit must be set to zero when
TCCR0B is written when operating in PWM mode. When writing a logical one to the FOC0A bit,
an immediate Compare Match is forced on the Waveform Generation unit. The OC0A output is
changed according to its COM0A1:0 bits setting. Note that the FOC0A bit is implemented as a
strobe. Therefore it is the value present in the COM0A1:0 bits that determines the effect of the
forced compare.
A FOC0A strobe will not generate any interrupt, nor will it clear the timer in CTC mode using
OCR0A as TOP.
The FOC0A bit is always read as zero.
• Bit 6 – FOC0B: Force Output Compare B
The FOC0B bit is only active when the WGM bits specify a non-PWM mode.
However, for ensuring compatibility with future devices, this bit must be set to zero when
TCCR0B is written when operating in PWM mode. When writing a logical one to the FOC0B bit,
an immediate Compare Match is forced on the Waveform Generation unit. The OC0B output is
changed according to its COM0B1:0 bits setting. Note that the FOC0B bit is implemented as a
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strobe. Therefore it is the value present in the COM0B1:0 bits that determines the effect of the
forced compare.
A FOC0B strobe will not generate any interrupt, nor will it clear the timer in CTC mode using
OCR0B as TOP.
The FOC0B bit is always read as zero.
• Bits 5:4 – Res: Reserved bits
These bits are reserved bits and will always read as zero.
• Bit 3 – WGM02: Waveform Generation Mode
See the description in the “TCCR0A – Timer/Counter Control Register A” on page 108.
• Bits 2:0 – CS02:0: Clock Select
The three Clock Select bits select the clock source to be used by the Timer/Counter.
Table 14-8.
Clock Select bit description.
CS02
CS01
CS00
Description
0
0
0
No clock source (Timer/Counter stopped)
0
0
1
clkI/O/(No prescaling)
0
1
0
clkI/O/8 (From prescaler)
0
1
1
clkI/O/64 (From prescaler)
1
0
0
clkI/O/256 (From prescaler)
1
0
1
clkI/O/1024 (From prescaler)
1
1
0
External clock source on T0 pin. Clock on falling edge.
1
1
1
External clock source on T0 pin. Clock on rising edge.
If external pin modes are used for the Timer/Counter0, transitions on the T0 pin will clock the
counter even if the pin is configured as an output. This feature allows software control of the
counting.
14.8.3
TCNT0 – Timer/Counter Register
Bit
7
6
5
4
3
2
1
0
TCNT0[7:0]
TCNT0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
The Timer/Counter Register gives direct access, both for read and write operations, to the
Timer/Counter unit 8-bit counter. Writing to the TCNT0 Register blocks (removes) the Compare
Match on the following timer clock. Modifying the counter (TCNT0) while the counter is running,
introduces a risk of missing a Compare Match between TCNT0 and the OCR0x Registers.
14.8.4
OCR0A – Output Compare Register A
Bit
7
6
5
4
3
2
1
0
OCR0A[7:0]
112
OCR0A
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
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The Output Compare Register A contains an 8-bit value that is continuously compared with the
counter value (TCNT0). A match can be used to generate an Output Compare interrupt, or to
generate a waveform output on the OC0A pin.
14.8.5
OCR0B – Output Compare Register B
Bit
7
6
5
4
3
2
1
0
OCR0B[7:0]
OCR0B
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
The Output Compare Register B contains an 8-bit value that is continuously compared with the
counter value (TCNT0). A match can be used to generate an Output Compare interrupt, or to
generate a waveform output on the OC0B pin.
14.8.6
TIMSK0 – Timer/Counter Interrupt Mask Register
Bit
7
6
5
4
3
2
1
–
–
–
–
–
OCIE0B
OCIE0A
0
TOIE0
Read/write
R
R
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TIMSK0
• Bits 7..3, 0 – Res: Reserved bits
These bits are reserved bits and will always read as zero.
• Bit 2 – OCIE0B: Timer/Counter Output Compare Match B Interrupt Enable
When the OCIE0B bit is written to one, and the I-bit in the Status Register is set, the
Timer/Counter Compare Match B interrupt is enabled. The corresponding interrupt is executed if
a Compare Match in Timer/Counter occurs, that is, when the OCF0B bit is set in the
Timer/Counter Interrupt Flag Register – TIFR0.
• Bit 1 – OCIE0A: Timer/Counter0 Output Compare Match A Interrupt Enable
When the OCIE0A bit is written to one, and the I-bit in the Status Register is set, the
Timer/Counter0 Compare Match A interrupt is enabled. The corresponding interrupt is executed
if a Compare Match in Timer/Counter0 occurs, that is, when the OCF0A bit is set in the
Timer/Counter 0 Interrupt Flag Register – TIFR0.
• Bit 0 – TOIE0: Timer/Counter0 Overflow Interrupt Enable
When the TOIE0 bit is written to one, and the I-bit in the Status Register is set, the
Timer/Counter0 Overflow interrupt is enabled. The corresponding interrupt is executed if an
overflow in Timer/Counter0 occurs, that is, when the TOV0 bit is set in the Timer/Counter 0 Interrupt Flag Register – TIFR0.
14.8.7
TIFR0 – Timer/Counter 0 Interrupt Flag Register
Bit
7
6
5
4
3
2
1
–
–
–
–
–
OCF0B
OCF0A
0
TOV0
Read/write
R
R
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TIFR0
• Bits 7..3, 0 – Res: Reserved bits
These bits are reserved bits in the Atmel AT90USB64/128 and will always read as zero.
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• Bit 2 – OCF0B: Timer/Counter 0 Output Compare B Match Flag
The OCF0B bit is set when a Compare Match occurs between the Timer/Counter and the data in
OCR0B – Output Compare Register0 B. OCF0B is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, OCF0B is cleared by writing a logic one to
the flag. When the I-bit in SREG, OCIE0B (Timer/Counter Compare B Match Interrupt Enable),
and OCF0B are set, the Timer/Counter Compare Match Interrupt is executed.
• Bit 1 – OCF0A: Timer/Counter 0 Output Compare A Match Flag
The OCF0A bit is set when a Compare Match occurs between the Timer/Counter0 and the data
in OCR0A – Output Compare Register0. OCF0A is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, OCF0A is cleared by writing a logic one to
the flag. When the I-bit in SREG, OCIE0A (Timer/Counter0 Compare Match Interrupt Enable),
and OCF0A are set, the Timer/Counter0 Compare Match Interrupt is executed.
• Bit 0 – TOV0: Timer/Counter0 Overflow Flag
The bit TOV0 is set when an overflow occurs in Timer/Counter0. TOV0 is cleared by hardware
when executing the corresponding interrupt handling vector. Alternatively, TOV0 is cleared by
writing a logic one to the flag. When the SREG I-bit, TOIE0 (Timer/Counter0 Overflow Interrupt
Enable), and TOV0 are set, the Timer/Counter0 Overflow interrupt is executed.
The setting of this flag is dependent of the WGM02:0 bit setting. Refer to Table 14-7, “Waveform
Generation Mode bit description.” on page 111.
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15. 16-bit Timer/Counter (Timer/Counter1 and Timer/Counter3)
The 16-bit Timer/Counter unit allows accurate program execution timing (event management),
wave generation, and signal timing measurement. The main features are:
•
•
•
•
•
•
•
•
•
•
•
15.1
True 16-bit design (that is, allows 16-bit PWM)
Three independent output compare units
Double buffered output compare registers
One input capture unit
Input capture noise canceler
Clear timer on compare match (auto reload)
Glitch-free, phase correct pulse width modulator (PWM)
Variable PWM period
Frequency generator
External event counter
Ten independent interrupt sources (TOV1, OCF1A, OCF1B, OCF1C, ICF1, TOV3, OCF3A, OCF3B,
OCF3C, and ICF3)
Overview
Most register and bit references in this section are written in general form. A lower case “n”
replaces the Timer/Counter number, and a lower case “x” replaces the Output Compare unit
channel. However, when using the register or bit defines in a program, the precise form must be
used, that is, TCNT1 for accessing Timer/Counter1 counter value and so on.
A simplified block diagram of the 16-bit Timer/Counter is shown in Figure 15-1 on page 116. For
the actual placement of I/O pins, see “Pinout Atmel AT90USB64/128-TQFP.” on page 3. CPU
accessible I/O Registers, including I/O bits and I/O pins, are shown in bold. The device-specific
I/O Register and bit locations are listed in the “16-bit Timer/Counter (Timer/Counter1 and
Timer/Counter3)” on page 115.
The Power Reduction Timer/Counter1 bit, PRTIM1, in “PRR0 – Power Reduction Register 0” on
page 54 must be written to zero to enable Timer/Counter1 module.
The Power Reduction Timer/Counter3 bit, PRTIM3, in “PRR1 – Power Reduction Register 1” on
page 55 must be written to zero to enable Timer/Counter3 module.
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Figure 15-1. 16-bit Timer/Counter block diagram (1).
Count
Clear
Direction
TOVn
(int.req.)
Control logic
TCLK
Clock select
Edge
detector
TOP
Tn
BOTTOM
(From prescaler)
Timer/Counter
TCNTn
=
=0
OCFnA
(Int.Req.)
Waveform
generation
=
OCnA
OCRnA
OCFnB
(Int.Req.)
Fixed
TOP
values
Waveform
generation
DATABUS
=
OCnB
OCRnB
OCFnC
(Int.Req.)
Waveform
generation
=
OCnC
OCRnC
( From Analog
Comparator Ouput )
ICFn (Int.Req.)
Edge
detector
ICRn
Noise
canceler
ICPn
TCCRnA
Note:
15.1.1
TCCRnB
TCCRnC
1. Refer to Figure 1-1 on page 3, Table 11-6 on page 79, and Table 11-9 on page 82 for
Timer/Counter1 and 3 and 3 pin placement and description.
Registers
The Timer/Counter (TCNTn), Output Compare Registers (OCRnA/B/C), and Input Capture Register (ICRn) are all 16-bit registers. Special procedures must be followed when accessing the 16bit registers. These procedures are described in the section “Accessing 16-bit registers” on page
117. The Timer/Counter Control Registers (TCCRnA/B/C) are 8-bit registers and have no CPU
access restrictions. Interrupt requests (shorten as Int.Req.) signals are all visible in the Timer
Interrupt Flag Register (TIFRn). All interrupts are individually masked with the Timer Interrupt
Mask Register (TIMSKn). TIFRn and TIMSKn are not shown in the figure since these registers
are shared by other timer units.
The Timer/Counter can be clocked internally, via the prescaler, or by an external clock source on
the Tn pin. The Clock Select logic block controls which clock source and edge the Timer/Counter
uses to increment (or decrement) its value. The Timer/Counter is inactive when no clock source
is selected. The output from the clock select logic is referred to as the timer clock (clkTn).
The double buffered Output Compare Registers (OCRnA/B/C) are compared with the
Timer/Counter value at all time. The result of the compare can be used by the Waveform Generator to generate a PWM or variable frequency output on the Output Compare pin (OCnA/B/C).
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See “Output Compare units” on page 124.. The compare match event will also set the Compare
Match Flag (OCFnA/B/C) which can be used to generate an Output Compare interrupt request.
The Input Capture Register can capture the Timer/Counter value at a given external (edge triggered) event on either the Input Capture pin (ICPn) or on the Analog Comparator pins (see
“Analog Comparator” on page 304) The Input Capture unit includes a digital filtering unit (Noise
Canceler) for reducing the chance of capturing noise spikes.
The TOP value, or maximum Timer/Counter value, can in some modes of operation be defined
by either the OCRnA Register, the ICRn Register, or by a set of fixed values. When using
OCRnA as TOP value in a PWM mode, the OCRnA Register can not be used for generating a
PWM output. However, the TOP value will in this case be double buffered allowing the TOP
value to be changed in run time. If a fixed TOP value is required, the ICRn Register can be used
as an alternative, freeing the OCRnA to be used as PWM output.
15.1.2
Definitions
The following definitions are used extensively throughout the document:
15.2
BOTTOM
The counter reaches the BOTTOM when it becomes 0x0000.
MAX
The counter reaches its MAXimum when it becomes 0xFFFF (decimal 65535).
TOP
The counter reaches the TOP when it becomes equal to the highest value in the
count sequence. The TOP value can be assigned to be one of the fixed values:
0x00FF, 0x01FF, or 0x03FF, or to the value stored in the OCRnA or ICRn
Register. The assignment is dependent of the mode of operation.
Accessing 16-bit registers
The TCNTn, OCRnA/B/C, and ICRn are 16-bit registers that can be accessed by the AVR CPU
via the 8-bit data bus. The 16-bit register must be byte accessed using two read or write operations. Each 16-bit timer has a single 8-bit register for temporary storing of the high byte of the 16bit access. The same Temporary Register is shared between all 16-bit registers within each 16bit timer. Accessing the low byte triggers the 16-bit read or write operation. When the low byte of
a 16-bit register is written by the CPU, the high byte stored in the Temporary Register, and the
low byte written are both copied into the 16-bit register in the same clock cycle. When the low
byte of a 16-bit register is read by the CPU, the high byte of the 16-bit register is copied into the
Temporary Register in the same clock cycle as the low byte is read.
Not all 16-bit accesses uses the Temporary Register for the high byte. Reading the OCRnA/B/C
16-bit registers does not involve using the Temporary Register.
To do a 16-bit write, the high byte must be written before the low byte. For a 16-bit read, the low
byte must be read before the high byte.
The following code examples show how to access the 16-bit timer registers assuming that no
interrupts updates the temporary register. The same principle can be used directly for accessing
the OCRnA/B/C and ICRn Registers. Note that when using “C”, the compiler handles the 16-bit
access.
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Assembly code examples (1)
...
; Set TCNTn to 0x01FF
ldi r17,0x01
ldi r16,0xFF
out TCNTnH,r17
out TCNTnL,r16
; Read TCNTn into r17:r16
in r16,TCNTnL
in r17,TCNTnH
...
C code examples (1)
unsigned int i;
...
/* Set TCNTn to 0x01FF */
TCNTn = 0x1FF;
/* Read TCNTn into i */
i = TCNTn;
...
Note:
1. See “About code examples” on page 10.
The assembly code example returns the TCNTn value in the r17:r16 register pair.
It is important to notice that accessing 16-bit registers are atomic operations. If an interrupt
occurs between the two instructions accessing the 16-bit register, and the interrupt code
updates the temporary register by accessing the same or any other of the 16-bit Timer Registers, then the result of the access outside the interrupt will be corrupted. Therefore, when both
the main code and the interrupt code update the temporary register, the main code must disable
the interrupts during the 16-bit access.
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The following code examples show how to do an atomic read of the TCNTn Register contents.
Reading any of the OCRnA/B/C or ICRn Registers can be done by using the same principle.
Assembly code example (1)
TIM16_ReadTCNTn:
; Save global interrupt flag
in r18,SREG
; Disable interrupts
cli
; Read TCNTn into r17:r16
in r16,TCNTnL
in r17,TCNTnH
; Restore global interrupt flag
out SREG,r18
ret
C code example (1)
unsigned int TIM16_ReadTCNTn( void )
{
unsigned char sreg;
unsigned int i;
/* Save global interrupt flag */
sreg = SREG;
/* Disable interrupts */
__disable_interrupt();
/* Read TCNTn into i */
i = TCNTn;
/* Restore global interrupt flag */
SREG = sreg;
return i;
}
Note:
1. See “About code examples” on page 10.
The assembly code example returns the TCNTn value in the r17:r16 register pair.
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The following code examples show how to do an atomic write of the TCNTn Register contents.
Writing any of the OCRnA/B/C or ICRn Registers can be done by using the same principle.
Assembly code example (1)
TIM16_WriteTCNTn:
; Save global interrupt flag
in r18,SREG
; Disable interrupts
cli
; Set TCNTn to r17:r16
out TCNTnH,r17
out TCNTnL,r16
; Restore global interrupt flag
out SREG,r18
ret
C code example (1)
void TIM16_WriteTCNTn( unsigned int i )
{
unsigned char sreg;
unsigned int i;
/* Save global interrupt flag */
sreg = SREG;
/* Disable interrupts */
__disable_interrupt();
/* Set TCNTn to i */
TCNTn = i;
/* Restore global interrupt flag */
SREG = sreg;
}
Note:
1. See “About code examples” on page 10.
The assembly code example requires that the r17:r16 register pair contains the value to be written to TCNTn.
15.2.1
15.3
Reusing the Temporary High Byte register
If writing to more than one 16-bit register where the high byte is the same for all registers written,
then the high byte only needs to be written once. However, note that the same rule of atomic
operation described previously also applies in this case.
Timer/Counter clock sources
The Timer/Counter can be clocked by an internal or an external clock source. The clock source
is selected by the Clock Select logic which is controlled by the Clock Select (CSn2:0) bits
located in the Timer/Counter control Register B (TCCRnB). For details on clock sources and
prescaler, see Section “Timer/Counter0, Timer/Counter1, and Timer/Counter3 prescalers” on
page 96.
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15.4
Counter unit
The main part of the 16-bit Timer/Counter is the programmable 16-bit bi-directional counter unit.
Figure 15-2 shows a block diagram of the counter and its surroundings.
Figure 15-2. Counter unit block diagram.
DATA BUS
(8-bit)
TOVn
(Int.Req.)
TEMP (8-bit)
Clock select
Count
TCNTnH (8-bit)
TCNTnL (8-bit)
Clear
Direction
TCNTn (16-bit counter)
Control logic
clkTn
Edge
detector
Tn
(From prescaler)
TOP
BOTTOM
Signal description (internal signals):
Count
Increment or decrement TCNTn by 1.
Direction
Select between increment and decrement.
Clear
Clear TCNTn (set all bits to zero).
clkTn
Timer/Counter clock.
TOP
Signalize that TCNTn has reached maximum value.
BOTTOM
Signalize that TCNTn has reached minimum value (zero).
The 16-bit counter is mapped into two 8-bit I/O memory locations: Counter High (TCNTnH) containing the upper eight bits of the counter, and Counter Low (TCNTnL) containing the lower eight
bits. The TCNTnH Register can only be indirectly accessed by the CPU. When the CPU does an
access to the TCNTnH I/O location, the CPU accesses the high byte temporary register (TEMP).
The temporary register is updated with the TCNTnH value when the TCNTnL is read, and
TCNTnH is updated with the temporary register value when TCNTnL is written. This allows the
CPU to read or write the entire 16-bit counter value within one clock cycle via the 8-bit data bus.
It is important to notice that there are special cases of writing to the TCNTn Register when the
counter is counting that will give unpredictable results. The special cases are described in the
sections where they are of importance.
Depending on the mode of operation used, the counter is cleared, incremented, or decremented
at each timer clock (clkTn). The clkTn can be generated from an external or internal clock source,
selected by the Clock Select bits (CSn2:0). When no clock source is selected (CSn2:0 = 0) the
timer is stopped. However, the TCNTn value can be accessed by the CPU, independent of
whether clkTn is present or not. A CPU write overrides (has priority over) all counter clear or
count operations.
The counting sequence is determined by the setting of the Waveform Generation mode bits
(WGMn3:0) located in the Timer/Counter Control Registers A and B (TCCRnA and TCCRnB).
There are close connections between how the counter behaves (counts) and how waveforms
are generated on the Output Compare outputs OCnx. For more details about advanced counting
sequences and waveform generation, see Section “Modes of operation” on page 127.
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The Timer/Counter Overflow Flag (TOVn) is set according to the mode of operation selected by
the WGMn3:0 bits. TOVn can be used for generating a CPU interrupt.
15.5
Input Capture unit
The Timer/Counter incorporates an Input Capture unit that can capture external events and give
them a time-stamp indicating time of occurrence. The external signal indicating an event, or multiple events, can be applied via the ICPn pin or alternatively, for the Timer/Counter1 only, via the
Analog Comparator unit. The time-stamps can then be used to calculate frequency, duty-cycle,
and other features of the signal applied. Alternatively the time-stamps can be used for creating a
log of the events.
The Input Capture unit is illustrated by the block diagram shown in Figure 15-3. The elements of
the block diagram that are not directly a part of the input capture unit are gray shaded. The small
“n” in register and bit names indicates the Timer/Counter number.
Figure 15-3. Input Capture Unit block diagram.
DATA BUS
(8-bit)
TEMP (8-bit)
ICRnH (8-bit)
WRITE
ICRnL (8-bit)
TCNTnH (8-bit)
ICRn (16-bit register)
ACO*
Analog
comparator
TCNTnL (8-bit)
TCNTn (16-bit counter)
ACIC*
ICNC
ICES
Noise
canceler
Edge
detector
ICFn (int.req.)
ICPn
Note:
The Analog Comparator Output (ACO) can only trigger the Timer/Counter1 ICP – not
Timer/Counter3, 4, or 5.
When a change of the logic level (an event) occurs on the Input Capture Pin (ICPn), alternatively
on the analog Comparator output (ACO), and this change confirms to the setting of the edge
detector, a capture will be triggered. When a capture is triggered, the 16-bit value of the counter
(TCNTn) is written to the Input Capture Register (ICRn). The Input Capture Flag (ICFn) is set at
the same system clock as the TCNTn value is copied into ICRn Register. If enabled (TICIEn =
1), the input capture flag generates an input capture interrupt. The ICFn flag is automatically
cleared when the interrupt is executed. Alternatively the ICFn flag can be cleared by software by
writing a logical one to its I/O bit location.
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Reading the 16-bit value in the Input Capture Register (ICRn) is done by first reading the low
byte (ICRnL) and then the high byte (ICRnH). When the low byte is read the high byte is copied
into the high byte Temporary Register (TEMP). When the CPU reads the ICRnH I/O location it
will access the TEMP Register.
The ICRn Register can only be written when using a Waveform Generation mode that utilizes
the ICRn Register for defining the counter’s TOP value. In these cases the Waveform Generation mode (WGMn3:0) bits must be set before the TOP value can be written to the ICRn
Register. When writing the ICRn Register the high byte must be written to the ICRnH I/O location
before the low byte is written to ICRnL.
For more information on how to access the 16-bit registers refer to Section “Accessing 16-bit
registers” on page 117.
15.5.1
Input Capture Trigger Source
The main trigger source for the input capture unit is the Input Capture Pin (ICPn).
Timer/Counter1 can alternatively use the analog comparator output as trigger source for the
input capture unit. The Analog Comparator is selected as trigger source by setting the analog
Comparator Input Capture (ACIC) bit in the Analog Comparator Control and Status Register
(ACSR). Be aware that changing trigger source can trigger a capture. The input capture flag
must therefore be cleared after the change.
Both the Input Capture Pin (ICPn) and the Analog Comparator output (ACO) inputs are sampled
using the same technique as for the Tn pin (Figure 13-1 on page 96). The edge detector is also
identical. However, when the noise canceler is enabled, additional logic is inserted before the
edge detector, which increases the delay by four system clock cycles. Note that the input of the
noise canceler and edge detector is always enabled unless the Timer/Counter is set in a Waveform Generation mode that uses ICRn to define TOP.
An input capture can be triggered by software by controlling the port of the ICPn pin.
15.5.2
Noise Canceler
The Noise Canceler improves noise immunity by using a simple digital filtering scheme. The
noise canceler input is monitored over four samples, and all four must be equal for changing the
output that in turn is used by the edge detector.
The noise canceler is enabled by setting the Input Capture Noise Canceler (ICNCn) bit in
Timer/Counter Control Register B (TCCRnB). When enabled the noise canceler introduces additional four system clock cycles of delay from a change applied to the input, to the update of the
ICRn Register. The noise canceler uses the system clock and is therefore not affected by the
prescaler.
15.5.3
Using the Input Capture unit
The main challenge when using the Input Capture unit is to assign enough processor capacity
for handling the incoming events. The time between two events is critical. If the processor has
not read the captured value in the ICRn Register before the next event occurs, the ICRn will be
overwritten with a new value. In this case the result of the capture will be incorrect.
When using the Input Capture interrupt, the ICRn Register should be read as early in the interrupt handler routine as possible. Even though the Input Capture interrupt has relatively high
priority, the maximum interrupt response time is dependent on the maximum number of clock
cycles it takes to handle any of the other interrupt requests.
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Using the Input Capture unit in any mode of operation when the TOP value (resolution) is
actively changed during operation, is not recommended.
Measurement of an external signal’s duty cycle requires that the trigger edge is changed after
each capture. Changing the edge sensing must be done as early as possible after the ICRn
Register has been read. After a change of the edge, the Input Capture Flag (ICFn) must be
cleared by software (writing a logical one to the I/O bit location). For measuring frequency only,
the clearing of the ICFn Flag is not required (if an interrupt handler is used).
15.6
Output Compare units
The 16-bit comparator continuously compares TCNTn with the Output Compare Register
(OCRnx). If TCNT equals OCRnx the comparator signals a match. A match will set the Output
Compare Flag (OCFnx) at the next timer clock cycle. If enabled (OCIEnx = 1), the Output Compare Flag generates an Output Compare interrupt. The OCFnx Flag is automatically cleared
when the interrupt is executed. Alternatively the OCFnx Flag can be cleared by software by writing a logical one to its I/O bit location. The Waveform Generator uses the match signal to
generate an output according to operating mode set by the Waveform Generation mode
(WGMn3:0) bits and Compare Output mode (COMnx1:0) bits. The TOP and BOTTOM signals
are used by the Waveform Generator for handling the special cases of the extreme values in
some modes of operation (see “Modes of operation” on page 127)
A special feature of Output Compare unit A allows it to define the Timer/Counter TOP value (that
is, counter resolution). In addition to the counter resolution, the TOP value defines the period
time for waveforms generated by the Waveform Generator.
Figure 15-4 shows a block diagram of the Output Compare unit. The small “n” in the register and
bit names indicates the device number (n = n for Timer/Counter n), and the “x” indicates Output
Compare unit (A/B/C). The elements of the block diagram that are not directly a part of the Output Compare unit are gray shaded.
Figure 15-4. Output Compare Unit, block diagram.
DATA BUS
(8-bit)
TEMP (8-bit)
OCRnxH buf. (8-bit)
OCRnxL buf. (8-bit)
TCNTnH (8-bit)
OCRnx buffer (16-bit register)
OCRnxH (8-bit)
TCNTnL (8-bit)
TCNTn (16-bit counter)
OCRnxL (8-bit)
OCRnx (16-bit register)
= (16-bit comparator )
OCFnx (int.req.)
TOP
BOTTOM
Waveform generator
WGMn3:0
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OCnx
COMnx1:0
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The OCRnx Register is double buffered when using any of the twelve Pulse Width Modulation
(PWM) modes. For the Normal and Clear Timer on Compare (CTC) modes of operation, the
double buffering is disabled. The double buffering synchronizes the update of the OCRnx Compare Register to either TOP or BOTTOM of the counting sequence. The synchronization
prevents the occurrence of odd-length, non-symmetrical PWM pulses, thereby making the output glitch-free.
The OCRnx Register access may seem complex, but this is not case. When the double buffering
is enabled, the CPU has access to the OCRnx Buffer Register, and if double buffering is disabled the CPU will access the OCRnx directly. The content of the OCR1x (Buffer or Compare)
Register is only changed by a write operation (the Timer/Counter does not update this register
automatically as the TCNT1 and ICR1 Register). Therefore OCR1x is not read via the high byte
temporary register (TEMP). However, it is a good practice to read the low byte first as when
accessing other 16-bit registers. Writing the OCRnx Registers must be done via the TEMP Register since the compare of all 16 bits is done continuously. The high byte (OCRnxH) has to be
written first. When the high byte I/O location is written by the CPU, the TEMP Register will be
updated by the value written. Then when the low byte (OCRnxL) is written to the lower eight bits,
the high byte will be copied into the upper 8-bits of either the OCRnx buffer or OCRnx Compare
Register in the same system clock cycle.
For more information of how to access the 16-bit registers refer to Section “Accessing 16-bit registers” on page 117.
15.6.1
Force Output Compare
In non-PWM Waveform Generation modes, the match output of the comparator can be forced by
writing a one to the Force Output Compare (FOCnx) bit. Forcing compare match will not set the
OCFnx Flag or reload/clear the timer, but the OCnx pin will be updated as if a real compare
match had occurred (the COMn1:0 bits settings define whether the OCnx pin is set, cleared or
toggled).
15.6.2
Compare Match Blocking by TCNTn write
All CPU writes to the TCNTn Register will block any compare match that occurs in the next timer
clock cycle, even when the timer is stopped. This feature allows OCRnx to be initialized to the
same value as TCNTn without triggering an interrupt when the Timer/Counter clock is enabled.
15.6.3
Using the Output Compare unit
Since writing TCNTn in any mode of operation will block all compare matches for one timer clock
cycle, there are risks involved when changing TCNTn when using any of the Output Compare
channels, independent of whether the Timer/Counter is running or not. If the value written to
TCNTn equals the OCRnx value, the compare match will be missed, resulting in incorrect waveform generation. Do not write the TCNTn equal to TOP in PWM modes with variable TOP
values. The compare match for the TOP will be ignored and the counter will continue to 0xFFFF.
Similarly, do not write the TCNTn value equal to BOTTOM when the counter is counting down.
The setup of the OCnx should be performed before setting the Data Direction Register for the
port pin to output. The easiest way of setting the OCnx value is to use the Force Output Compare (FOCnx) strobe bits in Normal mode. The OCnx Register keeps its value even when
changing between Waveform Generation modes.
Be aware that the COMnx1:0 bits are not double buffered together with the compare value.
Changing the COMnx1:0 bits will take effect immediately.
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15.7
Compare Match Output unit
The Compare Output mode (COMnx1:0) bits have two functions. The Waveform Generator uses
the COMnx1:0 bits for defining the Output Compare (OCnx) state at the next compare match.
Secondly the COMnx1:0 bits control the OCnx pin output source. Figure 15-5 shows a simplified
schematic of the logic affected by the COMnx1:0 bit setting. The I/O Registers, I/O bits, and I/O
pins in the figure are shown in bold. Only the parts of the general I/O Port Control Registers
(DDR and PORT) that are affected by the COMnx1:0 bits are shown. When referring to the
OCnx state, the reference is for the internal OCnx Register, not the OCnx pin. If a system reset
occur, the OCnx Register is reset to “0”.
Figure 15-5. Compare Match Output unit, schematic.
COMnx1
COMnx0
FOCnx
Waveform
generator
D
Q
1
OCnx
DATA BUS
D
0
OCnx
pin
Q
PORT
D
Q
DDR
clk I/O
The general I/O port function is overridden by the Output Compare (OCnx) from the Waveform
Generator if either of the COMnx1:0 bits are set. However, the OCnx pin direction (input or output) is still controlled by the Data Direction Register (DDR) for the port pin. The Data Direction
Register bit for the OCnx pin (DDR_OCnx) must be set as output before the OCnx value is visible on the pin. The port override function is generally independent of the Waveform Generation
mode, but there are some exceptions. Refer to Table 15-1 on page 137, Table 15-2 on page
137, and Table 15-3 on page 138 for details.
The design of the Output Compare pin logic allows initialization of the OCnx state before the output is enabled. Note that some COMnx1:0 bit settings are reserved for certain modes of
operation. See “16-bit Timer/Counter (Timer/Counter1 and Timer/Counter3)” on page 115.
The COMnx1:0 bits have no effect on the Input Capture unit.
15.7.1
126
Compare Output mode and Waveform generation
The Waveform Generator uses the COMnx1:0 bits differently in normal, CTC, and PWM modes.
For all modes, setting the COMnx1:0 = 0 tells the Waveform Generator that no action on the
OCnx Register is to be performed on the next compare match. For compare output actions in the
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non-PWM modes refer to Table 15-1 on page 137. For fast PWM mode refer to Table 15-2 on
page 137, and for phase correct and phase and frequency correct PWM refer to Table 15-3 on
page 138.
A change of the COMnx1:0 bits state will have effect at the first compare match after the bits are
written. For non-PWM modes, the action can be forced to have immediate effect by using the
FOCnx strobe bits.
15.8
Modes of operation
The mode of operation, that is, the behavior of the Timer/Counter and the Output Compare pins,
is defined by the combination of the Waveform Generation mode (WGMn3:0) and Compare Output mode (COMnx1:0) bits. The Compare Output mode bits do not affect the counting sequence,
while the Waveform Generation mode bits do. The COMnx1:0 bits control whether the PWM output generated should be inverted or not (inverted or non-inverted PWM). For non-PWM modes
the COMnx1:0 bits control whether the output should be set, cleared or toggle at a compare
match (see “Compare Match Output unit” on page 126).
For detailed timing information refer to “Timer/Counter timing diagrams” on page 134.
15.8.1
Normal mode
The simplest mode of operation is the Normal mode (WGMn3:0 = 0). In this mode the counting
direction is always up (incrementing), and no counter clear is performed. The counter simply
overruns when it passes its maximum 16-bit value (MAX = 0xFFFF) and then restarts from the
BOTTOM (0x0000). In normal operation the Timer/Counter Overflow Flag (TOVn) will be set in
the same timer clock cycle as the TCNTn becomes zero. The TOVn Flag in this case behaves
like a 17th bit, except that it is only set, not cleared. However, combined with the timer overflow
interrupt that automatically clears the TOVn Flag, the timer resolution can be increased by software. There are no special cases to consider in the Normal mode, a new counter value can be
written anytime.
The Input Capture unit is easy to use in Normal mode. However, observe that the maximum
interval between the external events must not exceed the resolution of the counter. If the interval
between events are too long, the timer overflow interrupt or the prescaler must be used to
extend the resolution for the capture unit.
The Output Compare units can be used to generate interrupts at some given time. Using the
Output Compare to generate waveforms in Normal mode is not recommended, since this will
occupy too much of the CPU time.
15.8.2
Clear Timer on Compare Match (CTC) mode
In Clear Timer on Compare or CTC mode (WGMn3:0 = 4 or 12), the OCRnA or ICRn Register
are used to manipulate the counter resolution. In CTC mode the counter is cleared to zero when
the counter value (TCNTn) matches either the OCRnA (WGMn3:0 = 4) or the ICRn (WGMn3:0 =
12). The OCRnA or ICRn define the top value for the counter, hence also its resolution. This
mode allows greater control of the compare match output frequency. It also simplifies the operation of counting external events.
The timing diagram for the CTC mode is shown in Figure 15-6 on page 128. The counter value
(TCNTn) increases until a compare match occurs with either OCRnA or ICRn, and then counter
(TCNTn) is cleared.
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Figure 15-6. CTC mode, timing diagram.
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(interrupt on TOP)
TCNTn
OCnA
(Toggle)
Period
(COMnA1:0 = 1)
1
2
3
4
An interrupt can be generated at each time the counter value reaches the TOP value by either
using the OCFnA or ICFn Flag according to the register used to define the TOP value. If the
interrupt is enabled, the interrupt handler routine can be used for updating the TOP value. However, changing the TOP to a value close to BOTTOM when the counter is running with none or a
low prescaler value must be done with care since the CTC mode does not have the double buffering feature. If the new value written to OCRnA or ICRn is lower than the current value of
TCNTn, the counter will miss the compare match. The counter will then have to count to its maximum value (0xFFFF) and wrap around starting at 0x0000 before the compare match can occur.
In many cases this feature is not desirable. An alternative will then be to use the fast PWM mode
using OCRnA for defining TOP (WGMn3:0 = 15) since the OCRnA then will be double buffered.
For generating a waveform output in CTC mode, the OCnA output can be set to toggle its logical
level on each compare match by setting the Compare Output mode bits to toggle mode
(COMnA1:0 = 1). The OCnA value will not be visible on the port pin unless the data direction for
the pin is set to output (DDR_OCnA = 1). The waveform generated will have a maximum frequency of fOCnA = fclk_I/O/2 when OCRnA is set to zero (0x0000). The waveform frequency is
defined by the following equation:
f clk_I/O
f OCnA = -------------------------------------------------2 ⋅ N ⋅ ( 1 + OCRnA )
The N variable represents the prescaler factor (1, 8, 64, 256, or 1024).
As for the Normal mode of operation, the TOVn Flag is set in the same timer clock cycle that the
counter counts from MAX to 0x0000.
15.8.3
128
Fast PWM mode
The fast Pulse Width Modulation or fast PWM mode (WGMn3:0 = 5, 6, 7, 14, or 15) provides a
high frequency PWM waveform generation option. The fast PWM differs from the other PWM
options by its single-slope operation. The counter counts from BOTTOM to TOP then restarts
from BOTTOM. In non-inverting Compare Output mode, the Output Compare (OCnx) is set on
the compare match between TCNTn and OCRnx, and cleared at TOP. In inverting Compare
Output mode output is cleared on compare match and set at TOP. Due to the single-slope operation, the operating frequency of the fast PWM mode can be twice as high as the phase correct
and phase and frequency correct PWM modes that use dual-slope operation. This high frequency makes the fast PWM mode well suited for power regulation, rectification, and DAC
applications. High frequency allows physically small sized external components (coils, capacitors), hence reduces total system cost.
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The PWM resolution for fast PWM can be fixed to 8-, 9-, or 10-bit, or defined by either ICRn or
OCRnA. The minimum resolution allowed is 2-bit (ICRn or OCRnA set to 0x0003), and the maximum resolution is 16-bit (ICRn or OCRnA set to MAX). The PWM resolution in bits can be
calculated by using the following equation:
log ( TOP + 1 )
R FPWM = ----------------------------------log ( 2 )
In fast PWM mode the counter is incremented until the counter value matches either one of the
fixed values 0x00FF, 0x01FF, or 0x03FF (WGMn3:0 = 5, 6, or 7), the value in ICRn (WGMn3:0 =
14), or the value in OCRnA (WGMn3:0 = 15). The counter is then cleared at the following timer
clock cycle. The timing diagram for the fast PWM mode is shown in Figure 15-7. The figure
shows fast PWM mode when OCRnA or ICRn is used to define TOP. The TCNTn value is in the
timing diagram shown as a histogram for illustrating the single-slope operation. The diagram
includes non-inverted and inverted PWM outputs. The small horizontal line marks on the TCNTn
slopes represent compare matches between OCRnx and TCNTn. The OCnx Interrupt Flag will
be set when a compare match occurs.
Figure 15-7. Fast PWM mode, timing diagram.
OCRnx / TOP Update
and TOVn Interrupt Flag
Set and OCnA Interrupt
Flag Set or ICFn
Interrupt Flag Set
(Interrupt on TOP)
TCNTn
OCnx
(COMnx1:0 = 2)
OCnx
(COMnx1:0 = 3)
Period
1
2
3
4
5
6
7
8
The Timer/Counter Overflow Flag (TOVn) is set each time the counter reaches TOP. In addition
the OCnA or ICFn Flag is set at the same timer clock cycle as TOVn is set when either OCRnA
or ICRn is used for defining the TOP value. If one of the interrupts are enabled, the interrupt handler routine can be used for updating the TOP and compare values.
When changing the TOP value the program must ensure that the new TOP value is higher or
equal to the value of all of the Compare Registers. If the TOP value is lower than any of the
Compare Registers, a compare match will never occur between the TCNTn and the OCRnx.
Note that when using fixed TOP values the unused bits are masked to zero when any of the
OCRnx Registers are written.
The procedure for updating ICRn differs from updating OCRnA when used for defining the TOP
value. The ICRn Register is not double buffered. This means that if ICRn is changed to a low
value when the counter is running with none or a low prescaler value, there is a risk that the new
ICRn value written is lower than the current value of TCNTn. The result will then be that the
counter will miss the compare match at the TOP value. The counter will then have to count to the
MAX value (0xFFFF) and wrap around starting at 0x0000 before the compare match can occur.
The OCRnA Register however, is double buffered. This feature allows the OCRnA I/O location
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to be written anytime. When the OCRnA I/O location is written the value written will be put into
the OCRnA Buffer Register. The OCRnA Compare Register will then be updated with the value
in the Buffer Register at the next timer clock cycle the TCNTn matches TOP. The update is done
at the same timer clock cycle as the TCNTn is cleared and the TOVn Flag is set.
Using the ICRn Register for defining TOP works well when using fixed TOP values. By using
ICRn, the OCRnA Register is free to be used for generating a PWM output on OCnA. However,
if the base PWM frequency is actively changed (by changing the TOP value), using the OCRnA
as TOP is clearly a better choice due to its double buffer feature.
In fast PWM mode, the compare units allow generation of PWM waveforms on the OCnx pins.
Setting the COMnx1:0 bits to two will produce a non-inverted PWM and an inverted PWM output
can be generated by setting the COMnx1:0 to three (see Table on page 137). The actual OCnx
value will only be visible on the port pin if the data direction for the port pin is set as output
(DDR_OCnx). The PWM waveform is generated by setting (or clearing) the OCnx Register at
the compare match between OCRnx and TCNTn, and clearing (or setting) the OCnx Register at
the timer clock cycle the counter is cleared (changes from TOP to BOTTOM).
The PWM frequency for the output can be calculated by the following equation:
f clk_I/O
f OCnxPWM = ---------------------------------N ⋅ ( 1 + TOP )
The N variable represents the prescaler divider (1, 8, 64, 256, or 1024).
The extreme values for the OCRnx Register represents special cases when generating a PWM
waveform output in the fast PWM mode. If the OCRnx is set equal to BOTTOM (0x0000) the output will be a narrow spike for each TOP+1 timer clock cycle. Setting the OCRnx equal to TOP
will result in a constant high or low output (depending on the polarity of the output set by the
COMnx1:0 bits.)
A frequency (with 50% duty cycle) waveform output in fast PWM mode can be achieved by setting OCnA to toggle its logical level on each compare match (COMnA1:0 = 1). This applies only
if OCR1A is used to define the TOP value (WGM13:0 = 15). The waveform generated will have
a maximum frequency of fOCnA = fclk_I/O/2 when OCRnA is set to zero (0x0000). This feature is
similar to the OCnA toggle in CTC mode, except the double buffer feature of the Output Compare unit is enabled in the fast PWM mode.
15.8.4
Phase correct PWM mode
The phase correct Pulse Width Modulation or phase correct PWM mode (WGMn3:0 = 1, 2, 3,
10, or 11) provides a high resolution phase correct PWM waveform generation option. The
phase correct PWM mode is, like the phase and frequency correct PWM mode, based on a dualslope operation. The counter counts repeatedly from BOTTOM (0x0000) to TOP and then from
TOP to BOTTOM. In non-inverting Compare Output mode, the Output Compare (OCnx) is
cleared on the compare match between TCNTn and OCRnx while upcounting, and set on the
compare match while downcounting. In inverting Output Compare mode, the operation is
inverted. The dual-slope operation has lower maximum operation frequency than single slope
operation. However, due to the symmetric feature of the dual-slope PWM modes, these modes
are preferred for motor control applications.
The PWM resolution for the phase correct PWM mode can be fixed to 8-, 9-, or 10-bit, or defined
by either ICRn or OCRnA. The minimum resolution allowed is 2-bit (ICRn or OCRnA set to
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0x0003), and the maximum resolution is 16-bit (ICRn or OCRnA set to MAX). The PWM resolution in bits can be calculated by using the following equation:
( TOP + 1 )
R PCPWM = log
----------------------------------log ( 2 )
In phase correct PWM mode the counter is incremented until the counter value matches either
one of the fixed values 0x00FF, 0x01FF, or 0x03FF (WGMn3:0 = 1, 2, or 3), the value in ICRn
(WGMn3:0 = 10), or the value in OCRnA (WGMn3:0 = 11). The counter has then reached the
TOP and changes the count direction. The TCNTn value will be equal to TOP for one timer clock
cycle. The timing diagram for the phase correct PWM mode is shown on Figure 15-8. The figure
shows phase correct PWM mode when OCRnA or ICRn is used to define TOP. The TCNTn
value is in the timing diagram shown as a histogram for illustrating the dual-slope operation. The
diagram includes non-inverted and inverted PWM outputs. The small horizontal line marks on
the TCNTn slopes represent compare matches between OCRnx and TCNTn. The OCnx Interrupt Flag will be set when a compare match occurs.
Figure 15-8. Phase correct PWM mode, timing diagram.
OCRnx/TOP Update and
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(interrupt on TOP)
TOVn Interrupt Flag Set
(interrupt on Bottom)
TCNTn
OCnx
(COMnx1:0 = 2)
OCnx
(COMnx1:0 = 3)
Period
1
2
3
4
The Timer/Counter Overflow Flag (TOVn) is set each time the counter reaches BOTTOM. When
either OCRnA or ICRn is used for defining the TOP value, the OCnA or ICFn Flag is set accordingly at the same timer clock cycle as the OCRnx Registers are updated with the double buffer
value (at TOP). The Interrupt Flags can be used to generate an interrupt each time the counter
reaches the TOP or BOTTOM value.
When changing the TOP value the program must ensure that the new TOP value is higher or
equal to the value of all of the Compare Registers. If the TOP value is lower than any of the
Compare Registers, a compare match will never occur between the TCNTn and the OCRnx.
Note that when using fixed TOP values, the unused bits are masked to zero when any of the
OCRnx Registers are written. As the third period shown in Figure 15-8 illustrates, changing the
TOP actively while the Timer/Counter is running in the phase correct mode can result in an
unsymmetrical output. The reason for this can be found in the time of update of the OCRnx Reg-
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ister. Since the OCRnx update occurs at TOP, the PWM period starts and ends at TOP. This
implies that the length of the falling slope is determined by the previous TOP value, while the
length of the rising slope is determined by the new TOP value. When these two values differ the
two slopes of the period will differ in length. The difference in length gives the unsymmetrical
result on the output.
It is recommended to use the phase and frequency correct mode instead of the phase correct
mode when changing the TOP value while the Timer/Counter is running. When using a static
TOP value there are practically no differences between the two modes of operation.
In phase correct PWM mode, the compare units allow generation of PWM waveforms on the
OCnx pins. Setting the COMnx1:0 bits to two will produce a non-inverted PWM and an inverted
PWM output can be generated by setting the COMnx1:0 to three (see Table 15-3 on page 138).
The actual OCnx value will only be visible on the port pin if the data direction for the port pin is
set as output (DDR_OCnx). The PWM waveform is generated by setting (or clearing) the OCnx
Register at the compare match between OCRnx and TCNTn when the counter increments, and
clearing (or setting) the OCnx Register at compare match between OCRnx and TCNTn when
the counter decrements. The PWM frequency for the output when using phase correct PWM can
be calculated by the following equation:
f clk_I/O
f OCnxPCPWM = --------------------------2 ⋅ N ⋅ TOP
The N variable represents the prescaler divider (1, 8, 64, 256, or 1024).
The extreme values for the OCRnx Register represent special cases when generating a PWM
waveform output in the phase correct PWM mode. If the OCRnx is set equal to BOTTOM the
output will be continuously low and if set equal to TOP the output will be continuously high for
non-inverted PWM mode. For inverted PWM the output will have the opposite logic values. If
OCR1A is used to define the TOP value (WGM13:0 = 11) and COM1A1:0 = 1, the OC1A output
will toggle with a 50% duty cycle.
15.8.5
Phase and frequency correct PWM mode
The phase and frequency correct Pulse Width Modulation, or phase and frequency correct PWM
mode (WGMn3:0 = 8 or 9) provides a high resolution phase and frequency correct PWM waveform generation option. The phase and frequency correct PWM mode is, like the phase correct
PWM mode, based on a dual-slope operation. The counter counts repeatedly from BOTTOM
(0x0000) to TOP and then from TOP to BOTTOM. In non-inverting Compare Output mode, the
Output Compare (OCnx) is cleared on the compare match between TCNTn and OCRnx while
upcounting, and set on the compare match while downcounting. In inverting Compare Output
mode, the operation is inverted. The dual-slope operation gives a lower maximum operation frequency compared to the single-slope operation. However, due to the symmetric feature of the
dual-slope PWM modes, these modes are preferred for motor control applications.
The main difference between the phase correct, and the phase and frequency correct PWM
mode is the time the OCRnx Register is updated by the OCRnx Buffer Register, (see Figure 158 on page 131 and Figure 15-9 on page 133).
The PWM resolution for the phase and frequency correct PWM mode can be defined by either
ICRn or OCRnA. The minimum resolution allowed is 2-bit (ICRn or OCRnA set to 0x0003), and
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the maximum resolution is 16-bit (ICRn or OCRnA set to MAX). The PWM resolution in bits can
be calculated using the following equation:
log ( TOP + 1 )
R PFCPWM = ----------------------------------log ( 2 )
In phase and frequency correct PWM mode the counter is incremented until the counter value
matches either the value in ICRn (WGMn3:0 = 8), or the value in OCRnA (WGMn3:0 = 9). The
counter has then reached the TOP and changes the count direction. The TCNTn value will be
equal to TOP for one timer clock cycle. The timing diagram for the phase correct and frequency
correct PWM mode is shown on Figure 15-9. The figure shows phase and frequency correct
PWM mode when OCRnA or ICRn is used to define TOP. The TCNTn value is in the timing diagram shown as a histogram for illustrating the dual-slope operation. The diagram includes noninverted and inverted PWM outputs. The small horizontal line marks on the TCNTn slopes represent compare matches between OCRnx and TCNTn. The OCnx Interrupt Flag will be set when a
compare match occurs.
Figure 15-9. Phase and frequency correct PWM mode, timing diagram.
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(interrupt on TOP)
OCRnx/TOP Updateand
TOVn Interrupt Flag Set
(interrupt on Bottom)
TCNTn
OCnx
(COMnx1:0 = 2)
OCnx
(COMnx1:0 = 3)
Period
1
2
3
4
The Timer/Counter Overflow Flag (TOVn) is set at the same timer clock cycle as the OCRnx
Registers are updated with the double buffer value (at BOTTOM). When either OCRnA or ICRn
is used for defining the TOP value, the OCnA or ICFn Flag set when TCNTn has reached TOP.
The Interrupt Flags can then be used to generate an interrupt each time the counter reaches the
TOP or BOTTOM value.
When changing the TOP value the program must ensure that the new TOP value is higher or
equal to the value of all of the Compare Registers. If the TOP value is lower than any of the
Compare Registers, a compare match will never occur between the TCNTn and the OCRnx.
As Figure 15-9 shows the output generated is, in contrast to the phase correct mode, symmetrical in all periods. Since the OCRnx Registers are updated at BOTTOM, the length of the rising
and the falling slopes will always be equal. This gives symmetrical output pulses and is therefore
frequency correct.
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Using the ICRn Register for defining TOP works well when using fixed TOP values. By using
ICRn, the OCRnA Register is free to be used for generating a PWM output on OCnA. However,
if the base PWM frequency is actively changed by changing the TOP value, using the OCRnA as
TOP is clearly a better choice due to its double buffer feature.
In phase and frequency correct PWM mode, the compare units allow generation of PWM waveforms on the OCnx pins. Setting the COMnx1:0 bits to two will produce a non-inverted PWM and
an inverted PWM output can be generated by setting the COMnx1:0 to three (see Table 15-3 on
page 138). The actual OCnx value will only be visible on the port pin if the data direction for the
port pin is set as output (DDR_OCnx). The PWM waveform is generated by setting (or clearing)
the OCnx Register at the compare match between OCRnx and TCNTn when the counter increments, and clearing (or setting) the OCnx Register at compare match between OCRnx and
TCNTn when the counter decrements. The PWM frequency for the output when using phase
and frequency correct PWM can be calculated by the following equation:
f clk_I/O
f OCnxPFCPWM = --------------------------2 ⋅ N ⋅ TOP
The N variable represents the prescaler divider (1, 8, 64, 256, or 1024).
The extreme values for the OCRnx Register represents special cases when generating a PWM
waveform output in the phase correct PWM mode. If the OCRnx is set equal to BOTTOM the
output will be continuously low and if set equal to TOP the output will be set to high for noninverted PWM mode. For inverted PWM the output will have the opposite logic values. If OCR1A
is used to define the TOP value (WGM13:0 = 9) and COM1A1:0 = 1, the OC1A output will toggle
with a 50% duty cycle.
15.9
Timer/Counter timing diagrams
The Timer/Counter is a synchronous design and the timer clock (clkTn) is therefore shown as a
clock enable signal in the following figures. The figures include information on when Interrupt
Flags are set, and when the OCRnx Register is updated with the OCRnx buffer value (only for
modes utilizing double buffering). Figure 15-10 shows a timing diagram for the setting of OCFnx.
Figure 15-10. Timer/Counter timing diagram, setting of OCFnx, no prescaling.
clkI/O
clkTn
(clkI/O /1)
TCNTn
OCRnx
OCRnx - 1
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx value
OCFnx
Figure 15-11 on page 135 shows the same timing data, but with the prescaler enabled.
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Figure 15-11. Timer/Counter timing diagram, setting of OCFnx, with prescaler (fclk_I/O/8).
clkI/O
clkTn
(clkI/O /8)
TCNTn
OCRnx - 1
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx value
OCRnx
OCFnx
Figure 15-12 shows the count sequence close to TOP in various modes. When using phase and
frequency correct PWM mode the OCRnx Register is updated at BOTTOM. The timing diagrams
will be the same, but TOP should be replaced by BOTTOM, TOP-1 by BOTTOM+1 and so on.
The same renaming applies for modes that set the TOVn Flag at BOTTOM.
Figure 15-12. Timer/Counter timing diagram, no prescaling.
clkI/O
clkTn
(clkI/O /1)
TCNTn
(CTC and FPWM)
TCNTn
(PC and PFC PWM)
TOP - 1
TOP
BOTTOM
BOTTOM + 1
TOP - 1
TOP
TOP - 1
TOP - 2
TOVn (FPWM)
and ICFn (if used
as TOP)
OCRnx
(update at TOP)
Old OCRnx value
New OCRnx value
Figure 15-13 on page 136 shows the same timing data, but with the prescaler enabled.
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Figure 15-13. Timer/Counter timing diagram, with prescaler (fclk_I/O/8).
clk I/O
clk Tn
(clkI/O /8)
TCNTn
(CTC and FPWM)
TCNTn
(PC and PFC PWM)
TOP - 1
TOP
BOTTOM
BOTTOM + 1
TOP - 1
TOP
TOP - 1
TOP - 2
TOVn (FPWM)
and ICF n (if used
as TOP)
OCRnx
Old OCRnx value
(update at TOP)
New OCRnx value
15.10 16-bit Timer/Counter register description
15.10.1
TCCR1A – Timer/Counter1 Control Register A
Bit
15.10.2
7
6
5
4
3
2
1
0
COM1A1
COM1A0
COM1B1
COM1B0
COM1C1
COM1C0
WGM11
WGM10
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TCCR1A
TCCR3A – Timer/Counter3 Control Register A
Bit
7
6
5
4
3
2
1
0
COM3A1
COM3A0
COM3B1
COM3B0
COM3C1
COM3C0
WGM31
WGM30
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TCCR3A
• Bit 7:6 – COMnA1:0: Compare Output Mode for Channel A
• Bit 5:4 – COMnB1:0: Compare Output Mode for Channel B
• Bit 3:2 – COMnC1:0: Compare Output Mode for Channel C
The COMnA1:0, COMnB1:0, and COMnC1:0 control the output compare pins (OCnA, OCnB,
and OCnC respectively) behavior. If one or both of the COMnA1:0 bits are written to one, the
OCnA output overrides the normal port functionality of the I/O pin it is connected to. If one or
both of the COMnB1:0 bits are written to one, the OCnB output overrides the normal port functionality of the I/O pin it is connected to. If one or both of the COMnC1:0 bits are written to one,
the OCnC output overrides the normal port functionality of the I/O pin it is connected to. However, note that the Data Direction Register (DDR) bit corresponding to the OCnA, OCnB or
OCnC pin must be set in order to enable the output driver.
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When the OCnA, OCnB or OCnC is connected to the pin, the function of the COMnx1:0 bits is
dependent of the WGMn3:0 bits setting. Table 15-1 shows the COMnx1:0 bit functionality when
the WGMn3:0 bits are set to a normal or a CTC mode (non-PWM).
Table 15-1.
Compare Output mode, non-PWM.
COMnA1/COMnB1/
COMnC1
COMnA0/COMnB0/
COMnC0
0
0
Normal port operation, OCnA/OCnB/OCnC
disconnected.
0
1
Toggle OCnA/OCnB/OCnC on compare match.
1
0
Clear OCnA/OCnB/OCnC on compare match (set
output to low level).
1
1
Set OCnA/OCnB/OCnC on compare match (set
output to high level).
Description
Table 15-2 shows the COMnx1:0 bit functionality when the WGMn3:0 bits are set to the fast
PWM mode.
Table 15-2.
Compare Output mode, fast PWM.
COMnA1/COMnB1/
COMnC0
COMnA0/COMnB0/
COMnC0
0
0
Normal port operation, OCnA/OCnB/OCnC
disconnected.
0
1
WGM13:0 = 14 or 15: Toggle OC1A on Compare
Match, OC1B and OC1C disconnected (normal port
operation). For all other WGM1 settings, normal port
operation, OC1A/OC1B/OC1C disconnected.
1
0
Clear OCnA/OCnB/OCnC on compare match, set
OCnA/OCnB/OCnC at TOP
1
1
Set OCnA/OCnB/OCnC on compare match, clear
OCnA/OCnB/OCnC at TOP
Note:
Description
A special case occurs when OCRnA/OCRnB/OCRnC equals TOP and
COMnA1/COMnB1/COMnC1 is set. In this case the compare match is ignored, but the set or clear
is done at TOP. See “Fast PWM mode” on page 104. for more details.
Table 15-3 on page 138 shows the COMnx1:0 bit functionality when the WGMn3:0 bits are set to
the phase correct and frequency correct PWM mode.
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Table 15-3.
Compare Output mode, phase correct and phase and frequency correct PWM.
COMnA1/COMnB/
COMnC1
COMnA0/COMnB0/
COMnC0
0
0
Normal port operation, OCnA/OCnB/OCnC
disconnected.
1
WGM13:0 = 8, 9 10 or 11: Toggle OC1A on
Compare Match, OC1B and OC1C
disconnected (normal port operation). For all
other WGM1 settings, normal port operation,
OC1A/OC1B/OC1C disconnected.
0
Clear OCnA/OCnB/OCnC on compare
match when up-counting. Set
OCnA/OCnB/OCnC on compare match
when counting down.
1
Set OCnA/OCnB/OCnC on compare match
when up-counting. Clear
OCnA/OCnB/OCnC on compare match
when counting down.
0
1
1
Note:
Description
A special case occurs when OCRnA/OCRnB/OCRnC equals TOP and
COMnA1/COMnB1//COMnC1 is set. See “Phase correct PWM mode” on page 106. for more
details.
• Bit 1:0 – WGMn1:0: Waveform Generation mode
Combined with the WGMn3:2 bits found in the TCCRnB Register, these bits control the counting
sequence of the counter, the source for maximum (TOP) counter value, and what type of waveform generation to be used, see Table 15-4 on page 138. Modes of operation supported by the
Timer/Counter unit are: Normal mode (counter), Clear Timer on Compare match (CTC) mode,
and three types of Pulse Width Modulation (PWM) modes. (See “Modes of operation” on page
103.).
Waveform Generation mode bit description (1).
Table 15-4.
Mode
WGMn3
WGMn2
(CTCn)
WGMn1
(PWMn1)
WGMn0
(PWMn0)
Timer/Counter mode of
operation
TOP
Update of
OCRnx at
TOVn flag
set on
0
0
0
0
0
Normal
0xFFFF
Immediate
MAX
1
0
0
0
1
PWM, phase correct, 8-bit
0x00FF
TOP
BOTTOM
2
0
0
1
0
PWM, phase correct, 9-bit
0x01FF
TOP
BOTTOM
3
0
0
1
1
PWM, phase correct, 10-bit
0x03FF
TOP
BOTTOM
4
0
1
0
0
CTC
OCRnA
Immediate
MAX
5
0
1
0
1
Fast PWM, 8-bit
0x00FF
TOP
TOP
6
0
1
1
0
Fast PWM, 9-bit
0x01FF
TOP
TOP
7
0
1
1
1
Fast PWM, 10-bit
0x03FF
TOP
TOP
8
1
0
0
0
PWM, phase and frequency
Correct
ICRn
BOTTOM
BOTTOM
9
1
0
0
1
PWM, phase and frequency
Correct
OCRnA
BOTTOM
BOTTOM
10
1
0
1
0
PWM, phase correct
ICRn
TOP
BOTTOM
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Waveform Generation mode bit description (1). (Continued)
Table 15-4.
Mode
WGMn3
WGMn2
(CTCn)
WGMn1
(PWMn1)
WGMn0
(PWMn0)
11
1
0
1
12
1
1
13
1
14
15
Note:
15.10.3
Timer/Counter mode of
operation
TOP
Update of
OCRnx at
TOVn flag
set on
1
PWM, phase correct
OCRnA
TOP
BOTTOM
0
0
CTC
ICRn
Immediate
MAX
1
0
1
(Reserved)
–
–
–
1
1
1
0
Fast PWM
ICRn
TOP
TOP
1
1
1
1
Fast PWM
OCRnA
TOP
TOP
1. The CTCn and PWMn1:0 bit definition names are obsolete. Use the WGMn2:0 definitions. However, the functionality and
location of these bits are compatible with previous versions of the timer.
TCCR1B – Timer/Counter1 Control Register B
Bit
15.10.4
7
6
5
4
3
2
1
ICNC1
ICES1
–
WGM13
WGM12
CS12
CS11
0
CS10
Read/write
R/W
R/W
R
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TCCR1B
TCCR3B – Timer/Counter3 Control Register B
Bit
7
6
5
4
3
2
1
0
ICNC3
ICES3
–
WGM33
WGM32
CS32
CS31
CS30
Read/write
R/W
R/W
R
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TCCR3B
• Bit 7 – ICNCn: Input Capture Noise Canceler
Setting this bit (to one) activates the Input Capture Noise Canceler. When the Noise Canceler is
activated, the input from the Input Capture Pin (ICPn) is filtered. The filter function requires four
successive equal valued samples of the ICPn pin for changing its output. The input capture is
therefore delayed by four Oscillator cycles when the noise canceler is enabled.
• Bit 6 – ICESn: Input Capture Edge Select
This bit selects which edge on the Input Capture Pin (ICPn) that is used to trigger a capture
event. When the ICESn bit is written to zero, a falling (negative) edge is used as trigger, and
when the ICESn bit is written to one, a rising (positive) edge will trigger the capture.
When a capture is triggered according to the ICESn setting, the counter value is copied into the
Input Capture Register (ICRn). The event will also set the Input Capture Flag (ICFn), and this
can be used to cause an Input Capture Interrupt, if this interrupt is enabled.
When the ICRn is used as TOP value (see description of the WGMn3:0 bits located in the
TCCRnA and the TCCRnB Register), the ICPn is disconnected and consequently the input capture function is disabled.
• Bit 5 – Reserved bit
This bit is reserved for future use. For ensuring compatibility with future devices, this bit must be
written to zero when TCCRnB is written.
• Bit 4:3 – WGMn3:2: Waveform Generation mode
See TCCRnA Register description.
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• Bit 2:0 – CSn2:0: Clock Select
The three clock select bits select the clock source to be used by the Timer/Counter, see Figure
14-8 on page 107 and Figure 14-9 on page 108.
Table 15-5.
Clock Select bit description.
CSn2
CSn1
CSn0
Description
0
0
0
No clock source. (Timer/Counter stopped)
0
0
1
clkI/O/1 (no prescaling
0
1
0
clkI/O/8 (from prescaler)
0
1
1
clkI/O/64 (from prescaler)
1
0
0
clkI/O/256 (from prescaler)
1
0
1
clkI/O/1024 (from prescaler)
1
1
0
External clock source on Tn pin. Clock on falling edge
1
1
1
External clock source on Tn pin. Clock on rising edge
If external pin modes are used for the Timer/Countern, transitions on the Tn pin will clock the
counter even if the pin is configured as an output. This feature allows software control of the
counting.
15.10.5
TCCR1C – Timer/Counter1 Control Register C
Bit
15.10.6
7
6
5
4
3
2
1
0
FOC1A
FOC1B
FOC1C
–
–
–
–
–
Read/write
W
W
W
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
TCCR1C
TCCR3C – Timer/Counter3 Control Register C
Bit
7
6
5
4
3
2
1
0
FOC3A
FOC3B
FOC3C
–
–
–
–
–
Read/write
W
W
W
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
TCCR3C
• Bit 7 – FOCnA: Force Output Compare for Channel A
• Bit 6 – FOCnB: Force Output Compare for Channel B
• Bit 5 – FOCnC: Force Output Compare for Channel C
The FOCnA/FOCnB/FOCnC bits are only active when the WGMn3:0 bits specifies a non-PWM
mode. When writing a logical one to the FOCnA/FOCnB/FOCnC bit, an immediate compare
match is forced on the waveform generation unit. The OCnA/OCnB/OCnC output is changed
according to its COMnx1:0 bits setting. Note that the FOCnA/FOCnB/FOCnC bits are implemented as strobes. Therefore it is the value present in the COMnx1:0 bits that determine the
effect of the forced compare.
A FOCnA/FOCnB/FOCnC strobe will not generate any interrupt nor will it clear the timer in Clear
Timer on Compare Match (CTC) mode using OCRnA as TOP.
The FOCnA/FOCnB/FOCnB bits are always read as zero.
• Bit 4:0 – Reserved bits
These bits are reserved for future use. For ensuring compatibility with future devices, these bits
must be written to zero when TCCRnC is written.
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15.10.7
TCNT1H and TCNT1L – Timer/Counter1
Bit
7
6
5
4
3
2
1
0
TCNT1[15:8]
TCNT1H
TCNT1[7:0]
15.10.8
TCNT1L
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
5
4
3
2
1
0
TCNT3H and TCNT3L – Timer/Counter3
Bit
7
6
TCNT3[15:8]
TCNT3H
TCNT3[7:0]
TCNT3L
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
The two Timer/Counter I/O locations (TCNTnH and TCNTnL, combined TCNTn) give direct
access, both for read and for write operations, to the Timer/Counter unit 16-bit counter. To
ensure that both the high and low bytes are read and written simultaneously when the CPU
accesses these registers, the access is performed using an 8-bit temporary High Byte Register
(TEMP). This temporary register is shared by all the other 16-bit registers. See “Accessing 16-bit
registers” on page 117.
Modifying the counter (TCNTn) while the counter is running introduces a risk of missing a compare match between TCNTn and one of the OCRnx Registers.
Writing to the TCNTn Register blocks (removes) the compare match on the following timer clock
for all compare units.
15.10.9
OCR1AH and OCR1AL – Output Compare Register 1 A
Bit
7
6
5
4
3
2
1
0
OCR1A[15:8]
OCR1AH
OCR1A[7:0]
OCR1AL
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
3
2
1
0
15.10.10 OCR1BH and OCR1BL – Output Compare Register 1 B
Bit
7
6
5
4
OCR1B[15:8]
OCR1BH
OCR1B[7:0]
OCR1BL
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
3
2
1
0
15.10.11 OCR1CH and OCR1CL – Output Compare Register 1 C
Bit
7
6
5
4
OCR1C[15:8]
OCR1CH
OCR1C[7:0]
OCR1CL
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
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15.10.12 OCR3AH and OCR3AL – Output Compare Register 3 A
Bit
7
6
5
4
3
2
1
0
OCR3A[15:8]
OCR3AH
OCR3A[7:0]
OCR3AL
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
3
2
1
0
15.10.13 OCR3BH and OCR3BL – Output Compare Register 3 B
Bit
7
6
5
4
OCR3B[15:8]
OCR3BH
OCR3B[7:0]
OCR3BL
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
3
2
1
0
15.10.14 OCR3CH and OCR3CL – Output Compare Register 3 C
Bit
7
6
5
4
OCR3C[15:8]
OCR3CH
OCR3C[7:0]
OCR3CL
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
The Output Compare Registers contain a 16-bit value that is continuously compared with the
counter value (TCNTn). A match can be used to generate an Output Compare interrupt, or to
generate a waveform output on the OCnx pin.
The Output Compare Registers are 16-bit in size. To ensure that both the high and low bytes are
written simultaneously when the CPU writes to these registers, the access is performed using an
8-bit temporary High Byte Register (TEMP). This temporary register is shared by all the other
16-bit registers. See “Accessing 16-bit registers” on page 117.
15.10.15 ICR1H and ICR1L – Input Capture Register 1
Bit
7
6
5
4
3
2
1
0
ICR1[15:8]
ICR1H
ICR1[7:0]
ICR1L
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
5
4
3
2
1
0
15.10.16 ICR3H and ICR3L – Input Capture Register 3
Bit
7
6
ICR3[15:8]
ICR3H
ICR3[7:0]
ICR3L
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
The Input Capture is updated with the counter (TCNTn) value each time an event occurs on the
ICPn pin (or optionally on the Analog Comparator output for Timer/Counter1). The Input Capture
can be used for defining the counter TOP value.
The Input Capture Register is 16-bit in size. To ensure that both the high and low bytes are read
simultaneously when the CPU accesses these registers, the access is performed using an 8-bit
temporary High Byte Register (TEMP). This temporary register is shared by all the other 16-bit
registers. See “Accessing 16-bit registers” on page 117.
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15.10.17 TIMSK1 – Timer/Counter1 Interrupt Mask Register
Bit
7
6
5
4
3
2
1
0
–
–
ICIE1
–
OCIE1C
OCIE1B
OCIE1A
TOIE1
Read/write
R
R
R/W
R
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TIMSK1
15.10.18 TIMSK3 – Timer/Counter3 Interrupt Mask Register
Bit
7
6
5
4
3
2
1
0
–
–
ICIE3
–
OCIE3C
OCIE3B
OCIE3A
TOIE3
Read/write
R
R
R/W
R
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TIMSK3
• Bit 5 – ICIEn: Timer/Countern, Input Capture Interrupt Enable
When this bit is written to one, and the I-flag in the Status Register is set (interrupts globally
enabled), the Timer/Countern Input Capture interrupt is enabled. The corresponding Interrupt
Vector (see “Interrupts” on page 68) is executed when the ICFn Flag, located in TIFRn, is set.
• Bit 3 – OCIEnC: Timer/Countern, Output Compare C Match Interrupt Enable
When this bit is written to one, and the I-flag in the Status Register is set (interrupts globally
enabled), the Timer/Countern Output Compare C Match interrupt is enabled. The corresponding
Interrupt Vector (see “Interrupts” on page 68) is executed when the OCFnC Flag, located in
TIFRn, is set.
• Bit 2 – OCIEnB: Timer/Countern, Output Compare B Match Interrupt Enable
When this bit is written to one, and the I-flag in the Status Register is set (interrupts globally
enabled), the Timer/Countern Output Compare B Match interrupt is enabled. The corresponding
Interrupt Vector (see “Interrupts” on page 68) is executed when the OCFnB Flag, located in
TIFRn, is set.
• Bit 1 – OCIEnA: Timer/Countern, Output Compare A Match Interrupt Enable
When this bit is written to one, and the I-flag in the Status Register is set (interrupts globally
enabled), the Timer/Countern Output Compare A Match interrupt is enabled. The corresponding
Interrupt Vector (see “Interrupts” on page 68) is executed when the OCFnA Flag, located in
TIFRn, is set.
• Bit 0 – TOIEn: Timer/Countern, Overflow Interrupt Enable
When this bit is written to one, and the I-flag in the Status Register is set (interrupts globally
enabled), the Timer/Countern Overflow interrupt is enabled. The corresponding Interrupt Vector
(see “Interrupts” on page 68) is executed when the TOVn Flag, located in TIFRn, is set.
15.10.19 TIFR1 – Timer/Counter1 Interrupt Flag Register
Bit
7
6
5
4
3
2
1
0
–
–
ICF1
–
OCF1C
OCF1B
OCF1A
TOV1
Read/write
R
R
R/W
R
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TIFR1
15.10.20 TIFR3 – Timer/Counter3 Interrupt Flag Register
Bit
7
6
5
4
3
2
1
0
–
–
ICF3
–
OCF3C
OCF3B
OCF3A
TOV3
Read/write
R
R
R/W
R
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TIFR3
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• Bit 5 – ICFn: Timer/Countern, Input Capture Flag
This flag is set when a capture event occurs on the ICPn pin. When the Input Capture Register
(ICRn) is set by the WGMn3:0 to be used as the TOP value, the ICFn Flag is set when the counter reaches the TOP value.
ICFn is automatically cleared when the Input Capture Interrupt Vector is executed. Alternatively,
ICFn can be cleared by writing a logic one to its bit location.
• Bit 3– OCFnC: Timer/Countern, Output Compare C Match Flag
This flag is set in the timer clock cycle after the counter (TCNTn) value matches the Output
Compare Register C (OCRnC).
Note that a Forced Output Compare (FOCnC) strobe will not set the OCFnC Flag.
OCFnC is automatically cleared when the Output Compare Match C Interrupt Vector is executed. Alternatively, OCFnC can be cleared by writing a logic one to its bit location.
• Bit 2 – OCFnB: Timer/Counter1, Output Compare B Match Flag
This flag is set in the timer clock cycle after the counter (TCNTn) value matches the Output
Compare Register B (OCRnB).
Note that a Forced Output Compare (FOCnB) strobe will not set the OCFnB Flag.
OCFnB is automatically cleared when the Output Compare Match B Interrupt Vector is executed. Alternatively, OCFnB can be cleared by writing a logic one to its bit location.
• Bit 1 – OCF1A: Timer/Counter1, Output Compare A Match Flag
This flag is set in the timer clock cycle after the counter (TCNTn value matches the Output Compare Register A (OCRnA).
Note that a Forced Output Compare (FOCnA) strobe will not set the OCFnA Flag.
OCFnA is automatically cleared when the Output Compare Match A Interrupt Vector is executed. Alternatively, OCFnA can be cleared by writing a logic one to its bit location.
• Bit 0 – TOVn: Timer/Countern, Overflow Flag
The setting of this flag is dependent of the WGMn3:0 bits setting. In Normal and CTC modes,
the TOVn Flag is set when the timer overflows. Refer to Table 15-4 on page 138 for the TOVn
Flag behavior when using another WGMn3:0 bit setting.
TOVn is automatically cleared when the Timer/Countern Overflow Interrupt Vector is executed.
Alternatively, TOVn can be cleared by writing a logic one to its bit location.
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16. 8-bit Timer/Counter2 with PWM and asynchronous operation
Timer/Counter2 is a general purpose, single channel, 8-bit Timer/Counter module. The main
features are:
•
•
•
•
•
•
•
16.1
Single channel counter
Clear timer on compare match (auto reload)
Glitch-free, phase correct pulse width modulator (PWM)
Frequency generator
10-bit clock prescaler
Overflow and compare match interrupt sources (TOV2, OCF2A and OCF2B)
Allows clocking from external 32kHz watch crystal independent of the I/O clock
Overview
A simplified block diagram of the 8-bit Timer/Counter is shown in Figure 16-1. For the actual
placement of I/O pins, see “Pin configurations” on page 3. CPU accessible I/O Registers, including I/O bits and I/O pins, are shown in bold. The device-specific I/O Register and bit locations
are listed in the “8-bit Timer/Counter register description” on page 156.
The Power Reduction Timer/Counter2 bit, PRTIM2, in “PRR0 – Power Reduction Register 0” on
page 54 must be written to zero to enable Timer/Counter2 module.
Figure 16-1. 8-bit Timer/Counter, block diagram.
Count
TOVn
(int.req.)
Clear
Direction
Control logic
clkTn
TOSC1
T/C
oscillator
TOP
BOTTOM
TOSC2
Prescaler
clkI/O
Timer/counter
TCNTn
=
=0
OCnA
(int.req.)
Waveform
generation
=
OCnA
OCRnA
DATA BUS
Fixed
TOP
value
Waveform
generation
=
OCRnB
OCnB
(int.req.)
Synchronized status flags
Synchronization unit
OCnB
clkI/O
clkASY
Status flags
ASSRn
TCCRnA
asynchronous mode
select (ASn)
TCCRnB
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16.1.1
Registers
The Timer/Counter (TCNT2) and Output Compare Register (OCR2A and OCR2B) are 8-bit registers. Interrupt request (abbreviated to Int.Req.) signals are all visible in the Timer Interrupt Flag
Register (TIFR2). All interrupts are individually masked with the Timer Interrupt Mask Register
(TIMSK2). TIFR2 and TIMSK2 are not shown in the figure.
The Timer/Counter can be clocked internally, via the prescaler, or asynchronously clocked from
the TOSC1/2 pins, as detailed later in this section. The asynchronous operation is controlled by
the Asynchronous Status Register (ASSR). The Clock Select logic block controls which clock
source the Timer/Counter uses to increment (or decrement) its value. The Timer/Counter is inactive when no clock source is selected. The output from the Clock Select logic is referred to as the
timer clock (clkT2).
The double buffered Output Compare Register (OCR2A and OCR2B) are compared with the
Timer/Counter value at all times. The result of the compare can be used by the Waveform Generator to generate a PWM or variable frequency output on the Output Compare pins (OC2A and
OC2B). See “Output Compare unit” on page 147. for details. The compare match event will also
set the Compare Flag (OCF2A or OCF2B) which can be used to generate an Output Compare
interrupt request.
16.1.2
Definitions
Many register and bit references in this document are written in general form. A lower case “n”
replaces the Timer/Counter number, in this case 2. However, when using the register or bit
defines in a program, the precise form must be used, that is, TCNT2 for accessing
Timer/Counter2 counter value and so on.
The definitions in the table below are also used extensively throughout the section.
16.2
BOTTOM
The counter reaches the BOTTOM when it becomes zero (0x00).
MAX
The counter reaches its MAXimum when it becomes 0xFF (decimal 255).
TOP
The counter reaches the TOP when it becomes equal to the highest value in the
count sequence. The TOP value can be assigned to be the fixed value 0xFF
(MAX) or the value stored in the OCR2A Register. The assignment is dependent
on the mode of operation.
Timer/Counter clock sources
The Timer/Counter can be clocked by an internal synchronous or an external asynchronous
clock source. The clock source clkT2 is by default equal to the MCU clock, clkI/O. When the AS2
bit in the ASSR Register is written to logic one, the clock source is taken from the Timer/Counter
Oscillator connected to TOSC1 and TOSC2. For details on asynchronous operation, see “ASSR
– Asynchronous Status Register” on page 161. For details on clock sources and prescaler, see
“Timer/Counter prescaler” on page 164.
16.3
Counter unit
The main part of the 8-bit Timer/Counter is the programmable bi-directional counter unit. Figure
16-2 on page 147 shows a block diagram of the counter and its surrounding environment.
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Figure 16-2. Counter unit block diagram.
TOVn
(int.req.)
DATA BUS
TOSC1
count
TCNTn
clear
clk Tn
Control logic
Prescaler
T/C
oscillator
direction
bottom
TOSC2
top
clkI/O
Signal description (internal signals):
count
Increment or decrement TCNT2 by 1.
direction
Selects between increment and decrement.
clear
Clear TCNT2 (set all bits to zero).
clkTn
Timer/Counter clock, referred to as clkT2 in the following.
top
Signalizes that TCNT2 has reached maximum value.
bottom
Signalizes that TCNT2 has reached minimum value (zero).
Depending on the mode of operation used, the counter is cleared, incremented, or decremented
at each timer clock (clkT2). clkT2 can be generated from an external or internal clock source,
selected by the Clock Select bits (CS22:0). When no clock source is selected (CS22:0 = 0) the
timer is stopped. However, the TCNT2 value can be accessed by the CPU, regardless of
whether clkT2 is present or not. A CPU write overrides (has priority over) all counter clear or
count operations.
The counting sequence is determined by the setting of the WGM21 and WGM20 bits located in
the Timer/Counter Control Register (TCCR2A) and the WGM22 located in the Timer/Counter
Control Register B (TCCR2B). There are close connections between how the counter behaves
(counts) and how waveforms are generated on the Output Compare outputs OC2A and OC2B.
For more details about advanced counting sequences and waveform generation, see “Modes of
operation” on page 150.
The Timer/Counter Overflow Flag (TOV2) is set according to the mode of operation selected by
the WGM22:0 bits. TOV2 can be used for generating a CPU interrupt.
16.4
Output Compare unit
The 8-bit comparator continuously compares TCNT2 with the Output Compare Register
(OCR2A and OCR2B). Whenever TCNT2 equals OCR2A or OCR2B, the comparator signals a
match. A match will set the Output Compare Flag (OCF2A or OCF2B) at the next timer clock
cycle. If the corresponding interrupt is enabled, the Output Compare Flag generates an Output
Compare interrupt. The Output Compare Flag is automatically cleared when the interrupt is executed. Alternatively, the Output Compare Flag can be cleared by software by writing a logical
one to its I/O bit location. The Waveform Generator uses the match signal to generate an output
according to operating mode set by the WGM22:0 bits and Compare Output mode (COM2x1:0)
bits. The max and bottom signals are used by the Waveform Generator for handling the special
cases of the extreme values in some modes of operation (“Modes of operation” on page 150).
Figure 15-10 on page 134 shows a block diagram of the Output Compare unit.
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Figure 16-3. Output Compare unit, block diagram.
DATA BUS
OCRnx
TCNTn
= (8-bit comparator)
OCFnx (int.req.)
top
bottom
Waveform generator
OCnx
FOCn
WGMn1:0
COMnX1:0
The OCR2x Register is double buffered when using any of the Pulse Width Modulation (PWM)
modes. For the Normal and Clear Timer on Compare (CTC) modes of operation, the double
buffering is disabled. The double buffering synchronizes the update of the OCR2x Compare
Register to either top or bottom of the counting sequence. The synchronization prevents the
occurrence of odd-length, non-symmetrical PWM pulses, thereby making the output glitch-free.
The OCR2x Register access may seem complex, but this is not case. When the double buffering
is enabled, the CPU has access to the OCR2x Buffer Register, and if double buffering is disabled the CPU will access the OCR2x directly.
16.4.1
Force output compare
In non-PWM waveform generation modes, the match output of the comparator can be forced by
writing a one to the Force Output Compare (FOC2x) bit. Forcing compare match will not set the
OCF2x Flag or reload/clear the timer, but the OC2x pin will be updated as if a real compare
match had occurred (the COM2x1:0 bits settings define whether the OC2x pin is set, cleared or
toggled).
16.4.2
Compare Match Blocking by TCNT2 Write
All CPU write operations to the TCNT2 Register will block any compare match that occurs in the
next timer clock cycle, even when the timer is stopped. This feature allows OCR2x to be initialized to the same value as TCNT2 without triggering an interrupt when the Timer/Counter clock is
enabled.
16.4.3
Using the Output Compare unit
Since writing TCNT2 in any mode of operation will block all compare matches for one timer clock
cycle, there are risks involved when changing TCNT2 when using the Output Compare channel,
independently of whether the Timer/Counter is running or not. If the value written to TCNT2
equals the OCR2x value, the compare match will be missed, resulting in incorrect waveform
generation. Similarly, do not write the TCNT2 value equal to BOTTOM when the counter is
downcounting.
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The setup of the OC2x should be performed before setting the Data Direction Register for the
port pin to output. The easiest way of setting the OC2x value is to use the Force Output Compare (FOC2x) strobe bit in Normal mode. The OC2x Register keeps its value even when
changing between Waveform Generation modes.
Be aware that the COM2x1:0 bits are not double buffered together with the compare value.
Changing the COM2x1:0 bits will take effect immediately.
16.5
Compare Match Output unit
The Compare Output mode (COM2x1:0) bits have two functions. The Waveform Generator uses
the COM2x1:0 bits for defining the Output Compare (OC2x) state at the next compare match.
Also, the COM2x1:0 bits control the OC2x pin output source. Figure 16-4 shows a simplified
schematic of the logic affected by the COM2x1:0 bit setting. The I/O Registers, I/O bits, and I/O
pins in the figure are shown in bold. Only the parts of the general I/O Port Control Registers
(DDR and PORT) that are affected by the COM2x1:0 bits are shown. When referring to the
OC2x state, the reference is for the internal OC2x Register, not the OC2x pin.
Figure 16-4. Compare Match Output unit, schematic.
COMnx1
COMnx0
FOCnx
Waveform
generator
D
Q
1
OCnx
DATA BUS
D
0
OCnx
pin
Q
PORT
D
Q
DDR
clk I/O
The general I/O port function is overridden by the Output Compare (OC2x) from the Waveform
Generator if either of the COM2x1:0 bits are set. However, the OC2x pin direction (input or output) is still controlled by the Data Direction Register (DDR) for the port pin. The Data Direction
Register bit for the OC2x pin (DDR_OC2x) must be set as output before the OC2x value is visible on the pin. The port override function is independent of the Waveform Generation mode.
The design of the Output Compare pin logic allows initialization of the OC2x state before the output is enabled. Note that some COM2x1:0 bit settings are reserved for certain modes of
operation. See “8-bit Timer/Counter register description” on page 156.
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16.5.1
Compare Output mode and Waveform generating
The Waveform Generator uses the COM2x1:0 bits differently in normal, CTC, and PWM modes.
For all modes, setting the COM2x1:0 = 0 tells the Waveform Generator that no action on the
OC2x Register is to be performed on the next compare match. For compare output actions in the
non-PWM modes refer to Table 16-4 on page 157. For fast PWM mode, refer to Table 16-5 on
page 158, and for phase correct PWM refer to Table 16-6 on page 158.
A change of the COM2x1:0 bits state will have effect at the first compare match after the bits are
written. For non-PWM modes, the action can be forced to have immediate effect by using the
FOC2x strobe bits.
16.6
Modes of operation
The mode of operation, that is, the behavior of the Timer/Counter and the Output Compare pins,
is defined by the combination of the Waveform Generation mode (WGM22:0) and Compare Output mode (COM2x1:0) bits. The Compare Output mode bits do not affect the counting sequence,
while the Waveform Generation mode bits do. The COM2x1:0 bits control whether the PWM output generated should be inverted or not (inverted or non-inverted PWM). For non-PWM modes
the COM2x1:0 bits control whether the output should be set, cleared, or toggled at a compare
match (see “Compare Match Output unit” on page 149).
For detailed timing information refer to Section “Timer/Counter timing diagrams” on page 154.
16.6.1
Normal mode
The simplest mode of operation is the Normal mode (WGM22:0 = 0). In this mode the counting
direction is always up (incrementing), and no counter clear is performed. The counter simply
overruns when it passes its maximum 8-bit value (TOP = 0xFF) and then restarts from the bottom (0x00). In normal operation the Timer/Counter Overflow Flag (TOV2) will be set in the same
timer clock cycle as the TCNT2 becomes zero. The TOV2 Flag in this case behaves like a ninth
bit, except that it is only set, not cleared. However, combined with the timer overflow interrupt
that automatically clears the TOV2 Flag, the timer resolution can be increased by software.
There are no special cases to consider in the Normal mode, a new counter value can be written
anytime.
The Output Compare unit can be used to generate interrupts at some given time. Using the Output Compare to generate waveforms in Normal mode is not recommended, since this will
occupy too much of the CPU time.
16.6.2
Clear Timer on Compare Match (CTC) mode
In Clear Timer on Compare or CTC mode (WGM22:0 = 2), the OCR2A Register is used to
manipulate the counter resolution. In CTC mode the counter is cleared to zero when the counter
value (TCNT2) matches the OCR2A. The OCR2A defines the top value for the counter, hence
also its resolution. This mode allows greater control of the compare match output frequency. It
also simplifies the operation of counting external events.
The timing diagram for the CTC mode is shown in Table 16-5 on page 151. The counter value
(TCNT2) increases until a compare match occurs between TCNT2 and OCR2A, and then counter (TCNT2) is cleared.
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Figure 16-5. CTC mode, timing diagram.
OCnx Interrupt Flag Set
TCNTn
OCnx
(Toggle)
Period
(COMnx1:0 = 1)
1
2
3
4
An interrupt can be generated each time the counter value reaches the TOP value by using the
OCF2A Flag. If the interrupt is enabled, the interrupt handler routine can be used for updating
the TOP value. However, changing TOP to a value close to BOTTOM when the counter is running with none or a low prescaler value must be done with care since the CTC mode does not
have the double buffering feature. If the new value written to OCR2A is lower than the current
value of TCNT2, the counter will miss the compare match. The counter will then have to count to
its maximum value (0xFF) and wrap around starting at 0x00 before the compare match can
occur.
For generating a waveform output in CTC mode, the OC2A output can be set to toggle its logical
level on each compare match by setting the Compare Output mode bits to toggle mode
(COM2A1:0 = 1). The OC2A value will not be visible on the port pin unless the data direction for
the pin is set to output. The waveform generated will have a maximum frequency of fOC2A =
fclk_I/O/2 when OCR2A is set to zero (0x00). The waveform frequency is defined by the following
equation:
f clk_I/O
f OCnx = ------------------------------------------------2 ⋅ N ⋅ ( 1 + OCRnx )
The N variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024).
As for the Normal mode of operation, the TOV2 Flag is set in the same timer clock cycle that the
counter counts from MAX to 0x00.
16.6.3
Fast PWM mode
The fast Pulse Width Modulation or fast PWM mode (WGM22:0 = 3 or 7) provides a high frequency PWM waveform generation option. The fast PWM differs from the other PWM option by
its single-slope operation. The counter counts from BOTTOM to TOP then restarts from BOTTOM. TOP is defined as 0xFF when WGM22:0 = 3, and OCR2A when MGM22:0 = 7. In noninverting Compare Output mode, the Output Compare (OC2x) is cleared on the compare match
between TCNT2 and OCR2x, and set at BOTTOM. In inverting Compare Output mode, the output is set on compare match and cleared at BOTTOM. Due to the single-slope operation, the
operating frequency of the fast PWM mode can be twice as high as the phase correct PWM
mode that uses dual-slope operation. This high frequency makes the fast PWM mode well suited
for power regulation, rectification, and DAC applications. High frequency allows physically small
sized external components (coils, capacitors), and therefore reduces total system cost.
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In fast PWM mode, the counter is incremented until the counter value matches the TOP value.
The counter is then cleared at the following timer clock cycle. The timing diagram for the fast
PWM mode is shown in Figure 16-6. The TCNT2 value is in the timing diagram shown as a histogram for illustrating the single-slope operation. The diagram includes non-inverted and
inverted PWM outputs. The small horizontal line marks on the TCNT2 slopes represent compare
matches between OCR2x and TCNT2.
Figure 16-6. Fast PWM mode, timing diagram.
OCRnx Interrupt Flag Set
OCRnx Update and
TOVn Interrupt Flag Set
TCNTn
OCnx
(COMnx1:0 = 2)
OCnx
(COMnx1:0 = 3)
Period
1
2
3
4
5
6
7
The Timer/Counter Overflow Flag (TOV2) is set each time the counter reaches TOP. If the interrupt is enabled, the interrupt handler routine can be used for updating the compare value.
In fast PWM mode, the compare unit allows generation of PWM waveforms on the OC2x pin.
Setting the COM2x1:0 bits to two will produce a non-inverted PWM and an inverted PWM output
can be generated by setting the COM2x1:0 to three. TOP is defined as 0xFF when WGM2:0 = 3,
and OCR2A when WGM2:0 = 7 (See Table 16-2 on page 157). The actual OC2x value will only
be visible on the port pin if the data direction for the port pin is set as output. The PWM waveform is generated by setting (or clearing) the OC2x Register at the compare match between
OCR2x and TCNT2, and clearing (or setting) the OC2x Register at the timer clock cycle the
counter is cleared (changes from TOP to BOTTOM).
The PWM frequency for the output can be calculated by the following equation:
f clk_I/O
f OCnxPWM = ----------------N ⋅ 256
The N variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024).
The extreme values for the OCR2A Register represent special cases when generating a PWM
waveform output in the fast PWM mode. If the OCR2A is set equal to BOTTOM, the output will
be a narrow spike for each MAX+1 timer clock cycle. Setting the OCR2A equal to MAX will result
in a constantly high or low output (depending on the polarity of the output set by the COM2A1:0
bits.)
A frequency (with 50% duty cycle) waveform output in fast PWM mode can be achieved by setting OC2x to toggle its logical level on each compare match (COM2x1:0 = 1). The waveform
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generated will have a maximum frequency of foc2 = fclk_I/O/2 when OCR2A is set to zero. This feature is similar to the OC2A toggle in CTC mode, except the double buffer feature of the Output
Compare unit is enabled in the fast PWM mode.
16.6.4
Phase correct PWM mode
The phase correct PWM mode (WGM22:0 = 1 or 5) provides a high resolution phase correct
PWM waveform generation option. The phase correct PWM mode is based on a dual-slope
operation. The counter counts repeatedly from BOTTOM to TOP and then from TOP to BOTTOM. TOP is defined as 0xFF when WGM22:0 = 1, and OCR2A when MGM22:0 = 5. In noninverting Compare Output mode, the Output Compare (OC2x) is cleared on the compare match
between TCNT2 and OCR2x while upcounting, and set on the compare match while downcounting. In inverting Output Compare mode, the operation is inverted. The dual-slope operation has
lower maximum operation frequency than single slope operation. However, due to the symmetric feature of the dual-slope PWM modes, these modes are preferred for motor control
applications.
In phase correct PWM mode the counter is incremented until the counter value matches TOP.
When the counter reaches TOP, it changes the count direction. The TCNT2 value will be equal
to TOP for one timer clock cycle. The timing diagram for the phase correct PWM mode is shown
on Figure 16-7. The TCNT2 value is in the timing diagram shown as a histogram for illustrating
the dual-slope operation. The diagram includes non-inverted and inverted PWM outputs. The
small horizontal line marks on the TCNT2 slopes represent compare matches between OCR2x
and TCNT2.
Figure 16-7. Phase correct PWM mode, timing diagram.
OCnx Interrupt Flag Set
OCRnx update
TOVn Interrupt Flag Set
TCNTn
OCnx
(COMnx1:0 = 2)
OCnx
(COMnx1:0 = 3)
Period
1
2
3
The Timer/Counter Overflow Flag (TOV2) is set each time the counter reaches BOTTOM. The
Interrupt Flag can be used to generate an interrupt each time the counter reaches the BOTTOM
value.
In phase correct PWM mode, the compare unit allows generation of PWM waveforms on the
OC2x pin. Setting the COM2x1:0 bits to two will produce a non-inverted PWM. An inverted PWM
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output can be generated by setting the COM2x1:0 to three. TOP is defined as 0xFF when
WGM2:0 = 3, and OCR2A when MGM2:0 = 7 (see Table 16-3 on page 157). The actual OC2x
value will only be visible on the port pin if the data direction for the port pin is set as output. The
PWM waveform is generated by clearing (or setting) the OC2x Register at the compare match
between OCR2x and TCNT2 when the counter increments, and setting (or clearing) the OC2x
Register at compare match between OCR2x and TCNT2 when the counter decrements. The
PWM frequency for the output when using phase correct PWM can be calculated by the following equation:
f clk_I/O
f OCnxPCPWM = ----------------N ⋅ 510
The N variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024).
The extreme values for the OCR2A Register represent special cases when generating a PWM
waveform output in the phase correct PWM mode. If the OCR2A is set equal to BOTTOM, the
output will be continuously low and if set equal to MAX the output will be continuously high for
non-inverted PWM mode. For inverted PWM the output will have the opposite logic values.
At the very start of period 2 in Figure 16-7 on page 153 OCnx has a transition from high to low
even though there is no Compare Match. The point of this transition is to guarantee symmetry
around BOTTOM. There are two cases that give a transition without Compare Match.
• OCR2A changes its value from MAX, like in Figure 16-7 on page 153. When the OCR2A
value is MAX the OCn pin value is the same as the result of a down-counting compare match.
To ensure symmetry around BOTTOM the OCn value at MAX must correspond to the result
of an up-counting Compare Match
• The timer starts counting from a value higher than the one in OCR2A, and for that reason
misses the Compare Match and hence the OCn change that would have happened on the
way up
16.7
Timer/Counter timing diagrams
The following figures show the Timer/Counter in synchronous mode, and the timer clock (clkT2)
is therefore shown as a clock enable signal. In asynchronous mode, clkI/O should be replaced by
the Timer/Counter Oscillator clock. The figures include information on when Interrupt Flags are
set. Figure 16-8 contains timing data for basic Timer/Counter operation. The figure shows the
count sequence close to the MAX value in all modes other than phase correct PWM mode.
Figure 16-8. Timer/Counter timing diagram, no prescaling.
clkI/O
clkTn
(clkI/O /1)
TCNTn
MAX - 1
MAX
BOTTOM
BOTTOM + 1
TOVn
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Figure 16-9 shows the same timing data, but with the prescaler enabled.
Figure 16-9. Timer/Counter timing diagram, with prescaler (fclk_I/O/8).
clkI/O
clkTn
(clkI/O /8)
TCNTn
MAX - 1
MAX
BOTTOM
BOTTOM + 1
TOVn
Figure 16-10 shows the setting of OCF2A in all modes except CTC mode.
Figure 16-10. Timer/Counter timing diagram, setting of OCF2A, with prescaler (fclk_I/O/8).
clkI/O
clkTn
(clkI/O /8)
TCNTn
OCRnx
OCRnx - 1
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx value
OCFnx
Figure 16-11 on page 156 shows the setting of OCF2A and the clearing of TCNT2 in CTC mode.
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Figure 16-11. Timer/Counter timing diagram, clear timer on compare match mode, with prescaler (fclk_I/O/8).
clkI/O
clkTn
(clkI/O /8)
TCNTn
(CTC)
TOP - 1
TOP
OCRnx
BOTTOM
BOTTOM + 1
TOP
OCFnx
16.8
16.8.1
8-bit Timer/Counter register description
TCCR2A – Timer/Counter Control Register A
Bit
7
6
5
4
3
2
1
COM2A1
COM2A0
COM2B1
COM2B0
–
–
WGM21
0
WGM20
Read/write
R/W
R/W
R/W
R/W
R
R
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TCCR2A
• Bits 7:6 – COM2A1:0: Compare Match Output A mode
These bits control the Output Compare pin (OC2A) behavior. If one or both of the COM2A1:0
bits are set, the OC2A output overrides the normal port functionality of the I/O pin it is connected
to. However, note that the Data Direction Register (DDR) bit corresponding to the OC2A pin
must be set in order to enable the output driver.
When OC2A is connected to the pin, the function of the COM2A1:0 bits depends on the
WGM22:0 bit setting. Table 16-1 shows the COM2A1:0 bit functionality when the WGM22:0 bits
are set to a normal or CTC mode (non-PWM).
Table 16-1.
156
Compare output mode, non-PWM mode.
COM2A1
COM2A0
Description
0
0
Normal port operation, OC2A disconnected
0
1
Toggle OC2A on Compare Match
1
0
Clear OC2A on Compare Match
1
1
Set OC2A on Compare Match
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Table 16-2 shows the COM2A1:0 bit functionality when the WGM21:0 bits are set to fast PWM
mode.
Table 16-2.
Compare Output mode, fast PWM mode (1).
COM2A1
COM2A0
0
0
Normal port operation, OC2A disconnected
0
1
WGM22 = 0: Normal Port Operation, OC0A Disconnected.
WGM22 = 1: Toggle OC2A on Compare Match.
1
0
Clear OC2A on Compare Match, set OC2A at TOP
1
1
Set OC2A on Compare Match, clear OC2A at TOP
Note:
Description
1. A special case occurs when OCR2A equals TOP and COM2A1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See “Fast PWM mode” on page 151
for more details.
Table 16-3 shows the COM2A1:0 bit functionality when the WGM22:0 bits are set to phase correct PWM mode.
Table 16-3.
Compare Output mode, phase correct PWM mode (1).
COM2A1
COM2A0
0
0
Normal port operation, OC2A disconnected
0
1
WGM22 = 0: Normal Port Operation, OC2A Disconnected.
WGM22 = 1: Toggle OC2A on Compare Match.
1
0
Clear OC2A on Compare Match when up-counting. Set OC2A on Compare
Match when down-counting.
1
1
Set OC2A on Compare Match when up-counting. Clear OC2A on Compare
Match when down-counting.
Note:
Description
1. A special case occurs when OCR2A equals TOP and COM2A1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See “Phase correct PWM mode” on
page 153 for more details.
• Bits 5:4 – COM2B1:0: Compare Match Output B mode
These bits control the Output Compare pin (OC2B) behavior. If one or both of the COM2B1:0
bits are set, the OC2B output overrides the normal port functionality of the I/O pin it is connected
to. However, note that the Data Direction Register (DDR) bit corresponding to the OC2B pin
must be set in order to enable the output driver.
When OC2B is connected to the pin, the function of the COM2B1:0 bits depends on the
WGM22:0 bit setting. Table 16-4 shows the COM2B1:0 bit functionality when the WGM22:0 bits
are set to a normal or CTC mode (non-PWM).
Table 16-4.
Compare Output mode, non-PWM mode.
COM2B1
COM2B0
Description
0
0
Normal port operation, OC2B disconnected
0
1
Toggle OC2B on Compare Match
1
0
Clear OC2B on Compare Match
1
1
Set OC2B on Compare Match
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Table 16-5 shows the COM2B1:0 bit functionality when the WGM22:0 bits are set to fast PWM
mode.
Compare Output mode, fast PWM mode (1).
Table 16-5.
COM2B1
COM2B0
0
0
Normal port operation, OC2B disconnected.
0
1
Reserved
1
0
Clear OC2B on Compare Match, set OC2B at TOP
1
1
Set OC2B on Compare Match, clear OC2B at TOP
Note:
Description
1. A special case occurs when OCR2B equals TOP and COM2B1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See “Fast PWM mode” on page 151
for more details.
Table 16-6 shows the COM2B1:0 bit functionality when the WGM22:0 bits are set to phase correct PWM mode.
Compare Output mode, phase correct PWM mode (1).
Table 16-6.
COM2B1
COM2B0
0
0
Normal port operation, OC2B disconnected
0
1
Reserved
1
0
Clear OC2B on Compare Match when up-counting. Set OC2B on Compare
Match when down-counting
1
1
Set OC2B on Compare Match when up-counting. Clear OC2B on Compare
Match when down-counting
Note:
Description
1. A special case occurs when OCR2B equals TOP and COM2B1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See “Phase correct PWM mode” on
page 153 for more details.
• Bits 3, 2 – Res: Reserved bits
These bits are reserved bits in the Atmel AT90USB64/128 and will always read as zero.
• Bits 1:0 – WGM21:0: Waveform Generation mode
Combined with the WGM22 bit found in the TCCR2B Register, these bits control the counting
sequence of the counter, the source for maximum (TOP) counter value, and what type of waveform generation to be used, see Table 16-7. Modes of operation supported by the Timer/Counter
unit are: Normal mode (counter), Clear Timer on Compare Match (CTC) mode, and two types of
Pulse Width Modulation (PWM) modes (see “Modes of operation” on page 150).
Table 16-7.
158
Waveform Generation mode bit description.
Timer/Counter
mode of operation
TOP
Update of
OCRx at
TOV flag
set on (1)(2)
0
Normal
0xFF
Immediate
MAX
0
1
PWM, phase correct
0xFF
TOP
BOTTOM
0
1
0
CTC
OCRA
Immediate
MAX
3
0
1
1
Fast PWM
0xFF
TOP
MAX
4
1
0
0
Reserved
–
–
–
Mode
WGM2
WGM1
WGM0
0
0
0
1
0
2
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Table 16-7.
Waveform Generation mode bit description. (Continued)
Mode
WGM2
WGM1
WGM0
Timer/Counter
mode of operation
TOP
Update of
OCRx at
TOV flag
set on (1)(2)
5
1
0
1
PWM, phase correct
OCRA
TOP
BOTTOM
6
1
1
0
Reserved
–
–
–
7
1
1
1
Fast PWM
OCRA
TOP
TOP
Notes:
1. MAX= 0xFF
2. BOTTOM= 0x00
16.8.2
TCCR2B – Timer/Counter Control Register B
Bit
7
6
5
4
3
2
1
0
FOC2A
FOC2B
–
–
WGM22
CS22
CS21
CS20
Read/write
W
W
R
R
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TCCR2B
• Bit 7 – FOC2A: Force Output Compare A
The FOC2A bit is only active when the WGM bits specify a non-PWM mode.
However, for ensuring compatibility with future devices, this bit must be set to zero when
TCCR2B is written when operating in PWM mode. When writing a logical one to the FOC2A bit,
an immediate Compare Match is forced on the Waveform Generation unit. The OC2A output is
changed according to its COM2A1:0 bits setting. Note that the FOC2A bit is implemented as a
strobe. Therefore it is the value present in the COM2A1:0 bits that determines the effect of the
forced compare.
A FOC2A strobe will not generate any interrupt, nor will it clear the timer in CTC mode using
OCR2A as TOP.
The FOC2A bit is always read as zero.
• Bit 6 – FOC2B: Force Output Compare B
The FOC2B bit is only active when the WGM bits specify a non-PWM mode.
However, for ensuring compatibility with future devices, this bit must be set to zero when
TCCR2B is written when operating in PWM mode. When writing a logical one to the FOC2B bit,
an immediate Compare Match is forced on the Waveform Generation unit. The OC2B output is
changed according to its COM2B1:0 bits setting. Note that the FOC2B bit is implemented as a
strobe. Therefore it is the value present in the COM2B1:0 bits that determines the effect of the
forced compare.
A FOC2B strobe will not generate any interrupt, nor will it clear the timer in CTC mode using
OCR2B as TOP.
The FOC2B bit is always read as zero.
• Bits 5:4 – Res: Reserved bits
These bits are reserved bits in the AT90USB64/128 and will always read as zero.
• Bit 3 – WGM22: Waveform Generation mode
See the description in the “TCCR2A – Timer/Counter Control Register A” on page 156.
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• Bit 2:0 – CS22:0: Clock Select
The three Clock Select bits select the clock source to be used by the Timer/Counter, see Table
16-8.
Table 16-8.
16.8.3
Clock Select bit description.
CS22
CS21
CS20
Description
0
0
0
No clock source (Timer/Counter stopped)
0
0
1
clkT2S/(no prescaling)
0
1
0
clkT2S/8 (from prescaler)
0
1
1
clkT2S/32 (from prescaler)
1
0
0
clkT2S/64 (from prescaler)
1
0
1
clkT2S/128 (from prescaler)
1
1
0
clkT2S/256 (from prescaler)
1
1
1
clkT2S/1024 (from prescaler)
TCNT2 – Timer/Counter Register
Bit
7
6
5
4
3
2
1
0
TCNT2[7:0]
TCNT2
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
The Timer/Counter Register gives direct access, both for read and write operations, to the
Timer/Counter unit 8-bit counter. Writing to the TCNT2 Register blocks (removes) the Compare
Match on the following timer clock. Modifying the counter (TCNT2) while the counter is running,
introduces a risk of missing a Compare Match between TCNT2 and the OCR2x Registers.
16.8.4
OCR2A – Output Compare Register A
Bit
7
6
5
4
3
2
1
0
OCR2A[7:0]
OCR2A
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
The Output Compare Register A contains an 8-bit value that is continuously compared with the
counter value (TCNT2). A match can be used to generate an Output Compare interrupt, or to
generate a waveform output on the OC2A pin.
16.8.5
OCR2B – Output Compare Register B
Bit
7
6
5
4
3
2
1
0
OCR2B[7:0]
OCR2B
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
The Output Compare Register B contains an 8-bit value that is continuously compared with the
counter value (TCNT2). A match can be used to generate an Output Compare interrupt, or to
generate a waveform output on the OC2B pin.
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16.9
16.9.1
Asynchronous operation of the Timer/Counter
ASSR – Asynchronous Status Register
Bit
7
6
5
4
3
2
1
–
EXCLK
AS2
TCN2UB
OCR2AUB
OCR2BUB
TCR2AUB
0
TCR2BUB
Read/write
R
R/W
R/W
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
ASSR
• Bit 6 – EXCLK: Enable External Clock Input
When EXCLK is written to one, and asynchronous clock is selected, the external clock input buffer is enabled and an external clock can be input on Timer Oscillator 1 (TOSC1) pin instead of a
32 kHz crystal. Writing to EXCLK should be done before asynchronous operation is selected.
Note that the crystal Oscillator will only run when this bit is zero.
• Bit 5 – AS2: Asynchronous Timer/Counter2
When AS2 is written to zero, Timer/Counter2 is clocked from the I/O clock, clkI/O. When AS2 is
written to one, Timer/Counter2 is clocked from a crystal Oscillator connected to the Timer Oscillator 1 (TOSC1) pin. When the value of AS2 is changed, the contents of TCNT2, OCR2A,
OCR2B, TCCR2A and TCCR2B might be corrupted.
• Bit 4 – TCN2UB: Timer/Counter2 Update Busy
When Timer/Counter2 operates asynchronously and TCNT2 is written, this bit becomes set.
When TCNT2 has been updated from the temporary storage register, this bit is cleared by hardware. A logical zero in this bit indicates that TCNT2 is ready to be updated with a new value.
• Bit 3 – OCR2AUB: Output Compare Register2 Update Busy
When Timer/Counter2 operates asynchronously and OCR2A is written, this bit becomes set.
When OCR2A has been updated from the temporary storage register, this bit is cleared by hardware. A logical zero in this bit indicates that OCR2A is ready to be updated with a new value.
• Bit 2 – OCR2BUB: Output Compare Register2 Update Busy
When Timer/Counter2 operates asynchronously and OCR2B is written, this bit becomes set.
When OCR2B has been updated from the temporary storage register, this bit is cleared by hardware. A logical zero in this bit indicates that OCR2B is ready to be updated with a new value.
• Bit 1 – TCR2AUB: Timer/Counter Control Register2 Update Busy
When Timer/Counter2 operates asynchronously and TCCR2A is written, this bit becomes set.
When TCCR2A has been updated from the temporary storage register, this bit is cleared by
hardware. A logical zero in this bit indicates that TCCR2A is ready to be updated with a new
value.
• Bit 0 – TCR2BUB: Timer/Counter Control Register2 Update Busy
When Timer/Counter2 operates asynchronously and TCCR2B is written, this bit becomes set.
When TCCR2B has been updated from the temporary storage register, this bit is cleared by
hardware. A logical zero in this bit indicates that TCCR2B is ready to be updated with a new
value.
If a write is performed to any of the five Timer/Counter2 Registers while its update busy flag is
set, the updated value might get corrupted and cause an unintentional interrupt to occur.
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The mechanisms for reading TCNT2, OCR2A, OCR2B, TCCR2A and TCCR2B are different.
When reading TCNT2, the actual timer value is read. When reading OCR2A, OCR2B, TCCR2A
and TCCR2B the value in the temporary storage register is read.
16.9.2
Asynchronous operation of Timer/Counter2
When Timer/Counter2 operates asynchronously, some considerations must be taken.
• Warning: When switching between asynchronous and synchronous clocking of
Timer/Counter2, the Timer Registers TCNT2, OCR2x, and TCCR2x might be corrupted. A
safe procedure for switching clock source is:
a. Disable the Timer/Counter2 interrupts by clearing OCIE2x and TOIE2.
b.
Select clock source by setting AS2 as appropriate.
c.
Write new values to TCNT2, OCR2x, and TCCR2x.
d. To switch to asynchronous operation: Wait for TCN2UB, OCR2xUB, and TCR2xUB.
e. Clear the Timer/Counter2 Interrupt Flags.
f.
Enable interrupts, if needed.
• The CPU main clock frequency must be more than four times the Oscillator frequency
• When writing to one of the registers TCNT2, OCR2x, or TCCR2x, the value is transferred to a
temporary register, and latched after two positive edges on TOSC1. The user should not
write a new value before the contents of the temporary register have been transferred to its
destination. Each of the five mentioned registers have their individual temporary register,
which means that, for example, writing to TCNT2 does not disturb an OCR2x write in
progress. To detect that a transfer to the destination register has taken place, the
Asynchronous Status Register – ASSR has been implemented
• When entering Power-save or ADC Noise Reduction mode after having written to TCNT2,
OCR2x, or TCCR2x, the user must wait until the written register has been updated if
Timer/Counter2 is used to wake up the device. Otherwise, the MCU will enter sleep mode
before the changes are effective. This is particularly important if any of the Output Compare2
interrupt is used to wake up the device, since the Output Compare function is disabled during
writing to OCR2x or TCNT2. If the write cycle is not finished, and the MCU enters sleep mode
before the corresponding OCR2xUB bit returns to zero, the device will never receive a
compare match interrupt, and the MCU will not wake up
• If Timer/Counter2 is used to wake the device up from Power-save or ADC Noise Reduction
mode, precautions must be taken if the user wants to re-enter one of these modes: The
interrupt logic needs one TOSC1 cycle to be reset. If the time between wake-up and reentering sleep mode is less than one TOSC1 cycle, the interrupt will not occur, and the
device will fail to wake up. If the user is in doubt whether the time before re-entering Powersave or ADC Noise Reduction mode is sufficient, the following algorithm can be used to
ensure that one TOSC1 cycle has elapsed:
a. Write a value to TCCR2x, TCNT2, or OCR2x.
b.
Wait until the corresponding Update Busy Flag in ASSR returns to zero.
c.
Enter Power-save or ADC Noise Reduction mode.
• When the asynchronous operation is selected, the 32.768kHz Oscillator for Timer/Counter2
is always running, except in Power-down and Standby modes. After a Power-up Reset or
wake-up from Power-down or Standby mode, the user should be aware of the fact that this
Oscillator might take as long as one second to stabilize. The user is advised to wait for at
least one second before using Timer/Counter2 after power-up or wake-up from Power-down
or Standby mode. The contents of all Timer/Counter2 Registers must be considered lost after
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a wake-up from Power-down or Standby mode due to unstable clock signal upon start-up, no
matter whether the Oscillator is in use or a clock signal is applied to the TOSC1 pin
• Description of wake up from Power-save or ADC Noise Reduction mode when the timer is
clocked asynchronously: When the interrupt condition is met, the wake up process is started
on the following cycle of the timer clock, that is, the timer is always advanced by at least one
before the processor can read the counter value. After wake-up, the MCU is halted for four
cycles, it executes the interrupt routine, and resumes execution from the instruction following
SLEEP
• Reading of the TCNT2 Register shortly after wake-up from Power-save may give an incorrect
result. Since TCNT2 is clocked on the asynchronous TOSC clock, reading TCNT2 must be
done through a register synchronized to the internal I/O clock domain. Synchronization takes
place for every rising TOSC1 edge. When waking up from Power-save mode, and the I/O
clock (clkI/O) again becomes active, TCNT2 will read as the previous value (before entering
sleep) until the next rising TOSC1 edge. The phase of the TOSC clock after waking up from
Power-save mode is essentially unpredictable, as it depends on the wake-up time. The
recommended procedure for reading TCNT2 is thus as follows:
a. Write any value to either of the registers OCR2x or TCCR2x.
b.
Wait for the corresponding Update Busy Flag to be cleared.
c.
Read TCNT2.
• During asynchronous operation, the synchronization of the Interrupt Flags for the
asynchronous timer takes 3 processor cycles plus one timer cycle. The timer is therefore
advanced by at least one before the processor can read the timer value causing the setting of
the Interrupt Flag. The Output Compare pin is changed on the timer clock and is not
synchronized to the processor clock
16.9.3
TIMSK2 – Timer/Counter2 Interrupt Mask Register
Bit
7
6
5
4
3
2
1
–
–
–
–
–
OCIE2B
OCIE2A
0
TOIE2
Read/write
R
R
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TIMSK2
• Bit 2 – OCIE2B: Timer/Counter2 Output Compare Match B Interrupt Enable
When the OCIE2B bit is written to one and the I-bit in the Status Register is set (one), the
Timer/Counter2 Compare Match B interrupt is enabled. The corresponding interrupt is executed
if a compare match in Timer/Counter2 occurs, that is, when the OCF2B bit is set in the
Timer/Counter2 Interrupt Flag Register – TIFR2.
• Bit 1 – OCIE2A: Timer/Counter2 Output Compare Match A Interrupt Enable
When the OCIE2A bit is written to one and the I-bit in the Status Register is set (one), the
Timer/Counter2 Compare Match A interrupt is enabled. The corresponding interrupt is executed
if a compare match in Timer/Counter2 occurs, that is, when the OCF2A bit is set in the
Timer/Counter2 Interrupt Flag Register – TIFR2.
• Bit 0 – TOIE2: Timer/Counter2 Overflow Interrupt Enable
When the TOIE2 bit is written to one and the I-bit in the Status Register is set (one), the
Timer/Counter2 Overflow interrupt is enabled. The corresponding interrupt is executed if an
overflow in Timer/Counter2 occurs, that is, when the TOV2 bit is set in the Timer/Counter2 Interrupt Flag Register – TIFR2.
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16.9.4
TIFR2 – Timer/Counter2 Interrupt Flag Register
Bit
7
6
5
4
3
2
1
0
–
–
–
–
–
OCF2B
OCF2A
TOV2
Read/write
R
R
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TIFR2
• Bit 2 – OCF2B: Output Compare Flag 2 B
The OCF2B bit is set (one) when a compare match occurs between the Timer/Counter2 and the
data in OCR2B – Output Compare Register2. OCF2B is cleared by hardware when executing
the corresponding interrupt handling vector. Alternatively, OCF2B is cleared by writing a logic
one to the flag. When the I-bit in SREG, OCIE2B (Timer/Counter2 Compare match Interrupt
Enable), and OCF2B are set (one), the Timer/Counter2 Compare match Interrupt is executed.
• Bit 1 – OCF2A: Output Compare Flag 2 A
The OCF2A bit is set (one) when a compare match occurs between the Timer/Counter2 and the
data in OCR2A – Output Compare Register2. OCF2A is cleared by hardware when executing
the corresponding interrupt handling vector. Alternatively, OCF2A is cleared by writing a logic
one to the flag. When the I-bit in SREG, OCIE2A (Timer/Counter2 Compare match Interrupt
Enable), and OCF2A are set (one), the Timer/Counter2 Compare match Interrupt is executed.
• Bit 0 – TOV2: Timer/Counter2 Overflow Flag
The TOV2 bit is set (one) when an overflow occurs in Timer/Counter2. TOV2 is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, TOV2 is cleared
by writing a logic one to the flag. When the SREG I-bit, TOIE2A (Timer/Counter2 Overflow Interrupt Enable), and TOV2 are set (one), the Timer/Counter2 Overflow interrupt is executed. In
PWM mode, this bit is set when Timer/Counter2 changes counting direction at 0x00.
16.10 Timer/Counter prescaler
Figure 16-12. Prescaler for Timer/Counter2.
PSRASY
clkT2S/1024
clkT2S/256
clkT2S/128
AS2
clkT2S/64
10-BIT T/C PRESCALER
Clear
clkT2S/32
TOSC1
clkT2S
clkT2S/8
clkI/O
0
CS20
CS21
CS22
TIMER/COUNTER2 CLOCK SOURCE
clkT2
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The clock source for Timer/Counter2 is named clkT2S. clkT2S is by default connected to the main
system I/O clock clk IO. By setting the AS2 bit in ASSR, Timer/Counter2 is asynchronously
clocked from the TOSC1 pin. This enables use of Timer/Counter2 as a Real Time Counter
(RTC). When AS2 is set, pins TOSC1 and TOSC2 are disconnected from Port C. A crystal can
then be connected between the TOSC1 and TOSC2 pins to serve as an independent clock
source for Timer/Counter2. The Oscillator is optimized for use with a 32.768kHz crystal. Applying an external clock source to TOSC1 is not recommended.
For Timer/Counter2, the possible prescaled selections are: clk T2S /8, clk T2S /32, clk T2S /64,
clkT2S/128, clkT2S/256, and clkT2S/1024. Additionally, clkT2S as well as 0 (stop) may be selected.
Setting the PSRASY bit in GTCCR resets the prescaler. This allows the user to operate with a
predictable prescaler.
16.10.1
GTCCR – General Timer/Counter Control Register
Bit
7
6
5
4
3
2
1
0
TSM
–
–
–
–
–
PSRASY
PSRSY
NC
Read/write
R/W
R
R
R
R
R
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
GTCCR
• Bit 1 – PSRASY: Prescaler Reset Timer/Counter2
When this bit is one, the Timer/Counter2 prescaler will be reset. This bit is normally cleared
immediately by hardware. If the bit is written when Timer/Counter2 is operating in asynchronous
mode, the bit will remain one until the prescaler has been reset. The bit will not be cleared by
hardware if the TSM bit is set. Refer to the description of the Section “GTCCR – General
Timer/Counter Control Register” on page 97 for a description of the Timer/Counter Synchronization mode.
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17. Output Compare Modulator (OCM1C0A)
17.1
Overview
The Output Compare Modulator (OCM) allows generation of waveforms modulated with a carrier
frequency. The modulator uses the outputs from the Output Compare Unit C of the 16-bit
Timer/Counter1 and the Output Compare Unit of the 8-bit Timer/Counter0. For more details
about these Timer/Counters see “Timer/Counter0, Timer/Counter1, and Timer/Counter3 prescalers” on page 96 and “8-bit Timer/Counter2 with PWM and asynchronous operation” on page
145.
Figure 17-1. Output Compare Modulator, block diagram.
Timer/Counter 1
OC1C
Pin
OC1C /
OC0A / PB7
OC0A
Timer/Counter 0
When the modulator is enabled, the two output compare channels are modulated together as
shown in the block diagram (Figure 17-1).
17.2
Description
The Output Compare unit 1C and Output Compare unit 2 shares the PB7 port pin for output. The
outputs of the Output Compare units (OC1C and OC0A) overrides the normal PORTB7 Register
when one of them is enabled (that is, when COMnx1:0 is not equal to zero). When both OC1C
and OC0A are enabled at the same time, the modulator is automatically enabled.
The functional equivalent schematic of the modulator is shown on Figure 17-2. The schematic
includes part of the Timer/Counter units and the port B pin 7 output driver circuit.
Figure 17-2. Output Compare Modulator, schematic.
COMA01
COMA00
Vcc
COM1C1
COM1C0
(From Waveform generator)
Modulator
0
D
1
Q
1
OC1C
Pin
0
(From Waveform generator)
D
Q
OC1C /
OC0A/ PB7
OC0A
D
Q
D
PORTB7
Q
DDRB7
DATABUS
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When the modulator is enabled the type of modulation (logical AND or OR) can be selected by
the PORTB7 Register. Note that the DDRB7 controls the direction of the port independent of the
COMnx1:0 bit setting.
17.2.1
Timing example
Figure 17-3 illustrates the modulator in action. In this example the Timer/Counter1 is set to operate in fast PWM mode (non-inverted) and Timer/Counter0 uses CTC waveform mode with toggle
Compare Output mode (COMnx1:0 = 1).
Figure 17-3. Output Compare Modulator, timing diagram.
clk I/O
OC1C
(FPWM mode)
OC0A
(CTC mode)
PB7
(PORTB7 = 0)
PB7
(PORTB7 = 1)
(Period)
1
2
3
In this example, Timer/Counter2 provides the carrier, while the modulating signal is generated
by the Output Compare unit C of the Timer/Counter1.
The resolution of the PWM signal (OC1C) is reduced by the modulation. The reduction factor is
equal to the number of system clock cycles of one period of the carrier (OC0A). In this example
the resolution is reduced by a factor of two. The reason for the reduction is illustrated in Figure
17-3 at the second and third period of the PB7 output when PORTB7 equals zero. The period 2
high time is one cycle longer than the period 3 high time, but the result on the PB7 output is
equal in both periods.
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18. SPI – Serial Peripheral Interface
The Serial Peripheral Interface (SPI) allows high-speed synchronous data transfer between the
Atmel AT90USB64/128 and peripheral devices or between several AVR devices. The
AT90USB64/128 SPI includes the following features:
•
•
•
•
•
•
•
•
Full-duplex, three-wire synchronous data transfer
Master or slave operation
LSB first or MSB first data transfer
Seven programmable bit rates
End of transmission interrupt flag
Write collision flag protection
Wake-up from Idle mode
Double speed (CK/2) Master SPI mode
USART can also be used in Master SPI mode, see “USART in SPI mode” on page 202.
The Power Reduction SPI bit, PRSPI, in “PRR0 – Power Reduction Register 0” on page 54 must
be written to zero to enable SPI module.
Figure 18-1. SPI block diagram (1).
SPI2X
SPI2X
DIVIDER
/2/4/8/16/32/64/128
Note:
1. Refer to Figure 1-1 on page 3, and Table 11-6 on page 79 for SPI pin placement.
The interconnection between Master and Slave CPUs with SPI is shown in Figure 18-2 on page
169. The system consists of two shift Registers, and a Master clock generator. The SPI Master
initiates the communication cycle when pulling low the Slave Select SS pin of the desired Slave.
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Master and Slave prepare the data to be sent in their respective shift Registers, and the Master
generates the required clock pulses on the SCK line to interchange data. Data is always shifted
from Master to Slave on the Master Out – Slave In, MOSI, line, and from Slave to Master on the
Master In – Slave Out, MISO, line. After each data packet, the Master will synchronize the Slave
by pulling high the Slave Select, SS, line.
When configured as a Master, the SPI interface has no automatic control of the SS line. This
must be handled by user software before communication can start. When this is done, writing a
byte to the SPI Data Register starts the SPI clock generator, and the hardware shifts the eight
bits into the Slave. After shifting one byte, the SPI clock generator stops, setting the end of
Transmission Flag (SPIF). If the SPI Interrupt Enable bit (SPIE) in the SPCR Register is set, an
interrupt is requested. The Master may continue to shift the next byte by writing it into SPDR, or
signal the end of packet by pulling high the Slave Select, SS line. The last incoming byte will be
kept in the Buffer Register for later use.
When configured as a Slave, the SPI interface will remain sleeping with MISO tri-stated as long
as the SS pin is driven high. In this state, software may update the contents of the SPI Data
Register, SPDR, but the data will not be shifted out by incoming clock pulses on the SCK pin
until the SS pin is driven low. As one byte has been completely shifted, the end of Transmission
Flag, SPIF is set. If the SPI Interrupt Enable bit, SPIE, in the SPCR Register is set, an interrupt
is requested. The Slave may continue to place new data to be sent into SPDR before reading
the incoming data. The last incoming byte will be kept in the Buffer Register for later use.
Figure 18-2. SPI Master-slave interconnection.
SHIFT
ENABLE
The system is single buffered in the transmit direction and double buffered in the receive direction. This means that bytes to be transmitted cannot be written to the SPI Data Register before
the entire shift cycle is completed. When receiving data, however, a received character must be
read from the SPI Data Register before the next character has been completely shifted in. Otherwise, the first byte is lost.
In SPI Slave mode, the control logic will sample the incoming signal of the SCK pin. To ensure
correct sampling of the clock signal, the frequency of the SPI clock should never exceed fosc/4.
When the SPI is enabled, the data direction of the MOSI, MISO, SCK, and SS pins is overridden
according to Table 18-1 on page 170. For more details on automatic port overrides, refer to
“Alternate port functions” on page 76.
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Table 18-1.
Pin
SPI pin overrides (1).
Direction, master SPI
Direction, slave SPI
MOSI
User defined
Input
MISO
Input
User defined
SCK
User defined
Input
SS
User defined
Input
Note:
1. See “Alternate functions of Port B” on page 79 for a detailed description of how to define the
direction of the user defined SPI pins.
The following code examples show how to initialize the SPI as a Master and how to perform a
simple transmission. DDR_SPI in the examples must be replaced by the actual Data Direction
Register controlling the SPI pins. DD_MOSI, DD_MISO and DD_SCK must be replaced by the
actual data direction bits for these pins. For example, if MOSI is placed on pin PB5, replace
DD_MOSI with DDB5 and DDR_SPI with DDRB.
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Assembly code example (1)
SPI_MasterInit:
; Set MOSI and SCK output, all others input
ldi
r17,(1<<DD_MOSI)|(1<<DD_SCK)
out
DDR_SPI,r17
; Enable SPI, Master, set clock rate fck/16
ldi
r17,(1<<SPE)|(1<<MSTR)|(1<<SPR0)
out
SPCR,r17
ret
SPI_MasterTransmit:
; Start transmission of data (r16)
out
SPDR,r16
Wait_Transmit:
; Wait for transmission complete
sbis SPSR,SPIF
rjmp Wait_Transmit
ret
C code example (1)
void SPI_MasterInit(void)
{
/* Set MOSI and SCK output, all others input */
DDR_SPI = (1<<DD_MOSI)|(1<<DD_SCK);
/* Enable SPI, Master, set clock rate fck/16 */
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
}
void SPI_MasterTransmit(char cData)
{
/* Start transmission */
SPDR = cData;
/* Wait for transmission complete */
while(!(SPSR & (1<<SPIF)))
;
}
Note:
1. See “About code examples” on page 10.
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The following code examples show how to initialize the SPI as a Slave and how to perform a
simple reception.
Assembly code example (1)
SPI_SlaveInit:
; Set MISO output, all others input
ldi
r17,(1<<DD_MISO)
out
DDR_SPI,r17
; Enable SPI
ldi
r17,(1<<SPE)
out
SPCR,r17
ret
SPI_SlaveReceive:
; Wait for reception complete
sbis SPSR,SPIF
rjmp SPI_SlaveReceive
; Read received data and return
in
r16,SPDR
ret
C code example (1)
void SPI_SlaveInit(void)
{
/* Set MISO output, all others input */
DDR_SPI = (1<<DD_MISO);
/* Enable SPI */
SPCR = (1<<SPE);
}
char SPI_SlaveReceive(void)
{
/* Wait for reception complete */
while(!(SPSR & (1<<SPIF)))
;
/* Return Data Register */
return SPDR;
}
Note:
18.1
18.1.1
1. See “About code examples” on page 10.
SS Pin Functionality
Slave Mode
When the SPI is configured as a Slave, the Slave Select (SS) pin is always input. When SS is
held low, the SPI is activated, and MISO becomes an output if configured so by the user. All
other pins are inputs. When SS is driven high, all pins are inputs, and the SPI is passive, which
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means that it will not receive incoming data. Note that the SPI logic will be reset once the SS pin
is driven high.
The SS pin is useful for packet/byte synchronization to keep the slave bit counter synchronous
with the master clock generator. When the SS pin is driven high, the SPI slave will immediately
reset the send and receive logic, and drop any partially received data in the Shift Register.
18.1.2
Master mode
When the SPI is configured as a Master (MSTR in SPCR is set), the user can determine the
direction of the SS pin.
If SS is configured as an output, the pin is a general output pin which does not affect the SPI
system. Typically, the pin will be driving the SS pin of the SPI Slave.
If SS is configured as an input, it must be held high to ensure Master SPI operation. If the SS pin
is driven low by peripheral circuitry when the SPI is configured as a Master with the SS pin
defined as an input, the SPI system interprets this as another master selecting the SPI as a
slave and starting to send data to it. To avoid bus contention, the SPI system takes the following
actions:
1. The MSTR bit in SPCR is cleared and the SPI system becomes a Slave. As a result of
the SPI becoming a Slave, the MOSI and SCK pins become inputs.
2. The SPIF Flag in SPSR is set, and if the SPI interrupt is enabled, and the I-bit in SREG
is set, the interrupt routine will be executed.
Thus, when interrupt-driven SPI transmission is used in Master mode, and there exists a possibility that SS is driven low, the interrupt should always check that the MSTR bit is still set. If the
MSTR bit has been cleared by a slave select, it must be set by the user to re-enable SPI Master
mode.
18.1.3
SPCR – SPI Control Register
Bit
7
6
5
4
3
2
1
0
SPIE
SPE
DORD
MSTR
CPOL
CPHA
SPR1
SPR0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
SPCR
• Bit 7 – SPIE: SPI Interrupt Enable
This bit causes the SPI interrupt to be executed if SPIF bit in the SPSR Register is set and the if
the Global Interrupt Enable bit in SREG is set.
• Bit 6 – SPE: SPI Enable
When the SPE bit is written to one, the SPI is enabled. This bit must be set to enable any SPI
operations.
• Bit 5 – DORD: Data Order
When the DORD bit is written to one, the LSB of the data word is transmitted first.
When the DORD bit is written to zero, the MSB of the data word is transmitted first.
• Bit 4 – MSTR: Master/Slave Select
This bit selects Master SPI mode when written to one, and Slave SPI mode when written logic
zero. If SS is configured as an input and is driven low while MSTR is set, MSTR will be cleared,
and SPIF in SPSR will become set. The user will then have to set MSTR to re-enable SPI Master mode.
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• Bit 3 – CPOL: Clock Polarity
When this bit is written to one, SCK is high when idle. When CPOL is written to zero, SCK is low
when idle. Refer to Figure 18-3 and Figure 18-4 for an example. The CPOL functionality is summarized in Table 18-2:
Table 18-2.
CPOL functionality.
CPOL
Leading edge
Trailing edge
0
Rising
Falling
1
Falling
Rising
• Bit 2 – CPHA: Clock Phase
The settings of the Clock Phase bit (CPHA) determine if data is sampled on the leading (first) or
trailing (last) edge of SCK. Refer to Figure 18-3 and Figure 18-4 for an example. The CPOL
functionality is summarized Table 18-3:
Table 18-3.
CPHA functionality.
CPHA
Leading edge
Trailing edge
0
Sample
Setup
1
Setup
Sample
• Bits 1, 0 – SPR1, SPR0: SPI Clock Rate Select 1 and 0
These two bits control the SCK rate of the device configured as a Master. SPR1 and SPR0 have
no effect on the Slave. The relationship between SCK and the Oscillator Clock frequency fosc is
shown in Table 18-4:
Table 18-4.
18.1.4
Relationship between SCK and the oscillator frequency.
SPI2X
SPR1
SPR0
0
0
0
0
0
1
0
1
0
0
1
1
1
0
0
1
0
1
1
1
0
1
1
1
SCK frequency
fosc/4
fosc/16
fosc/64
fosc/128
fosc/2
fosc/8
fosc/32
fosc/64
SPSR – SPI Status Register
Bit
7
6
5
4
3
2
1
SPIF
WCOL
–
–
–
–
–
0
SPI2X
Read/write
R
R
R
R
R
R
R
R/W
Initial value
0
0
0
0
0
0
0
0
SPSR
• Bit 7 – SPIF: SPI Interrupt Flag
When a serial transfer is complete, the SPIF Flag is set. An interrupt is generated if SPIE in
SPCR is set and global interrupts are enabled. If SS is an input and is driven low when the SPI is
in Master mode, this will also set the SPIF Flag. SPIF is cleared by hardware when executing the
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corresponding interrupt handling vector. Alternatively, the SPIF bit is cleared by first reading the
SPI Status Register with SPIF set, then accessing the SPI Data Register (SPDR).
• Bit 6 – WCOL: Write COLlision Flag
The WCOL bit is set if the SPI Data Register (SPDR) is written during a data transfer. The
WCOL bit (and the SPIF bit) are cleared by first reading the SPI Status Register with WCOL set,
and then accessing the SPI Data Register.
• Bit 5..1 – Res: Reserved bits
These bits are reserved bits in the Atmel AT90USB64/128 and will always read as zero.
• Bit 0 – SPI2X: Double SPI Speed bit
When this bit is written logic one the SPI speed (SCK Frequency) will be doubled when the SPI
is in Master mode (see Table 18-4 on page 174). This means that the minimum SCK period will
be two CPU clock periods. When the SPI is configured as Slave, the SPI is only guaranteed to
work at fosc/4 or lower.
The SPI interface on the AT90USB64/128 is also used for program memory and EEPROM
downloading or uploading. See page 373 for serial programming and verification.
18.1.5
SPDR – SPI Data Register
Bit
7
6
5
4
3
2
1
0
MSB
LSB
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
X
X
X
X
X
X
X
X
SPDR
Undefined
The SPI Data Register is a read/write register used for data transfer between the Register File
and the SPI Shift Register. Writing to the register initiates data transmission. Reading the register causes the Shift Register Receive buffer to be read.
18.2
Data modes
There are four combinations of SCK phase and polarity with respect to serial data, which are
determined by control bits CPHA and CPOL. The SPI data transfer formats are shown in Figure
18-3 on page 176 and Figure 18-4 on page 176. Data bits are shifted out and latched in on
opposite edges of the SCK signal, ensuring sufficient time for data signals to stabilize. This is
clearly seen by summarizing Table 18-2 on page 174 and Table 18-3 on page 174, as done
below:
Table 18-5.
CPOL functionality.
Leading edge
Trailing edge
SPI mode
CPOL=0, CPHA=0
Sample (rising)
Setup (falling)
0
CPOL=0, CPHA=1
Setup (rising)
Sample (falling)
1
CPOL=1, CPHA=0
Sample (falling)
Setup (rising)
2
CPOL=1, CPHA=1
Setup (falling)
Sample (rising)
3
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Figure 18-3. SPI transfer format with CPHA = 0.
SCK (CPOL = 0)
mode 0
SCK (CPOL = 1)
mode 2
SAMPLE I
MOSI/MISO
CHANGE 0
MOSI PIN
CHANGE 0
MISO PIN
SS
MSB first (DORD = 0) MSB
LSB first (DORD = 1) LSB
Bit 6
Bit 1
Bit 5
Bit 2
Bit 4
Bit 3
Bit 3
Bit 4
Bit 2
Bit 5
Bit 1
Bit 6
LSB
MSB
Figure 18-4. SPI transfer format with CPHA = 1.
SCK (CPOL = 0)
mode 1
SCK (CPOL = 1)
mode 3
SAMPLE I
MOSI/MISO
CHANGE 0
MOSI PIN
CHANGE 0
MISO PIN
SS
MSB first (DORD = 0)
LSB first (DORD = 1)
176
MSB
LSB
Bit 6
Bit 1
Bit 5
Bit 2
Bit 4
Bit 3
Bit 3
Bit 4
Bit 2
Bit 5
Bit 1
Bit 6
LSB
MSB
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19. USART
The Universal Synchronous and Asynchronous serial Receiver and Transmitter (USART) is a
highly flexible serial communication device. The main features are:
•
•
•
•
•
•
•
•
•
•
•
•
19.1
Full duplex operation (independent serial receive and transmit registers)
Asynchronous or synchronous operation
Master or slave clocked synchronous operation
High resolution baud rate generator
Supports serial frames with 5, 6, 7, 8, or 9 data bits and 1 or 2 stop bits
Odd or even parity generation and parity check supported by hardware
Data overrun detection
Framing error detection
Noise filtering includes false start bit detection and digital low pass filter
Three separate interrupts on TX complete, TX data register empty and RX complete
Multi-processor communication mode
Double speed asynchronous communication mode
Overview
A simplified block diagram of the USART Transmitter is shown in Figure 19-1. CPU accessible
I/O registers and I/O pins are shown in bold.
Figure 19-1. USART block diagram (1).
Clock generator
UBRR[H:L]
OSC
BAUD RATE GENERATOR
SYNC LOGIC
PIN
CONTROL
XCK
Transmitter
TX
CONTROL
UDR (Transmit)
DATA BUS
PARITY
GENERATOR
TxD
Receiver
UCSRA
Note:
PIN
CONTROL
TRANSMIT SHIFT REGISTER
CLOCK
RECOVERY
RX
CONTROL
RECEIVE SHIFT REGISTER
DATA
RECOVERY
PIN
CONTROL
UDR (Receive)
PARITY
CHECKER
UCSRB
RxD
UCSRC
1. See Figure 1-1 on page 3, Table 11-12 on page 83 and for USART pin placement.
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The dashed boxes in the block diagram separate the three main parts of the USART (listed from
the top): Clock Generator, Transmitter and Receiver. Control Registers are shared by all units.
The Clock Generation logic consists of synchronization logic for external clock input used by
synchronous slave operation, and the baud rate generator. The XCKn (Transfer Clock) pin is
only used by synchronous transfer mode. The Transmitter consists of a single write buffer, a
serial Shift Register, Parity Generator and Control logic for handling different serial frame formats. The write buffer allows a continuous transfer of data without any delay between frames.
The Receiver is the most complex part of the USART module due to its clock and data recovery
units. The recovery units are used for asynchronous data reception. In addition to the recovery
units, the Receiver includes a Parity Checker, Control logic, a Shift Register and a two level
receive buffer (UDRn). The Receiver supports the same frame formats as the Transmitter, and
can detect Frame Error, Data OverRun and Parity Errors.
19.2
Clock generation
The Clock Generation logic generates the base clock for the Transmitter and Receiver. The
USARTn supports four modes of clock operation: Normal asynchronous, Double Speed asynchronous, Master synchronous and Slave synchronous mode. The UMSELn bit in USART
Control and Status Register C (UCSRnC) selects between asynchronous and synchronous
operation. Double Speed (asynchronous mode only) is controlled by the U2Xn found in the
UCSRnA Register. When using synchronous mode (UMSELn = 1), the Data Direction Register
for the XCKn pin (DDR_XCKn) controls whether the clock source is internal (Master mode) or
external (Slave mode). The XCKn pin is only active when using synchronous mode.
Figure 19-2 shows a block diagram of the clock generation logic.
Figure 19-2. Clock generation logic, block diagram.
UBRR
U2X
fosc
Prescaling
down-counter
UBRR+1
/2
/4
/2
0
1
0
OSC
DDR_XCK
xcki
XCK
pin
Sync
register
Edge
detector
0
UCPOL
txclk
UMSEL
1
xcko
DDR_XCK
1
1
0
rxclk
Signal description:
178
txclk
Transmitter clock (Internal Signal).
rxclk
Receiver base clock (Internal Signal).
xcki
Input from XCK pin (internal Signal). Used for synchronous slave
operation.
xcko
Clock output to XCK pin (Internal Signal). Used for synchronous master
operation.
fOSC
XTAL pin frequency (System Clock).
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19.2.1
Internal Clock Generation – The Baud Rate generator
Internal clock generation is used for the asynchronous and the synchronous master modes of
operation. The description in this section refers to Figure 19-2 on page 178.
The USART Baud Rate Register (UBRRn) and the down-counter connected to it function as a
programmable prescaler or baud rate generator. The down-counter, running at system clock
(fosc), is loaded with the UBRRn value each time the counter has counted down to zero or when
the UBRRLn Register is written. A clock is generated each time the counter reaches zero. This
clock is the baud rate generator clock output (= fosc/(UBRRn+1)). The Transmitter divides the
baud rate generator clock output by 2, 8, or 16 depending on mode. The baud rate generator
output is used directly by the Receiver’s clock and data recovery units. However, the recovery
units use a state machine that uses 2, 8, or 16 states depending on mode set by the state of the
UMSELn, U2Xn and DDR_XCKn bits.
Table 19-1 contains equations for calculating the baud rate (in bits per second) and for calculating the UBRRn value for each mode of operation using an internally generated clock source.
Table 19-1.
Equations for calculating baud rate register setting.
Equation for calculating
baud rate (1)
Operating mode
Equation for calculating UBRR
value
f OSC
BAUD = ----------------------------------------16 ( UBRRn + 1 )
f OSC
UBRRn = -----------------------–1
16BAUD
Asynchronous Double
Speed mode (U2Xn = 1)
f OSC
BAUD = -------------------------------------8 ( UBRRn + 1 )
f OSC
-–1
UBRRn = ------------------8BAUD
Synchronous Master
mode
f OSC
BAUD = -------------------------------------2 ( UBRRn + 1 )
f OSC
-–1
UBRRn = ------------------2BAUD
Asynchronous Normal
mode (U2Xn = 0)
Note:
1. The baud rate is defined to be the transfer rate in bit per second (bps).
BAUD
Baud rate (in bits per second, bps)
fOSC
System Oscillator clock frequency
UBRRn
Contents of the UBRRHn and UBRRLn registers, (0-4095)
Some examples of UBRRn values for some system clock frequencies are found in Table 19-9 on
page 198.
19.2.2
Double speed operation (U2Xn)
The transfer rate can be doubled by setting the U2Xn bit in UCSRnA. Setting this bit only has
effect for the asynchronous operation. Set this bit to zero when using synchronous operation.
Setting this bit will reduce the divisor of the baud rate divider from 16 to 8, effectively doubling
the transfer rate for asynchronous communication. Note however that the Receiver will in this
case only use half the number of samples (reduced from 16 to 8) for data sampling and clock
recovery, and therefore a more accurate baud rate setting and system clock are required when
this mode is used. For the transmitter, there are no downsides.
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19.2.3
External clock
External clocking is used by the synchronous slave modes of operation. The description in this
section refers to Figure 19-2 on page 178 for details.
External clock input from the XCKn pin is sampled by a synchronization register to minimize the
chance of meta-stability. The output from the synchronization register must then pass through
an edge detector before it can be used by the Transmitter and Receiver. This process introduces a two CPU clock period delay and therefore the maximum external XCKn clock frequency
is limited by the following equation:
f OSC
f XCK < ----------4
Note that fosc depends on the stability of the system clock source. It is therefore recommended to
add some margin to avoid possible loss of data due to frequency variations.
19.2.4
Synchronous clock operation
When synchronous mode is used (UMSELn = 1), the XCKn pin will be used as either clock input
(Slave) or clock output (Master). The dependency between the clock edges and data sampling
or data change is the same. The basic principle is that data input (on RxDn) is sampled at the
opposite XCKn clock edge of the edge the data output (TxDn) is changed.
Figure 19-3. Synchronous mode XCKn timing.
UCPOL = 1
XCK
RxD / TxD
Sample
UCPOL = 0
XCK
RxD / TxD
Sample
The UCPOLn bit UCRSC selects which XCKn clock edge is used for data sampling and which is
used for data change. As Figure 19-3 shows, when UCPOLn is zero the data will be changed at
rising XCKn edge and sampled at falling XCKn edge. If UCPOLn is set, the data will be changed
at falling XCKn edge and sampled at rising XCKn edge.
19.3
Frame formats
A serial frame is defined to be one character of data bits with synchronization bits (start and stop
bits), and optionally a parity bit for error checking. The USART accepts all 30 combinations of
the following as valid frame formats:
• 1 start bit
• 5, 6, 7, 8, or 9 data bits
• no, even or odd parity bit
• 1 or 2 stop bits
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A frame starts with the start bit followed by the least significant data bit. Then the next data bits,
up to a total of nine, are succeeding, ending with the most significant bit. If enabled, the parity bit
is inserted after the data bits, before the stop bits. When a complete frame is transmitted, it can
be directly followed by a new frame, or the communication line can be set to an idle (high) state.
Figure 19-4 illustrates the possible combinations of the frame formats. Bits inside brackets are
optional.
Figure 19-4. Frame formats.
FRAME
(IDLE)
St
0
1
2
3
4
[5]
[6]
[7]
[8]
[P]
Sp1 [Sp2]
(St / IDLE)
St
Start bit, always low
(n)
Data bits (0 to 8)
P
Parity bit. Can be odd or even
Sp
Stop bit, always high
IDLE
No transfers on the communication line (RxDn or TxDn). An IDLE line
must be high
The frame format used by the USART is set by the UCSZn2:0, UPMn1:0 and USBSn bits in
UCSRnB and UCSRnC. The Receiver and Transmitter use the same setting. Note that changing
the setting of any of these bits will corrupt all ongoing communication for both the Receiver and
Transmitter.
The USART Character SiZe (UCSZn2:0) bits select the number of data bits in the frame. The
USART Parity mode (UPMn1:0) bits enable and set the type of parity bit. The selection between
one or two stop bits is done by the USART Stop Bit Select (USBSn) bit. The Receiver ignores
the second stop bit. An FE (Frame Error) will therefore only be detected in the cases where the
first stop bit is zero.
19.3.1
Parity bit calculation
The parity bit is calculated by doing an exclusive-or of all the data bits. If odd parity is used, the
result of the exclusive or is inverted. The relation between the parity bit and data bits is as
follows:
P even = d n – 1 ⊕ … ⊕ d 3 ⊕ d 2 ⊕ d 1 ⊕ d 0 ⊕ 0
P odd = d n – 1 ⊕ … ⊕ d 3 ⊕ d 2 ⊕ d 1 ⊕ d 0 ⊕ 1
Peven
Parity bit using even parity
Podd
Parity bit using odd parity
dn
Data bit n of the character
If used, the parity bit is located between the last data bit and first stop bit of a serial frame.
19.4
USART initialization
The USART has to be initialized before any communication can take place. The initialization process normally consists of setting the baud rate, setting frame format and enabling the
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Transmitter or the Receiver depending on the usage. For interrupt driven USART operation, the
Global Interrupt Flag should be cleared (and interrupts globally disabled) when doing the
initialization.
Before doing a re-initialization with changed baud rate or frame format, be sure that there are no
ongoing transmissions during the period the registers are changed. The TXCn Flag can be used
to check that the Transmitter has completed all transfers, and the RXC Flag can be used to
check that there are no unread data in the receive buffer. Note that the TXCn Flag must be
cleared before each transmission (before UDRn is written) if it is used for this purpose.
The following simple USART initialization code examples show one assembly and one C function that are equal in functionality. The examples assume asynchronous operation using polling
(no interrupts enabled) and a fixed frame format. The baud rate is given as a function parameter.
For the assembly code, the baud rate parameter is assumed to be stored in the r17:r16
Registers.
Assembly code example (1)
USART_Init:
; Set baud rate
out
UBRRHn, r17
out
UBRRLn, r16
; Enable receiver and transmitter
ldi
r16, (1<<RXENn)|(1<<TXENn)
out
UCSRnB,r16
; Set frame format: 8data, 2stop bit
ldi
r16, (1<<USBSn)|(3<<UCSZn0)
out
UCSRnC,r16
ret
C code example (1)
void USART_Init( unsigned int baud )
{
/* Set baud rate */
UBRRHn = (unsigned char)(baud>>8);
UBRRLn = (unsigned char)baud;
/* Enable receiver and transmitter */
UCSRnB = (1<<RXENn)|(1<<TXENn);
/* Set frame format: 8data, 2stop bit */
UCSRnC = (1<<USBSn)|(3<<UCSZn0);
}
Note:
1. See “About code examples” on page 10.
More advanced initialization routines can be made that include frame format as parameters, disable interrupts and so on. However, many applications use a fixed setting of the baud and
control registers, and for these types of applications the initialization code can be placed directly
in the main routine, or be combined with initialization code for other I/O modules.
19.5
Data transmission – The USART transmitter
The USART Transmitter is enabled by setting the Transmit Enable (TXEN) bit in the UCSRnB
Register. When the Transmitter is enabled, the normal port operation of the TxDn pin is overrid-
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den by the USART and given the function as the transmitter’s serial output. The baud rate, mode
of operation and frame format must be set up once before doing any transmissions. If synchronous operation is used, the clock on the XCKn pin will be overridden and used as transmission
clock.
19.5.1
Sending frames with 5 to 8 data bits
A data transmission is initiated by loading the transmit buffer with the data to be transmitted. The
CPU can load the transmit buffer by writing to the UDRn I/O location. The buffered data in the
transmit buffer will be moved to the Shift Register when the Shift Register is ready to send a new
frame. The Shift Register is loaded with new data if it is in idle state (no ongoing transmission) or
immediately after the last stop bit of the previous frame is transmitted. When the Shift Register is
loaded with new data, it will transfer one complete frame at the rate given by the Baud Register,
U2Xn bit or by XCKn depending on mode of operation.
The following code examples show a simple USART transmit function based on polling of the
Data Register Empty (UDREn) Flag. When using frames with less than eight bits, the most significant bits written to the UDRn are ignored. The USART has to be initialized before the function
can be used. For the assembly code, the data to be sent is assumed to be stored in Register
R16
Assembly code example (1)
USART_Transmit:
; Wait for empty transmit buffer
sbis UCSRnA,UDREn
rjmp USART_Transmit
; Put data (r16) into buffer, sends the data
out
UDRn,r16
ret
C code example (1)
void USART_Transmit( unsigned char data )
{
/* Wait for empty transmit buffer */
while ( !( UCSRnA & (1<<UDREn)) )
;
/* Put data into buffer, sends the data */
UDRn = data;
}
Note:
1. See “About code examples” on page 10.
The function simply waits for the transmit buffer to be empty by checking the UDREn Flag,
before loading it with new data to be transmitted. If the Data Register Empty interrupt is utilized,
the interrupt routine writes the data into the buffer.
19.5.2
Sending frames with 9 data bits
If 9-bit characters are used (UCSZn = 7), the ninth bit must be written to the TXB8 bit in UCSRnB before the low byte of the character is written to UDRn. The following code examples show
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a transmit function that handles 9-bit characters. For the assembly code, the data to be sent is
assumed to be stored in registers R17:R16.
Assembly code example (1)(2)
USART_Transmit:
; Wait for empty transmit buffer
sbis UCSRnA,UDREn
rjmp USART_Transmit
; Copy 9th bit from r17 to TXB8
cbi
UCSRnB,TXB8
sbrc r17,0
sbi
UCSRnB,TXB8
; Put LSB data (r16) into buffer, sends the data
out
UDRn,r16
ret
C code example (1)(2)
void USART_Transmit( unsigned int data )
{
/* Wait for empty transmit buffer */
while ( !( UCSRnA & (1<<UDREn))) )
;
/* Copy 9th bit to TXB8 */
UCSRnB &= ~(1<<TXB8);
if ( data & 0x0100 )
UCSRnB |= (1<<TXB8);
/* Put data into buffer, sends the data */
UDRn = data;
}
Notes:
1. These transmit functions are written to be general functions. They can be optimized if the contents of the UCSRnB is static. For example, only the TXB8 bit of the UCSRnB Register is used
after initialization.
2. See “About code examples” on page 10.
The ninth bit can be used for indicating an address frame when using multi processor communication mode or for other protocol handling as for example synchronization.
19.5.3
Transmitter flags and interrupts
The USART Transmitter has two flags that indicate its state: USART Data Register Empty
(UDREn) and Transmit Complete (TXCn). Both flags can be used for generating interrupts.
The Data Register Empty (UDREn) Flag indicates whether the transmit buffer is ready to receive
new data. This bit is set when the transmit buffer is empty, and cleared when the transmit buffer
contains data to be transmitted that has not yet been moved into the Shift Register. For compatibility with future devices, always write this bit to zero when writing the UCSRnA Register.
When the Data Register Empty Interrupt Enable (UDRIEn) bit in UCSRnB is written to one, the
USART Data Register Empty Interrupt will be executed as long as UDREn is set (provided that
global interrupts are enabled). UDREn is cleared by writing UDRn. When interrupt-driven data
transmission is used, the Data Register Empty interrupt routine must either write new data to
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UDRn in order to clear UDREn or disable the Data Register Empty interrupt, otherwise a new
interrupt will occur once the interrupt routine terminates.
The Transmit Complete (TXCn) Flag bit is set one when the entire frame in the Transmit Shift
Register has been shifted out and there are no new data currently present in the transmit buffer.
The TXCn Flag bit is automatically cleared when a transmit complete interrupt is executed, or it
can be cleared by writing a one to its bit location. The TXCn Flag is useful in half-duplex communication interfaces (like the RS-485 standard), where a transmitting application must enter
receive mode and free the communication bus immediately after completing the transmission.
When the Transmit Compete Interrupt Enable (TXCIEn) bit in UCSRnB is set, the USART
Transmit Complete Interrupt will be executed when the TXCn Flag becomes set (provided that
global interrupts are enabled). When the transmit complete interrupt is used, the interrupt handling routine does not have to clear the TXCn Flag, this is done automatically when the interrupt
is executed.
19.5.4
Parity Generator
The Parity Generator calculates the parity bit for the serial frame data. When parity bit is enabled
(UPMn1 = 1), the transmitter control logic inserts the parity bit between the last data bit and the
first stop bit of the frame that is sent.
19.5.5
Disabling the transmitter
The disabling of the transmitter (setting the TXEN to zero) will not become effective until ongoing
and pending transmissions are completed, that is, when the Transmit Shift Register and Transmit Buffer Register do not contain data to be transmitted. When disabled, the Transmitter will no
longer override the TxDn pin.
19.6
Data reception – The USART receiver
The USART Receiver is enabled by writing the Receive Enable (RXENn) bit in the
UCSRnB Register to one. When the Receiver is enabled, the normal pin operation of the RxDn
pin is overridden by the USART and given the function as the Receiver’s serial input. The baud
rate, mode of operation and frame format must be set up once before any serial reception can
be done. If synchronous operation is used, the clock on the XCKn pin will be used as transfer
clock.
19.6.1
Receiving frames with 5 to 8 data bits
The Receiver starts data reception when it detects a valid start bit. Each bit that follows the start
bit will be sampled at the baud rate or XCKn clock, and shifted into the Receive Shift Register
until the first stop bit of a frame is received. A second stop bit will be ignored by the Receiver.
When the first stop bit is received, that is, a complete serial frame is present in the Receive Shift
Register, the contents of the Shift Register will be moved into the receive buffer. The receive
buffer can then be read by reading the UDRn I/O location.
The following code example shows a simple USART receive function based on polling of the
Receive Complete (RXCn) Flag. When using frames with less than eight bits the most significant
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bits of the data read from the UDRn will be masked to zero. The USART has to be initialized
before the function can be used.
Assembly code example (1)
USART_Receive:
; Wait for data to be received
sbis UCSRnA, RXCn
rjmp USART_Receive
; Get and return received data from buffer
in
r16, UDRn
ret
C code example (1)
unsigned char USART_Receive( void )
{
/* Wait for data to be received */
while ( !(UCSRnA & (1<<RXCn)) )
;
/* Get and return received data from buffer */
return UDRn;
}
Note:
1. See “About code examples” on page 10.
The function simply waits for data to be present in the receive buffer by checking the RXCn Flag,
before reading the buffer and returning the value.
19.6.2
Receiving frames with 9 data bits
If 9-bit characters are used (UCSZn=7) the ninth bit must be read from the RXB8n bit in UCSRnB before reading the low bits from the UDRn. This rule applies to the FEn, DORn and UPEn
Status Flags as well. Read status from UCSRnA, then data from UDRn. Reading the UDRn I/O
location will change the state of the receive buffer FIFO and consequently the TXB8n, FEn,
DORn and UPEn bits, which all are stored in the FIFO, will change.
The following code example shows a simple USART receive function that handles both nine bit
characters and the status bits.
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Assembly code example (1)
USART_Receive:
; Wait for data to be received
sbis UCSRnA, RXCn
rjmp USART_Receive
; Get status and 9th bit, then data from buffer
in
r18, UCSRnA
in
r17, UCSRnB
in
r16, UDRn
; If error, return -1
andi r18,(1<<FEn)|(1<<DORn)|(1<<UPEn)
breq USART_ReceiveNoError
ldi
r17, HIGH(-1)
ldi
r16, LOW(-1)
USART_ReceiveNoError:
; Filter the 9th bit, then return
lsr
r17
andi r17, 0x01
ret
C code example (1)
unsigned int USART_Receive( void )
{
unsigned char status, resh, resl;
/* Wait for data to be received */
while ( !(UCSRnA & (1<<RXCn)) )
;
/* Get status and 9th bit, then data */
/* from buffer */
status = UCSRnA;
resh = UCSRnB;
resl = UDRn;
/* If error, return -1 */
if ( status & (1<<FEn)|(1<<DORn)|(1<<UPEn) )
return -1;
/* Filter the 9th bit, then return */
resh = (resh >> 1) & 0x01;
return ((resh << 8) | resl);
}
Note:
1. See “About code examples” on page 10.
The receive function example reads all the I/O Registers into the Register File before any computation is done. This gives an optimal receive buffer utilization since the buffer location read will
be free to accept new data as early as possible.
19.6.3
Receive compete flag and interrupt
The USART Receiver has one flag that indicates the Receiver state.
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The Receive Complete (RXCn) Flag indicates if there are unread data present in the receive buffer. This flag is one when unread data exist in the receive buffer, and zero when the receive
buffer is empty (that is, does not contain any unread data). If the Receiver is disabled (RXENn =
0), the receive buffer will be flushed and consequently the RXCn bit will become zero.
When the Receive Complete Interrupt Enable (RXCIEn) in UCSRnB is set, the USART Receive
Complete interrupt will be executed as long as the RXCn Flag is set (provided that global interrupts are enabled). When interrupt-driven data reception is used, the receive complete routine
must read the received data from UDRn in order to clear the RXCn Flag, otherwise a new interrupt will occur once the interrupt routine terminates.
19.6.4
Receiver error flags
The USART Receiver has three error flags: Frame Error (FEn), Data OverRun (DORn) and Parity Error (UPEn). All can be accessed by reading UCSRnA. Common for the Error Flags is that
they are located in the receive buffer together with the frame for which they indicate the error
status. Due to the buffering of the Error Flags, the UCSRnA must be read before the receive buffer (UDRn), since reading the UDRn I/O location changes the buffer read location. Another
equality for the Error Flags is that they can not be altered by software doing a write to the flag
location. However, all flags must be set to zero when the UCSRnA is written for upward compatibility of future USART implementations. None of the Error Flags can generate interrupts.
The Frame Error (FEn) Flag indicates the state of the first stop bit of the next readable frame
stored in the receive buffer. The FEn Flag is zero when the stop bit was correctly read (as one),
and the FEn Flag will be one when the stop bit was incorrect (zero). This flag can be used for
detecting out-of-sync conditions, detecting break conditions and protocol handling. The FEn
Flag is not affected by the setting of the USBSn bit in UCSRnC since the Receiver ignores all,
except for the first, stop bits. For compatibility with future devices, always set this bit to zero
when writing to UCSRnA.
The Data OverRun (DORn) Flag indicates data loss due to a receiver buffer full condition. A
Data OverRun occurs when the receive buffer is full (two characters), it is a new character waiting in the Receive Shift Register, and a new start bit is detected. If the DORn Flag is set there
was one or more serial frame lost between the frame last read from UDRn, and the next frame
read from UDRn. For compatibility with future devices, always write this bit to zero when writing
to UCSRnA. The DORn Flag is cleared when the frame received was successfully moved from
the Shift Register to the receive buffer.
The Parity Error (UPEn) Flag indicates that the next frame in the receive buffer had a Parity
Error when received. If Parity Check is not enabled the UPEn bit will always be read zero. For
compatibility with future devices, always set this bit to zero when writing to UCSRnA. For more
details see “Parity bit calculation” on page 181 and “Parity Checker” on page 188.
19.6.5
Parity Checker
The Parity Checker is active when the high USART Parity mode (UPMn1) bit is set. Type of Parity Check to be performed (odd or even) is selected by the UPMn0 bit. When enabled, the Parity
Checker calculates the parity of the data bits in incoming frames and compares the result with
the parity bit from the serial frame. The result of the check is stored in the receive buffer together
with the received data and stop bits. The Parity Error (UPEn) Flag can then be read by software
to check if the frame had a Parity Error.
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The UPEn bit is set if the next character that can be read from the receive buffer had a Parity
Error when received and the Parity Checking was enabled at that point (UPMn1 = 1). This bit is
valid until the receive buffer (UDRn) is read.
19.6.6
Disabling the Receiver
In contrast to the Transmitter, disabling of the Receiver will be immediate. Data from ongoing
receptions will therefore be lost. When disabled (that is, the RXENn is set to zero) the Receiver
will no longer override the normal function of the RxDn port pin. The Receiver buffer FIFO will be
flushed when the Receiver is disabled. Remaining data in the buffer will be lost
19.6.7
Flushing the receive buffer
The receiver buffer FIFO will be flushed when the Receiver is disabled, that is, the buffer will be
emptied of its contents. Unread data will be lost. If the buffer has to be flushed during normal
operation, due to for instance an error condition, read the UDRn I/O location until the RXCn Flag
is cleared. The following code example shows how to flush the receive buffer.
Assembly code example (1)
USART_Flush:
sbis UCSRnA, RXCn
ret
in
r16, UDRn
rjmp USART_Flush
C code example (1)
void USART_Flush( void )
{
unsigned char dummy;
while ( UCSRnA & (1<<RXCn) ) dummy = UDRn;
}
Note:
19.7
1. See “About code examples” on page 10.
Asynchronous data reception
The USART includes a clock recovery and a data recovery unit for handling asynchronous data
reception. The clock recovery logic is used for synchronizing the internally generated baud rate
clock to the incoming asynchronous serial frames at the RxDn pin. The data recovery logic samples and low pass filters each incoming bit, thereby improving the noise immunity of the
Receiver. The asynchronous reception operational range depends on the accuracy of the internal baud rate clock, the rate of the incoming frames, and the frame size in number of bits.
19.7.1
Asynchronous clock recovery
The clock recovery logic synchronizes internal clock to the incoming serial frames. Figure 19-5
on page 190 illustrates the sampling process of the start bit of an incoming frame. The sample
rate is 16 times the baud rate for Normal mode, and eight times the baud rate for Double Speed
mode. The horizontal arrows illustrate the synchronization variation due to the sampling process. Note the larger time variation when using the Double Speed mode (U2Xn = 1) of
operation. Samples denoted zero are samples done when the RxDn line is idle (that is, no communication activity).
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Figure 19-5. Start bit sampling.
RxD
IDLE
START
BIT 0
Sample
(U2X = 0)
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
2
3
Sample
(U2X = 1)
0
1
2
3
4
5
6
7
8
1
2
When the clock recovery logic detects a high (idle) to low (start) transition on the RxDn line, the
start bit detection sequence is initiated. Let sample 1 denote the first zero-sample as shown in
the figure. The clock recovery logic then uses samples 8, 9, and 10 for Normal mode, and samples 4, 5, and 6 for Double Speed mode (indicated with sample numbers inside boxes on the
figure), to decide if a valid start bit is received. If two or more of these three samples have logical
high levels (the majority wins), the start bit is rejected as a noise spike and the Receiver starts
looking for the next high to low-transition. If however, a valid start bit is detected, the clock recovery logic is synchronized and the data recovery can begin. The synchronization process is
repeated for each start bit.
19.7.2
Asynchronous data recovery
When the receiver clock is synchronized to the start bit, the data recovery can begin. The data
recovery unit uses a state machine that has 16 states for each bit in Normal mode and eight
states for each bit in Double Speed mode. Figure 19-6 shows the sampling of the data bits and
the parity bit. Each of the samples is given a number that is equal to the state of the recovery
unit.
Figure 19-6. Sampling of data and parity bit.
RxD
BIT n
Sample
(U2X = 0)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
Sample
(U2X = 1)
1
2
3
4
5
6
7
8
1
The decision of the logic level of the received bit is taken by doing a majority voting of the logic
value to the three samples in the center of the received bit. The center samples are emphasized
on the figure by having the sample number inside boxes. The majority voting process is done as
follows: If two or all three samples have high levels, the received bit is registered to be a logic 1.
If two or all three samples have low levels, the received bit is registered to be a logic 0. This
majority voting process acts as a low pass filter for the incoming signal on the RxDn pin. The
recovery process is then repeated until a complete frame is received. Including the first stop bit.
Note that the Receiver only uses the first stop bit of a frame.
Figure 19-7 on page 191 shows the sampling of the stop bit and the earliest possible beginning
of the start bit of the next frame.
190
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AT90USB64/128
Figure 19-7. Stop bit sampling and next start bit sampling.
RxD
STOP 1
(A)
(B)
(C)
Sample
(U2X = 0)
1
2
3
4
5
6
7
8
9
10
0/1
0/1
0/1
Sample
(U2X = 1)
1
2
3
4
5
6
0/1
The same majority voting is done to the stop bit as done for the other bits in the frame. If the stop
bit is registered to have a logic 0 value, the Frame Error (FEn) Flag will be set.
A new high to low transition indicating the start bit of a new frame can come right after the last of
the bits used for majority voting. For Normal Speed mode, the first low level sample can be at
point marked (A) in Figure 19-7. For Double Speed mode the first low level must be delayed to
(B). (C) marks a stop bit of full length. The early start bit detection influences the operational
range of the Receiver.
19.7.3
Asynchronous Operational Range
The operational range of the Receiver is dependent on the mismatch between the received bit
rate and the internally generated baud rate. If the Transmitter is sending frames at too fast or too
slow bit rates, or the internally generated baud rate of the Receiver does not have a similar (see
Table 19-2 on page 192) base frequency, the Receiver will not be able to synchronize the
frames to the start bit.
The following equations can be used to calculate the ratio of the incoming data rate and internal
receiver baud rate.
( D + 1 )S
R slow = -----------------------------------------S – 1 + D ⋅ S + SF
( D + 2 )S
R fast = ----------------------------------( D + 1 )S + S M
D
Sum of character size and parity size (D = 5 to 10 bit)
S
Samples per bit. S = 16 for Normal Speed mode and S = 8 for Double Speed
mode
SF
First sample number used for majority voting. SF = 8 for normal speed and SF = 4
for Double Speed mode
SM
Middle sample number used for majority voting. SM = 9 for normal speed and
SM = 5 for Double Speed mode
Rslow
is the ratio of the slowest incoming data rate that can be accepted in relation to the
receiver baud rate. Rfast is the ratio of the fastest incoming data rate that can be
accepted in relation to the receiver baud rate
Table 19-2 on page 192 and Table 19-3 on page 192 list the maximum receiver baud rate error
that can be tolerated. Note that Normal Speed mode has higher toleration of baud rate
variations.
191
7593L–AVR–09/12
Table 19-2.
Recommended maximum receiver baud rate error for Normal Speed mode
(U2Xn = 0).
D
# (Data+Parity Bit)
Rslow [%]
Rfast [%]
Max. total error [%]
Recommended max.
receiver error [%]
5
93.20
106.67
+6.67/-6.8
±3.0
6
94.12
105.79
+5.79/-5.88
±2.5
7
94.81
105.11
+5.11/-5.19
±2.0
8
95.36
104.58
+4.58/-4.54
±2.0
9
95.81
104.14
+4.14/-4.19
±1.5
10
96.17
103.78
+3.78/-3.83
±1.5
Table 19-3.
Recommended maximum receiver baud rate error for Double Speed mode
(U2Xn = 1).
D
# (Data+Parity Bit)
Rslow [%]
Rfast [%]
Max. total error [%]
Recommended max.
receiver error [%]
5
94.12
105.66
+5.66/-5.88
±2.5
6
94.92
104.92
+4.92/-5.08
±2.0
7
95.52
104,35
+4.35/-4.48
±1.5
8
96.00
103.90
+3.90/-4.00
±1.5
9
96.39
103.53
+3.53/-3.61
±1.5
10
96.70
103.23
+3.23/-3.30
±1.0
The recommendations of the maximum receiver baud rate error was made under the assumption that the Receiver and Transmitter equally divides the maximum total error.
There are two possible sources for the receivers baud rate error. The Receiver’s system clock
(XTAL) will always have some minor instability over the supply voltage range and the temperature range. When using a crystal to generate the system clock, this is rarely a problem, but for a
resonator the system clock may differ more than 2% depending of the resonators tolerance. The
second source for the error is more controllable. The baud rate generator can not always do an
exact division of the system frequency to get the baud rate wanted. In this case an UBRR value
that gives an acceptable low error can be used if possible.
19.8
Multi-processor Communication mode
Setting the Multi-processor Communication mode (MPCMn) bit in UCSRnA enables a filtering
function of incoming frames received by the USART Receiver. Frames that do not contain
address information will be ignored and not put into the receive buffer. This effectively reduces
the number of incoming frames that has to be handled by the CPU, in a system with multiple
MCUs that communicate via the same serial bus. The Transmitter is unaffected by the MPCMn
setting, but has to be used differently when it is a part of a system utilizing the Multi-processor
Communication mode.
If the Receiver is set up to receive frames that contain five to eight data bits, then the first stop bit
indicates if the frame contains data or address information. If the Receiver is set up for frames
192
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AT90USB64/128
with nine data bits, then the ninth bit (RXB8n) is used for identifying address and data frames.
When the frame type bit (the first stop or the ninth bit) is one, the frame contains an address.
When the frame type bit is zero the frame is a data frame.
The Multi-processor Communication mode enables several slave MCUs to receive data from a
master MCU. This is done by first decoding an address frame to find out which MCU has been
addressed. If a particular slave MCU has been addressed, it will receive the following data
frames as normal, while the other slave MCUs will ignore the received frames until another
address frame is received.
19.8.1
Using MPCMn
For an MCU to act as a master MCU, it can use a 9-bit character frame format (UCSZn = 7). The
ninth bit (TXB8n) must be set when an address frame (TXB8n = 1) or cleared when a data frame
(TXB = 0) is being transmitted. The slave MCUs must in this case be set to use a 9-bit character
frame format.
The following procedure should be used to exchange data in Multi-processor Communication
mode:
1. All Slave MCUs are in Multi-processor Communication mode (MPCMn in UCSRnA is
set).
2. The Master MCU sends an address frame, and all slaves receive and read this frame.
In the Slave MCUs, the RXCn Flag in UCSRnA will be set as normal.
3. Each Slave MCU reads the UDRn Register and determines if it has been selected. If
so, it clears the MPCMn bit in UCSRnA, otherwise it waits for the next address byte and
keeps the MPCMn setting.
4. The addressed MCU will receive all data frames until a new address frame is received.
The other Slave MCUs, which still have the MPCMn bit set, will ignore the data frames.
5. When the last data frame is received by the addressed MCU, the addressed MCU sets
the MPCMn bit and waits for a new address frame from master. The process then
repeats from 2.
Using any of the 5- to 8-bit character frame formats is possible, but impractical since the
Receiver must change between using n and n+1 character frame formats. This makes fullduplex operation difficult since the Transmitter and Receiver uses the same character size setting. If 5- to 8-bit character frames are used, the Transmitter must be set to use two stop bit
(USBSn = 1) since the first stop bit is used for indicating the frame type.
Do not use Read-Modify-Write instructions (SBI and CBI) to set or clear the MPCMn bit. The
MPCMn bit shares the same I/O location as the TXCn Flag and this might accidentally be
cleared when using SBI or CBI instructions.
19.9
19.9.1
USART register description
UDRn – USART I/O Data Register n
Bit
7
6
5
4
3
2
1
0
RXB[7:0]
UDRn (Read)
TXB[7:0]
UDRn (Write)
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
The USART Transmit Data Buffer Register and USART Receive Data Buffer Registers share the
same I/O address referred to as USART Data Register or UDRn. The Transmit Data Buffer Reg-
193
7593L–AVR–09/12
ister (TXB) will be the destination for data written to the UDRn Register location. Reading the
UDRn Register location will return the contents of the Receive Data Buffer Register (RXB).
For 5-, 6-, or 7-bit characters the upper unused bits will be ignored by the Transmitter and set to
zero by the Receiver.
The transmit buffer can only be written when the UDREn Flag in the UCSRnA Register is set.
Data written to UDRn when the UDREn Flag is not set, will be ignored by the USART Transmitter. When data is written to the transmit buffer, and the Transmitter is enabled, the Transmitter
will load the data into the Transmit Shift Register when the Shift Register is empty. Then the
data will be serially transmitted on the TxDn pin.
The receive buffer consists of a two level FIFO. The FIFO will change its state whenever the
receive buffer is accessed. Due to this behavior of the receive buffer, do not use Read-ModifyWrite instructions (SBI and CBI) on this location. Be careful when using bit test instructions
(SBIC and SBIS), since these also will change the state of the FIFO.
19.9.2
UCSRnA – USART Control and Status Register A
Bit
7
6
5
4
3
2
1
0
RXCn
TXCn
UDREn
FEn
DORn
UPEn
U2Xn
MPCMn
Read/write
R
R/W
R
R
R
R
R/W
R/W
Initial value
0
0
1
0
0
0
0
0
UCSRnA
• Bit 7 – RXCn: USART Receive Complete
This flag bit is set when there are unread data in the receive buffer and cleared when the receive
buffer is empty (that is, does not contain any unread data). If the Receiver is disabled, the
receive buffer will be flushed and consequently the RXCn bit will become zero. The RXCn Flag
can be used to generate a Receive Complete interrupt (see description of the RXCIEn bit).
• Bit 6 – TXCn: USART Transmit Complete
This flag bit is set when the entire frame in the Transmit Shift Register has been shifted out and
there are no new data currently present in the transmit buffer (UDRn). The TXCn Flag bit is automatically cleared when a transmit complete interrupt is executed, or it can be cleared by writing
a one to its bit location. The TXCn Flag can generate a Transmit Complete interrupt (see
description of the TXCIEn bit).
• Bit 5 – UDREn: USART Data Register Empty
The UDREn Flag indicates if the transmit buffer (UDRn) is ready to receive new data. If UDREn
is one, the buffer is empty, and therefore ready to be written. The UDREn Flag can generate a
Data Register Empty interrupt (see description of the UDRIEn bit).
UDREn is set after a reset to indicate that the Transmitter is ready.
• Bit 4 – FEn: Frame Error
This bit is set if the next character in the receive buffer had a Frame Error when received. I.e.,
when the first stop bit of the next character in the receive buffer is zero. This bit is valid until the
receive buffer (UDRn) is read. The FEn bit is zero when the stop bit of received data is one.
Always set this bit to zero when writing to UCSRnA.
• Bit 3 – DORn: Data OverRun
This bit is set if a Data OverRun condition is detected. A Data OverRun occurs when the receive
buffer is full (two characters), it is a new character waiting in the Receive Shift Register, and a
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AT90USB64/128
new start bit is detected. This bit is valid until the receive buffer (UDRn) is read. Always set this
bit to zero when writing to UCSRnA.
• Bit 2 – UPEn: USART Parity Error
This bit is set if the next character in the receive buffer had a Parity Error when received and the
Parity Checking was enabled at that point (UPMn1 = 1). This bit is valid until the receive buffer
(UDRn) is read. Always set this bit to zero when writing to UCSRnA.
• Bit 1 – U2Xn: Double the USART Transmission Speed
This bit only has effect for the asynchronous operation. Write this bit to zero when using synchronous operation.
Writing this bit to one will reduce the divisor of the baud rate divider from 16 to 8 effectively doubling the transfer rate for asynchronous communication.
• Bit 0 – MPCMn: Multi-processor Communication Mode
This bit enables the Multi-processor Communication mode. When the MPCMn bit is written to
one, all the incoming frames received by the USART Receiver that do not contain address information will be ignored. The Transmitter is unaffected by the MPCMn setting. For more detailed
information see “Multi-processor Communication mode” on page 192.
19.9.3
UCSRnB – USART Control and Status Register n B
Bit
7
6
5
4
3
2
1
RXCIEn
TXCIEn
UDRIEn
RXENn
TXENn
UCSZn2
RXB8n
0
TXB8n
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R
R/W
Initial value
0
0
0
0
0
0
0
0
UCSRnB
• Bit 7 – RXCIEn: RX Complete Interrupt Enable n
Writing this bit to one enables interrupt on the RXCn Flag. A USART Receive Complete interrupt
will be generated only if the RXCIEn bit is written to one, the Global Interrupt Flag in SREG is
written to one and the RXCn bit in UCSRnA is set.
• Bit 6 – TXCIEn: TX Complete Interrupt Enable n
Writing this bit to one enables interrupt on the TXCn Flag. A USART Transmit Complete interrupt
will be generated only if the TXCIEn bit is written to one, the Global Interrupt Flag in SREG is
written to one and the TXCn bit in UCSRnA is set.
• Bit 5 – UDRIEn: USART Data Register Empty Interrupt Enable n
Writing this bit to one enables interrupt on the UDREn Flag. A Data Register Empty interrupt will
be generated only if the UDRIEn bit is written to one, the Global Interrupt Flag in SREG is written
to one and the UDREn bit in UCSRnA is set.
• Bit 4 – RXENn: Receiver Enable n
Writing this bit to one enables the USART Receiver. The Receiver will override normal port operation for the RxDn pin when enabled. Disabling the Receiver will flush the receive buffer
invalidating the FEn, DORn, and UPEn Flags.
• Bit 3 – TXENn: Transmitter Enable n
Writing this bit to one enables the USART Transmitter. The Transmitter will override normal port
operation for the TxDn pin when enabled. The disabling of the Transmitter (writing TXENn to
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7593L–AVR–09/12
zero) will not become effective until ongoing and pending transmissions are completed, that is,
when the Transmit Shift Register and Transmit Buffer Register do not contain data to be transmitted. When disabled, the Transmitter will no longer override the TxDn port.
• Bit 2 – UCSZn2: Character Size n
The UCSZn2 bits combined with the UCSZn1:0 bit in UCSRnC sets the number of data bits
(Character SiZe) in a frame the Receiver and Transmitter use.
• Bit 1 – RXB8n: Receive Data Bit 8 n
RXB8n is the ninth data bit of the received character when operating with serial frames with nine
data bits. Must be read before reading the low bits from UDRn.
• Bit 0 – TXB8n: Transmit Data Bit 8 n
TXB8n is the ninth data bit in the character to be transmitted when operating with serial frames
with nine data bits. Must be written before writing the low bits to UDRn.
19.9.4
UCSRnC – USART Control and Status Register n C
Bit
7
6
5
4
3
2
1
0
UMSELn1
UMSELn0
UPMn1
UPMn0
USBSn
UCSZn1
UCSZn0
UCPOLn
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
1
1
0
UCSRnC
• Bits 7:6 – UMSELn1:0 USART mode select
These bits select the mode of operation of the USARTn as shown in Table 19-4.
Table 19-4.
Note:
UMSELn bits settings.
UMSELn1
UMSELn0
Mode
0
0
Asynchronous USART
0
1
Synchronous USART
1
0
(Reserved)
1
1
Master SPI (MSPIM) (1)
1. See “USART in SPI mode” on page 202 for full description of the Master SPI Mode (MSPIM)
operation
• Bits 5:4 – UPMn1:0: Parity mode
These bits enable and set type of parity generation and check. If enabled, the Transmitter will
automatically generate and send the parity of the transmitted data bits within each frame. The
Receiver will generate a parity value for the incoming data and compare it to the UPMn setting.
If a mismatch is detected, the UPEn Flag in UCSRnA will be set.
Table 19-5.
196
UPMn bits settings.
UPMn1
UPMn0
Parity mode
0
0
Disabled
0
1
Reserved
1
0
Enabled, even parity
1
1
Enabled, odd parity
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
• Bit 3 – USBSn: Stop Bit select
This bit selects the number of stop bits to be inserted by the Transmitter. The Receiver ignores
this setting.
Table 19-6.
USBS bit settings.
USBSn
Stop bit(s)
0
1-bit
1
2-bit
• Bit 2:1 – UCSZn1:0: Character size
The UCSZn1:0 bits combined with the UCSZn2 bit in UCSRnB sets the number of data bits
(Character SiZe) in a frame the Receiver and Transmitter use.
Table 19-7.
UCSZn bits settings.
UCSZn2
UCSZn1
UCSZn0
Character size
0
0
0
5-bit
0
0
1
6-bit
0
1
0
7-bit
0
1
1
8-bit
1
0
0
Reserved
1
0
1
Reserved
1
1
0
Reserved
1
1
1
9-bit
• Bit 0 – UCPOLn: Clock polarity
This bit is used for synchronous mode only. Write this bit to zero when asynchronous mode is
used. The UCPOLn bit sets the relationship between data output change and data input sample,
and the synchronous clock (XCKn).
Table 19-8.
Transmitted data changed
(output of TxDn pin)
Received data sampled
(input on RxDn pin)
0
Rising XCKn edge
Falling XCKn edge
1
Falling XCKn edge
Rising XCKn edge
UCPOLn
19.9.5
UCPOLn bit settings.
UBRRLn and UBRRHn – USART baud rate registers
Bit
15
14
13
12
11
–
–
–
–
UBRR[11:8]
10
9
8
7
6
5
4
3
2
1
0
R/W
UBRRHn
UBRR[7:0]
Read/write
Initial value
UBRRLn
R
R
R
R
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
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7593L–AVR–09/12
• Bit 15:12 – Reserved bits
These bits are reserved for future use. For compatibility with future devices, these bit must be
written to zero when UBRRH is written.
• Bit 11:0 – UBRR11:0: USART baud rate register
This is a 12-bit register which contains the USART baud rate. The UBRRH contains the four
most significant bits, and the UBRRL contains the eight least significant bits of the USART baud
rate. Ongoing transmissions by the Transmitter and Receiver will be corrupted if the baud rate is
changed. Writing UBRRL will trigger an immediate update of the baud rate prescaler.
19.10 Examples of baud rate setting
For standard crystal and resonator frequencies, the most commonly used baud rates for asynchronous operation can be generated by using the UBRR settings in Table 19-9 to Table 19-12
on page 201. UBRR values which yield an actual baud rate differing less than 0.5% from the target baud rate, are bold in the table. Higher error ratings are acceptable, but the Receiver will
have less noise resistance when the error ratings are high, especially for large serial frames (see
“Asynchronous Operational Range” on page 191). The error values are calculated using the following equation:
BaudRate Closest Match
Error[%] = ⎛⎝ ------------------------------------------------------- – 1⎞⎠ • 100%
BaudRate
Table 19-9.
Examples of UBRRn settings for commonly used oscillator frequencies.
fosc = 1.0000MHz
fosc = 1.8432MHz
fosc = 2.0000MHz
Baud
rate
[bps]
UBRR
2400
25
0.2%
51
0.2%
47
0.0%
95
0.0%
51
0.2%
103
0.2%
4800
12
0.2%
25
0.2%
23
0.0%
47
0.0%
25
0.2%
51
0.2%
9600
6
-7.0%
12
0.2%
11
0.0%
23
0.0%
12
0.2%
25
0.2%
14.4k
3
8.5%
8
-3.5%
7
0.0%
15
0.0%
8
-3.5%
16
2.1%
19.2k
2
8.5%
6
-7.0%
5
0.0%
11
0.0%
6
-7.0%
12
0.2%
28.8k
1
8.5%
3
8.5%
3
0.0%
7
0.0%
3
8.5%
8
-3.5%
38.4k
1
-18.6%
2
8.5%
2
0.0%
5
0.0%
2
8.5%
6
-7.0%
57.6k
0
8.5%
1
8.5%
1
0.0%
3
0.0%
1
8.5%
3
8.5%
76.8k
–
–
1
-18.6%
1
-25.0%
2
0.0%
1
-18.6%
2
8.5%
115.2k
–
–
0
8.5%
0
0.0%
1
0.0%
0
8.5%
1
8.5%
230.4k
–
–
–
–
–
–
0
0.0%
–
–
–
–
250k
–
–
–
–
–
–
–
–
–
–
0
0.0%
Max.
1.
198
(1)
U2Xn = 0
Error
U2Xn = 1
UBRR
62.5kbps
Error
125kbps
U2Xn = 0
UBRR
Error
115.2kbps
U2Xn = 1
UBRR
Error
230.4kbps
U2Xn = 0
UBRR
Error
125kbps
U2Xn = 1
UBRR
Error
250kbps
UBRR = 0, Error = 0.0%.
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 19-10. Examples of UBRRn settings for commonly used oscillator frequencies.
fosc = 3.6864MHz
Baud
rate
[bps]
U2Xn = 0
UBRR
fosc = 4.0000MHz
U2Xn = 1
Error
UBRR
U2Xn = 0
Error
UBRR
fosc = 7.3728MHz
U2Xn = 1
Error
UBRR
U2Xn = 0
Error
UBRR
U2Xn = 1
Error
UBRR
Error
2400
95
0.0%
191
0.0%
103
0.2%
207
0.2%
191
0.0%
383
0.0%
4800
47
0.0%
95
0.0%
51
0.2%
103
0.2%
95
0.0%
191
0.0%
9600
23
0.0%
47
0.0%
25
0.2%
51
0.2%
47
0.0%
95
0.0%
14.4k
15
0.0%
31
0.0%
16
2.1%
34
-0.8%
31
0.0%
63
0.0%
19.2k
11
0.0%
23
0.0%
12
0.2%
25
0.2%
23
0.0%
47
0.0%
28.8k
7
0.0%
15
0.0%
8
-3.5%
16
2.1%
15
0.0%
31
0.0%
38.4k
5
0.0%
11
0.0%
6
-7.0%
12
0.2%
11
0.0%
23
0.0%
57.6k
3
0.0%
7
0.0%
3
8.5%
8
-3.5%
7
0.0%
15
0.0%
76.8k
2
0.0%
5
0.0%
2
8.5%
6
-7.0%
5
0.0%
11
0.0%
115.2k
1
0.0%
3
0.0%
1
8.5%
3
8.5%
3
0.0%
7
0.0%
230.4k
0
0.0%
1
0.0%
0
8.5%
1
8.5%
1
0.0%
3
0.0%
250k
0
-7.8%
1
-7.8%
0
0.0%
1
0.0%
1
-7.8%
3
-7.8%
0.5M
–
–
0
-7.8%
–
–
0
0.0%
0
-7.8%
1
-7.8%
–
–
–
–
–
–
–
–
–
–
0
-7.8%
1M
Max.
1.
(1)
230.4kbps
460.8kbps
250kbps
0.5Mbps
460.8kbps
921.6kbps
UBRR = 0, Error = 0.0%.
199
7593L–AVR–09/12
Table 19-11. Examples of UBRRn settings for commonly used oscillator frequencies.
fosc = 8.0000MHz
fosc = 11.0592MHz
fosc = 14.7456MHz
Baud
rate
[bps]
UBRR
2400
207
0.2%
416
-0.1%
287
0.0%
575
0.0%
383
0.0%
767
0.0%
4800
103
0.2%
207
0.2%
143
0.0%
287
0.0%
191
0.0%
383
0.0%
9600
51
0.2%
103
0.2%
71
0.0%
143
0.0%
95
0.0%
191
0.0%
14.4k
34
-0.8%
68
0.6%
47
0.0%
95
0.0%
63
0.0%
127
0.0%
19.2k
25
0.2%
51
0.2%
35
0.0%
71
0.0%
47
0.0%
95
0.0%
28.8k
16
2.1%
34
-0.8%
23
0.0%
47
0.0%
31
0.0%
63
0.0%
38.4k
12
0.2%
25
0.2%
17
0.0%
35
0.0%
23
0.0%
47
0.0%
57.6k
8
-3.5%
16
2.1%
11
0.0%
23
0.0%
15
0.0%
31
0.0%
76.8k
6
-7.0%
12
0.2%
8
0.0%
17
0.0%
11
0.0%
23
0.0%
115.2k
3
8.5%
8
-3.5%
5
0.0%
11
0.0%
7
0.0%
15
0.0%
230.4k
1
8.5%
3
8.5%
2
0.0%
5
0.0%
3
0.0%
7
0.0%
250k
1
0.0%
3
0.0%
2
-7.8%
5
-7.8%
3
-7.8%
6
5.3%
0.5M
0
0.0%
1
0.0%
–
–
2
-7.8%
1
-7.8%
3
-7.8%
–
–
0
0.0%
–
–
–
–
0
-7.8%
1
-7.8%
1M
Max.
1.
200
(1)
U2Xn = 0
Error
U2Xn = 1
UBRR
0.5Mbps
Error
1Mbps
U2Xn = 0
UBRR
Error
691.2kbps
U2Xn = 1
UBRR
Error
1.3824Mbps
U2Xn = 0
UBRR
Error
921.6kbps
U2Xn = 1
UBRR
Error
1.8432Mbps
UBRR = 0, Error = 0.0%.
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 19-12. Examples of UBRRn settings for commonly used oscillator frequencies.
fosc = 16.0000MHz
fosc = 18.4320MHz
fosc = 20.0000MHz
Baud
rate
[bps]
UBRR
2400
416
-0.1%
832
0.0%
479
0.0%
959
0.0%
520
0.0%
1041
0.0%
4800
207
0.2%
416
-0.1%
239
0.0%
479
0.0%
259
0.2%
520
0.0%
9600
103
0.2%
207
0.2%
119
0.0%
239
0.0%
129
0.2%
259
0.2%
14.4k
68
0.6%
138
-0.1%
79
0.0%
159
0.0%
86
-0.2%
173
-0.2%
19.2k
51
0.2%
103
0.2%
59
0.0%
119
0.0%
64
0.2%
129
0.2%
28.8k
34
-0.8%
68
0.6%
39
0.0%
79
0.0%
42
0.9%
86
-0.2%
38.4k
25
0.2%
51
0.2%
29
0.0%
59
0.0%
32
-1.4%
64
0.2%
57.6k
16
2.1%
34
-0.8%
19
0.0%
39
0.0%
21
-1.4%
42
0.9%
76.8k
12
0.2%
25
0.2%
14
0.0%
29
0.0%
15
1.7%
32
-1.4%
115.2k
8
-3.5%
16
2.1%
9
0.0%
19
0.0%
10
-1.4%
21
-1.4%
230.4k
3
8.5%
8
-3.5%
4
0.0%
9
0.0%
4
8.5%
10
-1.4%
250k
3
0.0%
7
0.0%
4
-7.8%
8
2.4%
4
0.0%
9
0.0%
0.5M
1
0.0%
3
0.0%
–
–
4
-7.8%
–
–
4
0.0%
0
0.0%
1
0.0%
–
–
–
–
–
–
–
–
U2Xn = 0
1M
Max.
1.
(1)
Error
U2Xn = 1
UBRR
1Mbps
Error
2Mbps
U2Xn = 0
UBRR
Error
1.152Mbps
U2Xn = 1
UBRR
Error
2.304Mbps
U2Xn = 0
UBRR
Error
1.25Mbps
U2Xn = 1
UBRR
Error
2.5Mbps
UBRR = 0, Error = 0.0%.
201
7593L–AVR–09/12
20. USART in SPI mode
The Universal Synchronous and Asynchronous serial Receiver and Transmitter (USART) can be
set to a master SPI compliant mode of operation. The Master SPI Mode (MSPIM) has the following features:
•
•
•
•
•
•
•
•
20.1
Full duplex, three-wire synchronous data transfer
Master operation
Supports all four SPI modes of operation (Mode 0, 1, 2, and 3)
LSB first or MSB first data transfer (configurable data order)
Queued operation (double buffered)
High resolution baud rate generator
High speed operation (fXCKmax = fCK/2)
Flexible interrupt generation
Overview
Setting both UMSELn1:0 bits to one enables the USART in MSPIM logic. In this mode of operation the SPI master control logic takes direct control over the USART resources. These
resources include the transmitter and receiver shift register and buffers, and the baud rate generator. The parity generator and checker, the data and clock recovery logic, and the RX and TX
control logic is disabled. The USART RX and TX control logic is replaced by a common SPI
transfer control logic. However, the pin control logic and interrupt generation logic is identical in
both modes of operation.
The I/O register locations are the same in both modes. However, some of the functionality of the
control registers changes when using MSPIM.
20.2
Clock generation
The Clock Generation logic generates the base clock for the Transmitter and Receiver. For
USART MSPIM mode of operation only internal clock generation (that is, master operation) is
supported. The Data Direction Register for the XCKn pin (DDR_XCKn) must therefore be set to
one (that is, as output) for the USART in MSPIM to operate correctly. Preferably the DDR_XCKn
should be set up before the USART in MSPIM is enabled (that is, TXENn and RXENn bit set to
one).
The internal clock generation used in MSPIM mode is identical to the USART synchronous master mode. The baud rate or UBRRn setting can therefore be calculated using the same
equations, see Table 20-1.
Table 20-1.
Equations for calculating baud rate register setting.
Operating mode
Synchronous Master
mode
Note:
202
Equation for calculating
baud rate (1)
Equation for calculating UBRRn
value
f OSC
BAUD = -------------------------------------2 ( UBRRn + 1 )
f OSC
UBRRn = -------------------–1
2BAUD
1. The baud rate is defined to be the transfer rate in bit per second (bps).
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
20.3
BAUD
Baud rate (in bits per second, bps)
fOSC
System oscillator clock frequency
UBRRn
Contents of the UBRRnH and UBRRnL registers, (0-4095)
SPI data modes and timing
There are four combinations of XCKn (SCK) phase and polarity with respect to serial data, which
are determined by control bits UCPHAn and UCPOLn. The data transfer timing diagrams are
shown in Figure 20-1. Data bits are shifted out and latched in on opposite edges of the XCKn
signal, ensuring sufficient time for data signals to stabilize. The UCPOLn and UCPHAn functionality is summarized in Table 20-2. Note that changing the setting of any of these bits will corrupt
all ongoing communication for both the Receiver and Transmitter.
Table 20-2.
UCPOLn and UCPHAn functionality.
UCPOLn
UCPHAn
SPI mode
Leading edge
Trailing edge
0
0
0
Sample (rising)
Setup (falling)
0
1
1
Setup (rising)
Sample (falling)
1
0
2
Sample (falling)
Setup (rising)
1
1
3
Setup (falling)
Sample (rising)
Figure 20-1. UCPHAn and UCPOLn data transfer timing diagrams.
UCPHA=0
UCPHA=1
UCPOL=0
20.4
UCPOL=1
XCK
XCK
Data setup (TXD)
Data setup (TXD)
Data sample (RXD)
Data sample (RXD)
XCK
XCK
Data setup (TXD)
Data setup (TXD)
Data sample (RXD)
Data sample (RXD)
Frame formats
A serial frame for the MSPIM is defined to be one character of 8 data bits. The USART in MSPIM
mode has two valid frame formats:
• 8-bit data with MSB first
• 8-bit data with LSB first
A frame starts with the least or most significant data bit. Then the next data bits, up to a total of
eight, are succeeding, ending with the most or least significant bit accordingly. When a complete
frame is transmitted, a new frame can directly follow it, or the communication line can be set to
an idle (high) state.
The UDORDn bit in UCSRnC sets the frame format used by the USART in MSPIM mode. The
Receiver and Transmitter use the same setting. Note that changing the setting of any of these
bits will corrupt all ongoing communication for both the Receiver and Transmitter.
203
7593L–AVR–09/12
16-bit data transfer can be achieved by writing two data bytes to UDRn. A UART transmit complete interrupt will then signal that the 16-bit value has been shifted out.
20.4.1
USART MSPIM initialization
The USART in MSPIM mode has to be initialized before any communication can take place. The
initialization process normally consists of setting the baud rate, setting master mode of operation
(by setting DDR_XCKn to one), setting frame format and enabling the Transmitter and the
Receiver. Only the transmitter can operate independently. For interrupt driven USART operation, the Global Interrupt Flag should be cleared (and thus interrupts globally disabled) when
doing the initialization.
Note:
To ensure immediate initialization of the XCKn output the baud-rate register (UBRRn) must be
zero at the time the transmitter is enabled. Contrary to the normal mode USART operation the
UBRRn must then be written to the desired value after the transmitter is enabled, but before the
first transmission is started. Setting UBRRn to zero before enabling the transmitter is not necessary if the initialization is done immediately after a reset since UBRRn is reset to zero.
Before doing a re-initialization with changed baud rate, data mode, or frame format, be sure that
there is no ongoing transmissions during the period the registers are changed. The TXCn Flag
can be used to check that the Transmitter has completed all transfers, and the RXCn Flag can
be used to check that there are no unread data in the receive buffer. Note that the TXCn Flag
must be cleared before each transmission (before UDRn is written) if it is used for this purpose.
The following simple USART initialization code examples show one assembly and one C function that are equal in functionality. The examples assume polling (no interrupts enabled). The
baud rate is given as a function parameter. For the assembly code, the baud rate parameter is
assumed to be stored in the r17:r16 registers.
204
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Assembly code example (1)
USART_Init:
clr r18
out UBRRnH,r18
out UBRRnL,r18
; Setting the XCKn port pin as output, enables master mode.
sbi XCKn_DDR, XCKn
; Set MSPI mode of operation and SPI data mode 0.
ldi r18, (1<<UMSELn1)|(1<<UMSELn0)|(0<<UCPHAn)|(0<<UCPOLn)
out UCSRnC,r18
; Enable receiver and transmitter.
ldi r18, (1<<RXENn)|(1<<TXENn)
out UCSRnB,r18
; Set baud rate.
; IMPORTANT: The Baud Rate must be set after the transmitter is
enabled!
out UBRRnH, r17
out UBRRnL, r18
ret
C code example (1)
void USART_Init( unsigned int baud )
{
UBRRn = 0;
/* Setting the XCKn port pin as output, enables master mode. */
XCKn_DDR |= (1<<XCKn);
/* Set MSPI mode of operation and SPI data mode 0. */
UCSRnC = (1<<UMSELn1)|(1<<UMSELn0)|(0<<UCPHAn)|(0<<UCPOLn);
/* Enable receiver and transmitter. */
UCSRnB = (1<<RXENn)|(1<<TXENn);
/* Set baud rate. */
/* IMPORTANT: The Baud Rate must be set after the transmitter is
enabled */
UBRRn = baud;
}
Note:
20.5
1. See “About code examples” on page 10.
Data transfer
Using the USART in MSPI mode requires the Transmitter to be enabled, that is, the TXENn bit in
the UCSRnB register is set to one. When the Transmitter is enabled, the normal port operation
of the TxDn pin is overridden and given the function as the Transmitter's serial output. Enabling
the receiver is optional and is done by setting the RXENn bit in the UCSRnB register to one.
When the receiver is enabled, the normal pin operation of the RxDn pin is overridden and given
the function as the Receiver's serial input. The XCKn will in both cases be used as the transfer
clock.
205
7593L–AVR–09/12
After initialization the USART is ready for doing data transfers. A data transfer is initiated by writing to the UDRn I/O location. This is the case for both sending and receiving data since the
transmitter controls the transfer clock. The data written to UDRn is moved from the transmit buffer to the shift register when the shift register is ready to send a new frame.
Note:
To keep the input buffer in sync with the number of data bytes transmitted, the UDRn register must
be read once for each byte transmitted. The input buffer operation is identical to normal USART
mode, that is, if an overflow occurs the character last received will be lost, not the first data in the
buffer. This means that if four bytes are transferred, byte 1 first, then byte 2, 3, and 4, and the
UDRn is not read before all transfers are completed, then byte 3 to be received will be lost, and not
byte 1.
The following code examples show a simple USART in MSPIM mode transfer function based on
polling of the Data Register Empty (UDREn) Flag and the Receive Complete (RXCn) Flag. The
USART has to be initialized before the function can be used. For the assembly code, the data to
be sent is assumed to be stored in Register R16 and the data received will be available in the
same register (R16) after the function returns.
The function simply waits for the transmit buffer to be empty by checking the UDREn Flag,
before loading it with new data to be transmitted. The function then waits for data to be present
in the receive buffer by checking the RXCn Flag, before reading the buffer and returning the
value.
Assembly code example (1)
USART_MSPIM_Transfer:
; Wait for empty transmit buffer
sbis UCSRnA, UDREn
rjmp USART_MSPIM_Transfer
; Put data (r16) into buffer, sends the data
out UDRn,r16
; Wait for data to be received
USART_MSPIM_Wait_RXCn:
sbis UCSRnA, RXCn
rjmp USART_MSPIM_Wait_RXCn
; Get and return received data from buffer
in r16, UDRn
ret
C code example (1)
unsigned char USART_Receive( void )
{
/* Wait for empty transmit buffer */
while ( !( UCSRnA & (1<<UDREn)) );
/* Put data into buffer, sends the data */
UDRn = data;
/* Wait for data to be received */
while ( !(UCSRnA & (1<<RXCn)) );
/* Get and return received data from buffer */
return UDRn;
}
Note:
206
1. See “About code examples” on page 10.
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
20.5.1
Transmitter and receiver flags and interrupts
The RXCn, TXCn, and UDREn flags and corresponding interrupts in USART in MSPIM mode
are identical in function to the normal USART operation. However, the receiver error status flags
(FE, DOR, and PE) are not in use and is always read as zero.
20.5.2
Disabling the transmitter or receiver
The disabling of the transmitter or receiver in USART in MSPIM mode is identical in function to
the normal USART operation.
20.6
USART MSPIM register description
The following section describes the registers used for SPI operation using the USART.
20.6.1
UDRn – USART MSPIM I/O data register
The function and bit description of the USART data register (UDRn) in MSPI mode is identical to
normal USART operation. See “UDRn – USART I/O Data Register n” on page 193.
20.6.2
UCSRnA – USART MSPIM Control and Status Register n A
Bit
7
6
5
4
3
2
1
0
RXCn
TXCn
UDREn
-
-
-
-
-
Read/write
R/W
R/W
R/W
R
R
R
R
R
Initial value
0
0
0
0
0
1
1
0
UCSRnA
• Bit 7 - RXCn: USART receive complete
This flag bit is set when there are unread data in the receive buffer and cleared when the receive
buffer is empty (i.e., does not contain any unread data). If the Receiver is disabled, the receive
buffer will be flushed and consequently the RXCn bit will become zero. The RXCn Flag can be
used to generate a Receive Complete interrupt (see description of the RXCIEn bit).
• Bit 6 - TXCn: USART transmit complete
This flag bit is set when the entire frame in the Transmit Shift Register has been shifted out and
there are no new data currently present in the transmit buffer (UDRn). The TXCn Flag bit is automatically cleared when a transmit complete interrupt is executed, or it can be cleared by writing
a one to its bit location. The TXCn Flag can generate a Transmit Complete interrupt (see
description of the TXCIEn bit).
• Bit 5 - UDREn: USART data register empty
The UDREn Flag indicates if the transmit buffer (UDRn) is ready to receive new data. If UDREn
is one, the buffer is empty, and therefore ready to be written. The UDREn Flag can generate a
Data Register Empty interrupt (see description of the UDRIE bit). UDREn is set after a reset to
indicate that the Transmitter is ready.
• Bit 4:0 - Reserved bits in MSPI mode
When in MSPI mode, these bits are reserved for future use. For compatibility with future devices,
these bits must be written to zero when UCSRnA is written.
207
7593L–AVR–09/12
20.6.3
UCSRnB – USART MSPIM Control and Status Register n B
Bit
7
6
5
4
3
2
1
0
RXCIEn
TXCIEn
UDRIE
RXENn
TXENn
-
-
-
Read/write
R/W
R/W
R/W
R/W
R/W
R
R
R
Initial value
0
0
0
0
0
1
1
0
UCSRnB
• Bit 7 - RXCIEn: RX Complete Interrupt Enable
Writing this bit to one enables interrupt on the RXCn Flag. A USART Receive Complete interrupt
will be generated only if the RXCIEn bit is written to one, the Global Interrupt Flag in SREG is
written to one and the RXCn bit in UCSRnA is set.
• Bit 6 - TXCIEn: TX Complete Interrupt Enable
Writing this bit to one enables interrupt on the TXCn Flag. A USART Transmit Complete interrupt
will be generated only if the TXCIEn bit is written to one, the Global Interrupt Flag in SREG is
written to one and the TXCn bit in UCSRnA is set.
• Bit 5 - UDRIE: USART Data Register Empty Interrupt Enable
Writing this bit to one enables interrupt on the UDREn Flag. A Data Register Empty interrupt will
be generated only if the UDRIE bit is written to one, the Global Interrupt Flag in SREG is written
to one and the UDREn bit in UCSRnA is set.
• Bit 4 - RXENn: Receiver Enable
Writing this bit to one enables the USART Receiver in MSPIM mode. The Receiver will override
normal port operation for the RxDn pin when enabled. Disabling the Receiver will flush the
receive buffer. Only enabling the receiver in MSPI mode (that is, setting RXENn=1 and
TXENn=0) has no meaning since it is the transmitter that controls the transfer clock and since
only master mode is supported.
• Bit 3 - TXENn: Transmitter Enable
Writing this bit to one enables the USART Transmitter. The Transmitter will override normal port
operation for the TxDn pin when enabled. The disabling of the Transmitter (writing TXENn to
zero) will not become effective until ongoing and pending transmissions are completed, that is,
when the Transmit Shift Register and Transmit Buffer Register do not contain data to be transmitted. When disabled, the Transmitter will no longer override the TxDn port.
• Bit 2:0 - Reserved Bits in MSPI mode
When in MSPI mode, these bits are reserved for future use. For compatibility with future devices,
these bits must be written to zero when UCSRnB is written.
20.6.4
UCSRnC – USART MSPIM Control and Status Register n C
Bit
7
6
5
4
3
2
1
UMSELn1
UMSELn0
-
-
-
UDORDn
UCPHAn
0
UCPOLn
Read/write
R/W
R/W
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
1
1
0
UCSRnC
• Bit 7:6 - UMSELn1:0: USART Mode Select
These bits select the mode of operation of the USART as shown in Table 20-3 on page 209. See
“UCSRnC – USART Control and Status Register n C” on page 196 for full description of the nor-
208
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
mal USART operation. The MSPIM is enabled when both UMSELn bits are set to one. The
UDORDn, UCPHAn, and UCPOLn can be set in the same write operation where the MSPIM is
enabled.
Table 20-3.
UMSELn bits settings.
UMSELn1
UMSELn0
Mode
0
0
Asynchronous USART
0
1
Synchronous USART
1
0
(Reserved)
1
1
Master SPI (MSPIM)
• Bit 5:3 - Reserved Bits in MSPI mode
When in MSPI mode, these bits are reserved for future use. For compatibility with future devices,
these bits must be written to zero when UCSRnC is written.
• Bit 2 - UDORDn: Data Order
When set to one the LSB of the data word is transmitted first. When set to zero the MSB of the
data word is transmitted first. Refer to the Frame Formats section page 4 for details.
• Bit 1 - UCPHAn: Clock Phase
The UCPHAn bit setting determine if data is sampled on the leasing edge (first) or tailing (last)
edge of XCKn. Refer to the SPI Data Modes and Timing section page 4 for details.
• Bit 0 - UCPOLn: Clock Polarity
The UCPOLn bit sets the polarity of the XCKn clock. The combination of the UCPOLn and
UCPHAn bit settings determine the timing of the data transfer. Refer to the SPI Data Modes and
Timing section page 4 for details.
20.6.5
20.7
UBRRnL and UBRRnH – USART MSPIM Baud Rate Registers
The function and bit description of the baud rate registers in MSPI mode is identical to normal
USART operation. See “UBRRLn and UBRRHn – USART baud rate registers” on page 197.
AVR USART MSPIM vs. AVR SPI
The USART in MSPIM mode is fully compatible with the AVR SPI regarding:
• Master mode timing diagram.
• The UCPOLn bit functionality is identical to the SPI CPOL bit
• The UCPHAn bit functionality is identical to the SPI CPHA bit
• The UDORDn bit functionality is identical to the SPI DORD bit
However, since the USART in MSPIM mode reuses the USART resources, the use of the
USART in MSPIM mode is somewhat different compared to the SPI. In addition to differences of
the control register bits, and that only master operation is supported by the USART in MSPIM
mode, the following features differ between the two modules:
• The USART in MSPIM mode includes (double) buffering of the transmitter. The SPI has no
buffer
• The USART in MSPIM mode receiver includes an additional buffer level
• The SPI WCOL (Write Collision) bit is not included in USART in MSPIM mode
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• The SPI double speed mode (SPI2X) bit is not included. However, the same effect is
achieved by setting UBRRn accordingly
• Interrupt timing is not compatible
• Pin control differs due to the master only operation of the USART in MSPIM mode
A comparison of the USART in MSPIM mode and the SPI pins is shown in Table 20-4 on page
210.
Table 20-4.
210
Comparison of USART in MSPIM mode and SPI pins.
USART_MSPIM
SPI
Comment
TxDn
MOSI
Master Out only
RxDn
MISO
Master In only
XCKn
SCK
(Functionally identical)
(N/A)
SS
Not supported by USART in MSPIM
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21. 2-wire serial interface
21.1
Features
•
•
•
•
•
•
•
•
•
•
21.2
Simple yet powerful and flexible communication interface, only two bus lines needed
Both Master and Slave operation supported
Device can operate as transmitter or receiver
7-bit address space allows up to 128 different slave addresses
Multi-master arbitration support
Up to 400kHz data transfer speed
Slew-rate limited output drivers
Noise suppression circuitry rejects spikes on bus lines
Fully programmable slave address with general call support
Address recognition causes wake-up when AVR is in sleep mode
2-wire Serial Interface bus definition
The 2-wire Serial Interface (TWI) is ideally suited for typical microcontroller applications. The
TWI protocol allows the systems designer to interconnect up to 128 different devices using only
two bi-directional bus lines, one for clock (SCL) and one for data (SDA). The only external hardware needed to implement the bus is a single pull-up resistor for each of the TWI bus lines. All
devices connected to the bus have individual addresses, and mechanisms for resolving bus
contention are inherent in the TWI protocol.
Figure 21-1. TWI bus interconnection.
VCC
Device 1
Device 2
Device 3
........
Device n
R1
R2
SDA
SCL
21.2.1
TWI terminology
The following definitions are frequently encountered in this section.
Table 21-1.
TWI terminology.
Term
Description
Master
The device that initiates and terminates a transmission. The Master also generates the
SCL clock.
Slave
The device addressed by a Master.
Transmitter
The device placing data on the bus.
Receiver
The device reading data from the bus.
The Power Reduction TWI bit, PRTWI bit in “PRR0 – Power Reduction Register 0” on page 54
must be written to zero to enable the 2-wire Serial Interface.
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21.2.2
Electrical interconnection
As depicted in Figure 21-1 on page 211, both bus lines are connected to the positive supply voltage through pull-up resistors. The bus drivers of all TWI-compliant devices are open-drain or
open-collector. This implements a wired-AND function which is essential to the operation of the
interface. A low level on a TWI bus line is generated when one or more TWI devices output a
zero. A high level is output when all TWI devices trim-state their outputs, allowing the pull-up
resistors to pull the line high. Note that all AVR devices connected to the TWI bus must be powered in order to allow any bus operation.
The number of devices that can be connected to the bus is only limited by the bus capacitance
limit of 400pF and the 7-bit slave address space. A detailed specification of the electrical characteristics of the TWI is given in “SPI timing characteristics” on page 395. Two different sets of
specifications are presented there, one relevant for bus speeds below 100kHz, and one valid for
bus speeds up to 400kHz.
21.3
21.3.1
Data transfer and frame format
Transferring bits
Each data bit transferred on the TWI bus is accompanied by a pulse on the clock line. The level
of the data line must be stable when the clock line is high. The only exception to this rule is for
generating start and stop conditions.
Figure 21-2. Data validity.
SDA
SCL
Data stable
Data stable
Data change
21.3.2
212
START and STOP conditions
The Master initiates and terminates a data transmission. The transmission is initiated when the
Master issues a START condition on the bus, and it is terminated when the Master issues a
STOP condition. Between a START and a STOP condition, the bus is considered busy, and no
other master should try to seize control of the bus. A special case occurs when a new START
condition is issued between a START and STOP condition. This is referred to as a REPEATED
START condition, and is used when the Master wishes to initiate a new transfer without relinquishing control of the bus. After a REPEATED START, the bus is considered busy until the next
STOP. This is identical to the START behavior, and therefore START is used to describe both
START and REPEATED START for the remainder of this datasheet, unless otherwise noted. As
depicted below, START and STOP conditions are signalled by changing the level of the SDA
line when the SCL line is high.
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Figure 21-3. START, REPEATED START and STOP conditions.
SDA
SCL
STOP
START
21.3.3
START
REPEATED START
STOP
Address packet format
All address packets transmitted on the TWI bus are nine bits long, consisting of seven address
bits, one READ/WRITE control bit and an acknowledge bit. If the READ/WRITE bit is set, a read
operation is to be performed, otherwise a write operation should be performed. When a Slave
recognizes that it is being addressed, it should acknowledge by pulling SDA low in the ninth SCL
(ACK) cycle. If the addressed Slave is busy, or for some other reason can not service the Master’s request, the SDA line should be left high in the ACK clock cycle. The Master can then
transmit a STOP condition, or a REPEATED START condition to initiate a new transmission. An
address packet consisting of a slave address and a READ or a WRITE bit is called SLA+R or
SLA+W, respectively.
The MSB of the address byte is transmitted first. Slave addresses can freely be allocated by the
designer, but the address 0000 000 is reserved for a general call.
When a general call is issued, all slaves should respond by pulling the SDA line low in the ACK
cycle. A general call is used when a Master wishes to transmit the same message to several
slaves in the system. When the general call address followed by a Write bit is transmitted on the
bus, all slaves set up to acknowledge the general call will pull the SDA line low in the ack cycle.
The following data packets will then be received by all the slaves that acknowledged the general
call. Note that transmitting the general call address followed by a Read bit is meaningless, as
this would cause contention if several slaves started transmitting different data.
All addresses of the format 1111 xxx should be reserved for future purposes.
Figure 21-4. Address packet format.
Addr MSB
Addr LSB
R/W
ACK
7
8
9
SDA
SCL
1
2
START
21.3.4
Data packet format
All data packets transmitted on the TWI bus are nine bits long, consisting of one data byte and
an acknowledge bit. During a data transfer, the Master generates the clock and the START and
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STOP conditions, while the Receiver is responsible for acknowledging the reception. An
Acknowledge (ACK) is signalled by the Receiver pulling the SDA line low during the ninth SCL
cycle. If the Receiver leaves the SDA line high, a NACK is signalled. When the Receiver has
received the last byte, or for some reason cannot receive any more bytes, it should inform the
Transmitter by sending a NACK after the final byte. The MSB of the data byte is transmitted first.
Figure 21-5. Data packet format.
Data MSB
Data LSB
ACK
8
9
Aggregate
SDA
SDA from
transmitter
SDA from
receiver
SCL from
master
1
2
7
SLA+R/W
21.3.5
STOP, REPEATED
START or next
data byte
Data byte
Combining address and data packets into a transmission
A transmission basically consists of a START condition, a SLA+R/W, one or more data packets
and a STOP condition. An empty message, consisting of a START followed by a STOP condition, is illegal. Note that the Wired-ANDing of the SCL line can be used to implement
handshaking between the Master and the Slave. The Slave can extend the SCL low period by
pulling the SCL line low. This is useful if the clock speed set up by the Master is too fast for the
Slave, or the Slave needs extra time for processing between the data transmissions. The Slave
extending the SCL low period will not affect the SCL high period, which is determined by the
Master. As a consequence, the Slave can reduce the TWI data transfer speed by prolonging the
SCL duty cycle.
Figure 21-6 shows a typical data transmission. Note that several data bytes can be transmitted
between the SLA+R/W and the STOP condition, depending on the software protocol implemented by the application software.
Figure 21-6. Typical data transmission.
Addr MSB
Addr LSB
R/W
ACK
Data MSB
7
8
9
1
Data LSB
ACK
8
9
SDA
SCL
1
START
214
2
SLA+R/W
2
7
Data byte
STOP
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21.4
Multi-master bus systems, arbitration and synchronization
The TWI protocol allows bus systems with several masters. Special concerns have been taken
in order to ensure that transmissions will proceed as normal, even if two or more masters initiate
a transmission at the same time. Two problems arise in multi-master systems:
• An algorithm must be implemented allowing only one of the masters to complete the
transmission. All other masters should cease transmission when they discover that they have
lost the selection process. This selection process is called arbitration. When a contending
master discovers that it has lost the arbitration process, it should immediately switch to Slave
mode to check whether it is being addressed by the winning master. The fact that multiple
masters have started transmission at the same time should not be detectable to the slaves,
i.e. the data being transferred on the bus must not be corrupted
• Different masters may use different SCL frequencies. A scheme must be devised to
synchronize the serial clocks from all masters, in order to let the transmission proceed in a
lockstep fashion. This will facilitate the arbitration process
The wired-ANDing of the bus lines is used to solve both these problems. The serial clocks from
all masters will be wired-ANDed, yielding a combined clock with a high period equal to the one
from the Master with the shortest high period. The low period of the combined clock is equal to
the low period of the Master with the longest low period. Note that all masters listen to the SCL
line, effectively starting to count their SCL high and low time-out periods when the combined
SCL line goes high or low, respectively.
Figure 21-7. SCL synchronization between multiple masters.
TA low
TA high
SCL from
Master A
SCL from
Master B
SCL bus
line
TBlow
Masters start
Counting low period
TBhigh
Masters start
Counting high period
Arbitration is carried out by all masters continuously monitoring the SDA line after outputting
data. If the value read from the SDA line does not match the value the Master had output, it has
lost the arbitration. Note that a Master can only lose arbitration when it outputs a high SDA value
while another Master outputs a low value. The losing Master should immediately go to Slave
mode, checking if it is being addressed by the winning Master. The SDA line should be left high,
but losing masters are allowed to generate a clock signal until the end of the current data or
address packet. Arbitration will continue until only one Master remains, and this may take many
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bits. If several masters are trying to address the same Slave, arbitration will continue into the
data packet.
Figure 21-8. Arbitration between two masters.
START
SDA from
Master A
Master A loses
arbitration, SDA A SDA
SDA from
Master B
SDA line
Synchronized
SCL line
Note that arbitration is not allowed between:
• A REPEATED START condition and a data bit
• A STOP condition and a data bit
• A REPEATED START and a STOP condition
It is the user software’s responsibility to ensure that these illegal arbitration conditions never
occur. This implies that in multi-master systems, all data transfers must use the same composition of SLA+R/W and data packets. In other words: All transmissions must contain the same
number of data packets, otherwise the result of the arbitration is undefined.
21.5
Overview of the TWI module
The TWI module is comprised of several submodules, as shown in Figure 21-9 on page 217. All
registers drawn in a thick line are accessible through the AVR data bus.
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Figure 21-9. Overview of the TWI module.
Slew-rate
control
SDA
Spike
filter
Slew-rate
control
Spike
filter
Bus interface unit
START / STOP
control
Spike suppression
Arbitration detection
Address/data shift
register (TWDR)
Bit rate generator
Prescaler
Bit rate register
(TWBR)
Ack
Address match unit
Address register
(TWAR)
Control unit
Status register
(TWSR)
Address comparator
Control register
(TWCR)
State machine and
status control
TWI unit
SCL
21.5.1
SCL and SDA pins
These pins interface the AVR TWI with the rest of the MCU system. The output drivers contain a
slew-rate limiter in order to conform to the TWI specification. The input stages contain a spike
suppression unit removing spikes shorter than 50ns. Note that the internal pull-ups in the AVR
pads can be enabled by setting the PORT bits corresponding to the SCL and SDA pins, as
explained in the I/O Port section. The internal pull-ups can in some systems eliminate the need
for external ones.
21.5.2
Bit Rate Generator unit
This unit controls the period of SCL when operating in a Master mode. The SCL period is controlled by settings in the TWI Bit Rate Register (TWBR) and the Prescaler bits in the TWI Status
Register (TWSR). Slave operation does not depend on Bit Rate or Prescaler settings, but the
CPU clock frequency in the Slave must be at least 16 times higher than the SCL frequency. Note
that slaves may prolong the SCL low period, thereby reducing the average TWI bus clock
period. The SCL frequency is generated according to the following equation:
CPU Clock frequency
SCL frequency = ----------------------------------------------------------TWPS
16 + 2(TWBR) ⋅ 4
• TWBR = Value of the TWI Bit Rate Register
• TWPS = Value of the prescaler bits in the TWI Status Register
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Note:
21.5.3
TWBR should be 10 or higher if the TWI operates in Master mode. If TWBR is lower than 10, the
Master may produce an incorrect output on SDA and SCL for the reminder of the byte. The problem occurs when operating the TWI in Master mode, sending Start + SLA + R/W to a Slave (a
Slave does not need to be connected to the bus for the condition to happen).
Bus Interface unit
This unit contains the Data and Address Shift Register (TWDR), a START/STOP Controller and
Arbitration detection hardware. The TWDR contains the address or data bytes to be transmitted,
or the address or data bytes received. In addition to the 8-bit TWDR, the Bus Interface Unit also
contains a register containing the (N)ACK bit to be transmitted or received. This (N)ACK Register is not directly accessible by the application software. However, when receiving, it can be set
or cleared by manipulating the TWI Control Register (TWCR). When in Transmitter mode, the
value of the received (N)ACK bit can be determined by the value in the TWSR.
The START/STOP Controller is responsible for generation and detection of START, REPEATED
START, and STOP conditions. The START/STOP controller is able to detect START and STOP
conditions even when the AVR MCU is in one of the sleep modes, enabling the MCU to wake up
if addressed by a Master.
If the TWI has initiated a transmission as Master, the Arbitration Detection hardware continuously monitors the transmission trying to determine if arbitration is in process. If the TWI has lost
an arbitration, the Control Unit is informed. Correct action can then be taken and appropriate
status codes generated.
21.5.4
Address Match unit
The Address Match unit checks if received address bytes match the seven-bit address in the
TWI Address Register (TWAR). If the TWI General Call Recognition Enable (TWGCE) bit in the
TWAR is written to one, all incoming address bits will also be compared against the General Call
address. Upon an address match, the Control Unit is informed, allowing correct action to be
taken. The TWI may or may not acknowledge its address, depending on settings in the TWCR.
The Address Match unit is able to compare addresses even when the AVR MCU is in sleep
mode, enabling the MCU to wake up if addressed by a Master. If another interrupt (e.g., INT0)
occurs during TWI Power-down address match and wakes up the CPU, the TWI aborts operation and return to it’s idle state. If this cause any problems, ensure that TWI Address Match is the
only enabled interrupt when entering Power-down.
21.5.5
Control unit
The Control unit monitors the TWI bus and generates responses corresponding to settings in the
TWI Control Register (TWCR). When an event requiring the attention of the application occurs
on the TWI bus, the TWI Interrupt Flag (TWINT) is asserted. In the next clock cycle, the TWI Status Register (TWSR) is updated with a status code identifying the event. The TWSR only
contains relevant status information when the TWI Interrupt Flag is asserted. At all other times,
the TWSR contains a special status code indicating that no relevant status information is available. As long as the TWINT Flag is set, the SCL line is held low. This allows the application
software to complete its tasks before allowing the TWI transmission to continue.
The TWINT Flag is set in the following situations:
• After the TWI has transmitted a START/REPEATED START condition
• After the TWI has transmitted SLA+R/W
• After the TWI has transmitted an address byte
• After the TWI has lost arbitration
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• After the TWI has been addressed by own slave address or general call
• After the TWI has received a data byte
• After a STOP or REPEATED START has been received while still addressed as a Slave
• When a bus error has occurred due to an illegal START or STOP condition
21.6
21.6.1
TWI register description
TWBR – TWI Bit Rate Register
Bit
7
6
5
4
3
2
1
0
TWBR7
TWBR6
TWBR5
TWBR4
TWBR3
TWBR2
TWBR1
TWBR0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
TWBR
• Bits 7..0 – TWI Bit Rate Register
TWBR selects the division factor for the bit rate generator. The bit rate generator is a frequency
divider which generates the SCL clock frequency in the Master modes. See “Bit Rate Generator
unit” on page 217 for calculating bit rates.
21.6.2
TWCR – TWI Control Register
Bit
7
6
5
4
3
2
1
0
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Read/write
R/W
R/W
R/W
R/W
R
R/W
R
R/W
Initial value
0
0
0
0
0
0
0
0
TWCR
The TWCR is used to control the operation of the TWI. It is used to enable the TWI, to initiate a
Master access by applying a START condition to the bus, to generate a Receiver acknowledge,
to generate a stop condition, and to control halting of the bus while the data to be written to the
bus are written to the TWDR. It also indicates a write collision if data is attempted written to
TWDR while the register is inaccessible.
• Bit 7 – TWINT: TWI Interrupt Flag
This bit is set by hardware when the TWI has finished its current job and expects application
software response. If the I-bit in SREG and TWIE in TWCR are set, the MCU will jump to the
TWI Interrupt Vector. While the TWINT Flag is set, the SCL low period is stretched. The TWINT
Flag must be cleared by software by writing a logic one to it. Note that this flag is not automatically cleared by hardware when executing the interrupt routine. Also note that clearing this flag
starts the operation of the TWI, so all accesses to the TWI Address Register (TWAR), TWI Status Register (TWSR), and TWI Data Register (TWDR) must be complete before clearing this
flag.
• Bit 6 – TWEA: TWI Enable Acknowledge Bit
The TWEA bit controls the generation of the acknowledge pulse. If the TWEA bit is written to
one, the ACK pulse is generated on the TWI bus if the following conditions are met:
1. The device’s own slave address has been received.
2. A general call has been received, while the TWGCE bit in the TWAR is set.
3. A data byte has been received in Master Receiver or Slave Receiver mode.
By writing the TWEA bit to zero, the device can be virtually disconnected from the 2-wire Serial
Bus temporarily. Address recognition can then be resumed by writing the TWEA bit to one
again.
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• Bit 5 – TWSTA: TWI START Condition Bit
The application writes the TWSTA bit to one when it desires to become a Master on the 2-wire
Serial Bus. The TWI hardware checks if the bus is available, and generates a START condition
on the bus if it is free. However, if the bus is not free, the TWI waits until a STOP condition is
detected, and then generates a new START condition to claim the bus Master status. TWSTA
must be cleared by software when the START condition has been transmitted.
• Bit 4 – TWSTO: TWI STOP Condition Bit
Writing the TWSTO bit to one in Master mode will generate a STOP condition on the 2-wire
Serial Bus. When the STOP condition is executed on the bus, the TWSTO bit is cleared automatically. In Slave mode, setting the TWSTO bit can be used to recover from an error condition.
This will not generate a STOP condition, but the TWI returns to a well-defined unaddressed
Slave mode and releases the SCL and SDA lines to a high impedance state.
• Bit 3 – TWWC: TWI Write Collision Flag
The TWWC bit is set when attempting to write to the TWI Data Register – TWDR when TWINT is
low. This flag is cleared by writing the TWDR Register when TWINT is high.
• Bit 2 – TWEN: TWI Enable Bit
The TWEN bit enables TWI operation and activates the TWI interface. When TWEN is written to
one, the TWI takes control over the I/O pins connected to the SCL and SDA pins, enabling the
slew-rate limiters and spike filters. If this bit is written to zero, the TWI is switched off and all TWI
transmissions are terminated, regardless of any ongoing operation.
• Bit 1 – Res: Reserved Bit
This bit is a reserved bit and will always read as zero.
• Bit 0 – TWIE: TWI Interrupt Enable
When this bit is written to one, and the I-bit in SREG is set, the TWI interrupt request will be activated for as long as the TWINT Flag is high.
21.6.3
TWSR – TWI Status Register
Bit
7
6
5
4
3
2
1
0
TWS7
TWS6
TWS5
TWS4
TWS3
–
TWPS1
TWPS0
Read/write
R
R
R
R
R
R
R/W
R/W
Initial value
1
1
1
1
1
0
0
0
TWSR
• Bits 7..3 – TWS: TWI Status
These 5 bits reflect the status of the TWI logic and the 2-wire Serial Bus. The different status
codes are described later in this section. Note that the value read from TWSR contains both the
5-bit status value and the 2-bit prescaler value. The application designer should mask the prescaler bits to zero when checking the Status bits. This makes status checking independent of
prescaler setting. This approach is used in this datasheet, unless otherwise noted.
• Bit 2 – Res: Reserved Bit
This bit is reserved and will always read as zero.
• Bits 1..0 – TWPS: TWI Prescaler Bits
These bits can be read and written, and control the bit rate prescaler.
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Table 21-2.
TWI bit rate prescaler.
TWPS1
TWPS0
Prescaler value
0
0
1
0
1
4
1
0
16
1
1
64
To calculate bit rates, see “Bit Rate Generator unit” on page 217. The value of TWPS1..0 is used
in the equation.
21.6.4
TWDR – TWI Data Register
Bit
7
6
5
4
3
2
1
0
TWD7
TWD6
TWD5
TWD4
TWD3
TWD2
TWD1
TWD0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
1
1
1
1
1
1
1
1
TWDR
In Transmit mode, TWDR contains the next byte to be transmitted. In Receive mode, the TWDR
contains the last byte received. It is writable while the TWI is not in the process of shifting a byte.
This occurs when the TWI Interrupt Flag (TWINT) is set by hardware. Note that the Data Register cannot be initialized by the user before the first interrupt occurs. The data in TWDR remains
stable as long as TWINT is set. While data is shifted out, data on the bus is simultaneously
shifted in. TWDR always contains the last byte present on the bus, except after a wake up from
a sleep mode by the TWI interrupt. In this case, the contents of TWDR is undefined. In the case
of a lost bus arbitration, no data is lost in the transition from Master to Slave. Handling of the
ACK bit is controlled automatically by the TWI logic, the CPU cannot access the ACK bit directly.
• Bits 7..0 – TWD: TWI Data Register
These eight bits constitute the next data byte to be transmitted, or the latest data byte received
on the 2-wire Serial Bus.
21.6.5
TWAR – TWI (Slave) Address Register
Bit
7
6
5
4
3
2
1
0
TWA6
TWA5
TWA4
TWA3
TWA2
TWA1
TWA0
TWGCE
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
1
1
1
1
1
1
1
0
TWAR
The TWAR should be loaded with the 7-bit Slave address (in the seven most significant bits of
TWAR) to which the TWI will respond when programmed as a Slave Transmitter or Receiver,
and not needed in the Master modes. In multimaster systems, TWAR must be set in masters
which can be addressed as Slaves by other Masters.
The LSB of TWAR is used to enable recognition of the general call address (0x00). There is an
associated address comparator that looks for the slave address (or general call address if
enabled) in the received serial address. If a match is found, an interrupt request is generated.
• Bits 7..1 – TWA: TWI (Slave) Address Register
These seven bits constitute the slave address of the TWI unit.
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• Bit 0 – TWGCE: TWI General Call Recognition Enable Bit
If set, this bit enables the recognition of a General Call given over the 2-wire Serial Bus.
21.6.6
TWAMR – TWI (Slave) Address Mask Register
Bit
7
6
5
4
3
2
1
0
TWAM[6:0]
–
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R
Initial value
0
0
0
0
0
0
0
0
TWAMR
• Bits 7..1 – TWAM: TWI Address Mask
The TWAMR can be loaded with a 7-bit Slave Address mask. Each of the bits in TWAMR can
mask (disable) the corresponding address bit in the TWI Address Register (TWAR). If the mask
bit is set to one then the address match logic ignores the compare between the incoming
address bit and the corresponding bit in TWAR. Figure 21-10 shows the address match logic in
detail.
Figure 21-10. TWI address match logic, block diagram.
TWAR0
Address
match
Address
bit 0
TWAMR0
Address bit comparator 0
Address bit comparator 6..1
• Bit 0 – Res: Reserved Bit
This bit is reserved and will always read as zero.
21.7
Using the TWI
The AVR TWI is byte-oriented and interrupt based. Interrupts are issued after all bus events, like
reception of a byte or transmission of a START condition. Because the TWI is interrupt-based,
the application software is free to carry on other operations during a TWI byte transfer. Note that
the TWI Interrupt Enable (TWIE) bit in TWCR together with the Global Interrupt Enable bit in
SREG allow the application to decide whether or not assertion of the TWINT Flag should generate an interrupt request. If the TWIE bit is cleared, the application must poll the TWINT Flag in
order to detect actions on the TWI bus.
When the TWINT Flag is asserted, the TWI has finished an operation and awaits application
response. In this case, the TWI Status Register (TWSR) contains a value indicating the current
state of the TWI bus. The application software can then decide how the TWI should behave in
the next TWI bus cycle by manipulating the TWCR and TWDR Registers.
Figure 21-11 on page 223 is a simple example of how the application can interface to the TWI
hardware. In this example, a Master wishes to transmit a single data byte to a Slave. This
description is quite abstract, a more detailed explanation follows later in this section. A simple
code example implementing the desired behavior is also presented.
222
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AT90USB64/128
Application
Action
Figure 21-11. Interfacing the application to the TWI in a typical transmission.
1. Application
writes to TWCR to
initiate
transmission of
START
TWI
Hardware
Action
TWI bus
3. Check TWSR to see if START was
sent. Application loads SLA+W into
TWDR, and loads appropriate control
signals into TWCR, makin sure that
TWINT is written to one,
and TWSTA is written to zero.
START
2. TWINT set.
Status code indicates
START condition sent
SLA+W
5. Check TWSR to see if SLA+W was
sent and ACK received.
Application loads data into TWDR, and
loads appropriate control signals into
TWCR, making sure that TWINT is
written to one
A
4. TWINT set.
Status code indicates
SLA+W sent, ACK
received
Data
7. Check TWSR to see if data was sent
and ACK received.
Application loads appropriate control
signals to send STOP into TWCR,
making sure that TWINT is written to one
A
6. TWINT set.
Status code indicates
data sent, ACK received
STOP
Indicates
TWINT set
1. The first step in a TWI transmission is to transmit a START condition. This is done by
writing a specific value into TWCR, instructing the TWI hardware to transmit a START
condition. Which value to write is described later on. However, it is important that the
TWINT bit is set in the value written. Writing a one to TWINT clears the flag. The TWI
will not start any operation as long as the TWINT bit in TWCR is set. Immediately after
the application has cleared TWINT, the TWI will initiate transmission of the START
condition.
2. When the START condition has been transmitted, the TWINT Flag in TWCR is set, and
TWSR is updated with a status code indicating that the START condition has successfully been sent.
3. The application software should now examine the value of TWSR, to make sure that the
START condition was successfully transmitted. If TWSR indicates otherwise, the application software might take some special action, like calling an error routine. Assuming
that the status code is as expected, the application must load SLA+W into TWDR.
Remember that TWDR is used both for address and data. After TWDR has been
loaded with the desired SLA+W, a specific value must be written to TWCR, instructing
the TWI hardware to transmit the SLA+W present in TWDR. Which value to write is
described later on. However, it is important that the TWINT bit is set in the value written.
Writing a one to TWINT clears the flag. The TWI will not start any operation as long as
the TWINT bit in TWCR is set. Immediately after the application has cleared TWINT,
the TWI will initiate transmission of the address packet.
4. When the address packet has been transmitted, the TWINT Flag in TWCR is set, and
TWSR is updated with a status code indicating that the address packet has successfully been sent. The status code will also reflect whether a Slave acknowledged the
packet or not.
5. The application software should now examine the value of TWSR, to make sure that the
address packet was successfully transmitted, and that the value of the ACK bit was as
expected. If TWSR indicates otherwise, the application software might take some special action, like calling an error routine. Assuming that the status code is as expected,
the application must load a data packet into TWDR. Subsequently, a specific value
must be written to TWCR, instructing the TWI hardware to transmit the data packet
present in TWDR. Which value to write is described later on. However, it is important
that the TWINT bit is set in the value written. Writing a one to TWINT clears the flag.
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The TWI will not start any operation as long as the TWINT bit in TWCR is set. Immediately after the application has cleared TWINT, the TWI will initiate transmission of the
data packet.
6. When the data packet has been transmitted, the TWINT Flag in TWCR is set, and
TWSR is updated with a status code indicating that the data packet has successfully
been sent. The status code will also reflect whether a Slave acknowledged the packet
or not.
7. The application software should now examine the value of TWSR, to make sure that the
data packet was successfully transmitted, and that the value of the ACK bit was as
expected. If TWSR indicates otherwise, the application software might take some special action, like calling an error routine. Assuming that the status code is as expected,
the application must write a specific value to TWCR, instructing the TWI hardware to
transmit a STOP condition. Which value to write is described later on. However, it is
important that the TWINT bit is set in the value written. Writing a one to TWINT clears
the flag. The TWI will not start any operation as long as the TWINT bit in TWCR is set.
Immediately after the application has cleared TWINT, the TWI will initiate transmission
of the STOP condition. Note that TWINT is NOT set after a STOP condition has been
sent.
Even though this example is simple, it shows the principles involved in all TWI transmissions.
These can be summarized as follows:
• When the TWI has finished an operation and expects application response, the TWINT Flag
is set. The SCL line is pulled low until TWINT is cleared
• When the TWINT Flag is set, the user must update all TWI Registers with the value relevant
for the next TWI bus cycle. As an example, TWDR must be loaded with the value to be
transmitted in the next bus cycle
• After all TWI Register updates and other pending application software tasks have been
completed, TWCR is written. When writing TWCR, the TWINT bit should be set. Writing a
one to TWINT clears the flag. The TWI will then commence executing whatever operation
was specified by the TWCR setting
In the following an assembly and C implementation of the example is given. Note that the code
below assumes that several definitions have been made, for example by using include-files.
Assembly code example
ldi r16,
(1<<TWINT)|(1<<TWSTA)|
1
in
r16,TWCR
sbrs r16,TWINT
Comments
TWCR = (1<<TWINT)|(1<<TWSTA)|
(1<<TWEN)
(1<<TWEN)
out TWCR, r16
wait1:
2
C example
Send START condition
while (!(TWCR & (1<<TWINT)))
;
Wait for TWINT Flag set. This
indicates that the START
condition has been transmitted
rjmp wait1
224
AT90USB64/128
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AT90USB64/128
(Continued)
Assembly code example
in
ERROR();
andi r16, 0xF8
cpi
3
r16, START
brne ERROR
ldi r16, SLA_W
out
TWDR, r16
ldi r16, (1<<TWINT) |
(1<<TWEN)
out TWCR, r16
wait2:
4
in
sbrs r16,TWINT
cpi
if ((TWSR & 0xF8) !=
MT_SLA_ACK)
r16, MT_SLA_ACK
brne ERROR
ldi r16, DATA
out
out TWCR, r16
wait3:
in
r16, MT_DATA_ACK
brne ERROR
ldi r16,
(1<<TWINT)|(1<<TWEN)|
(1<<TWSTO)
21.8
Wait for TWINT Flag set. This
indicates that the SLA+W has
been transmitted, and
ACK/NACK has been received.
Check value of TWI Status
Register. Mask prescaler bits. If
status different from
MT_SLA_ACK go to ERROR
Load DATA into TWDR Register.
Clear TWINT bit in TWCR to
start transmission of data
while (!(TWCR & (1<<TWINT)))
Wait for TWINT Flag set. This
indicates that the DATA has been
transmitted, and ACK/NACK has
been received.
if ((TWSR & 0xF8) !=
MT_DATA_ACK)
andi r16, 0xF8
out
Load SLA_W into TWDR
Register. Clear TWINT bit in
TWCR to start transmission of
address
TWCR = (1<<TWINT) |
(1<<TWEN);
;
r16,TWCR
rjmp wait3
in
r16,TWSR
7
ERROR();
sbrs r16,TWINT
cpi
Check value of TWI Status
Register. Mask prescaler bits. If
status different from START go to
ERROR
TWDR = DATA;
TWDR, r16
ldi r16, (1<<TWINT) |
(1<<TWEN)
6
TWCR = (1<<TWINT) |
(1<<TWEN);
;
andi r16, 0xF8
Comments
TWDR = SLA_W;
while (!(TWCR & (1<<TWINT)))
r16,TWCR
rjmp wait2
in
r16,TWSR
5
C example
if ((TWSR & 0xF8) != START)
r16,TWSR
ERROR();
Check value of TWI Status
Register. Mask prescaler bits. If
status different from
MT_DATA_ACK go to ERROR
TWCR = (1<<TWINT)|(1<<TWEN)|
(1<<TWSTO);
Transmit STOP condition
TWCR, r16
Transmission modes
The TWI can operate in one of four major modes. These are named Master Transmitter (MT),
Master Receiver (MR), Slave Transmitter (ST) and Slave Receiver (SR). Several of these
modes can be used in the same application. As an example, the TWI can use MT mode to write
data into a TWI EEPROM, MR mode to read the data back from the EEPROM. If other masters
are present in the system, some of these might transmit data to the TWI, and then SR mode
would be used. It is the application software that decides which modes are legal.
The following sections describe each of these modes. Possible status codes are described
along with figures detailing data transmission in each of the modes. These figures contain the
following abbreviations:
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S: START condition
Rs: REPEATED START condition
R: Read bit (high level at SDA)
W: Write bit (low level at SDA)
A: Acknowledge bit (low level at SDA)
A: Not acknowledge bit (high level at SDA)
Data: 8-bit data byte
P: STOP condition
SLA: Slave Address
In Figure 21-13 on page 229 to Figure 21-19 on page 238, circles are used to indicate that the
TWINT Flag is set. The numbers in the circles show the status code held in TWSR, with the
prescaler bits masked to zero. At these points, actions must be taken by the application to continue or complete the TWI transfer. The TWI transfer is suspended until the TWINT Flag is
cleared by software.
When the TWINT Flag is set, the status code in TWSR is used to determine the appropriate software action. For each status code, the required software action and details of the following serial
transfer are given in Table 21-3 on page 227 to Table 21-6 on page 237. Note that the prescaler
bits are masked to zero in these tables.
21.8.1
Master Transmitter Mode
In the Master Transmitter mode, a number of data bytes are transmitted to a Slave Receiver
(see Figure 21-12). In order to enter a Master mode, a START condition must be transmitted.
The format of the following address packet determines whether Master Transmitter or Master
Receiver mode is to be entered. If SLA+W is transmitted, MT mode is entered, if SLA+R is transmitted, MR mode is entered. All the status codes mentioned in this section assume that the
prescaler bits are zero or are masked to zero.
Figure 21-12. Data transfer in master transmitter mode.
VCC
Device 1
Device 2
MASTER
TRANSMITTER
SLAVE
RECEIVER
Device 3
........
Device n
R1
R2
SDA
SCL
A START condition is sent by writing the following value to TWCR:
226
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
1
X
1
0
X
1
0
X
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
TWEN must be set to enable the 2-wire Serial Interface, TWSTA must be written to one to transmit a START condition and TWINT must be written to one to clear the TWINT Flag. The TWI will
then test the 2-wire Serial Bus and generate a START condition as soon as the bus becomes
free. After a START condition has been transmitted, the TWINT Flag is set by hardware, and the
status code in TWSR will be 0x08 (see Table 21-3). In order to enter MT mode, SLA+W must be
transmitted. This is done by writing SLA+W to TWDR. Thereafter the TWINT bit should be
cleared (by writing it to one) to continue the transfer. This is accomplished by writing the following value to TWCR:
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
1
X
0
0
X
1
0
X
When SLA+W have been transmitted and an acknowledgement bit has been received, TWINT is
set again and a number of status codes in TWSR are possible. Possible status codes in Master
mode are 0x18, 0x20, or 0x38. The appropriate action to be taken for each of these status codes
is detailed in Table 21-3.
When SLA+W has been successfully transmitted, a data packet should be transmitted. This is
done by writing the data byte to TWDR. TWDR must only be written when TWINT is high. If not,
the access will be discarded, and the Write Collision bit (TWWC) will be set in the TWCR Register. After updating TWDR, the TWINT bit should be cleared (by writing it to one) to continue the
transfer. This is accomplished by writing the following value to TWCR:
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
1
X
0
0
X
1
0
X
This scheme is repeated until the last byte has been sent and the transfer is ended by generating a STOP condition or a repeated START condition. A STOP condition is generated by writing
the following value to TWCR:
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
1
X
0
1
X
1
0
X
A REPEATED START condition is generated by writing the following value to TWCR:
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
1
X
1
0
X
1
0
X
After a repeated START condition (state 0x10) the 2-wire Serial Interface can access the same
Slave again, or a new Slave without transmitting a STOP condition. Repeated START enables
the Master to switch between Slaves, Master Transmitter mode and Master Receiver mode without losing control of the bus.
Table 21-3.
Status code
(TWSR)
prescaler bits
are 0
Status codes for Master Transmitter mode.
Application software response
Status of the 2-wire serial bus and
2-wire serial interface hardware
To/from TWDR
0x08
A START condition has been
transmitted
0x10
A repeated START condition has
been transmitted
0x18
SLA+W has been transmitted;
ACK has been received
To TWCR
STA
STO
TWINT
TWEA
Load SLA+W
0
0
1
X
SLA+W will be transmitted;
ACK or NOT ACK will be received
Load SLA+W
or
Load SLA+R
0
0
1
X
0
0
1
X
SLA+W will be transmitted;
ACK or NOT ACK will be received
SLA+R will be transmitted;
Logic will switch to Master Receiver mode
Load data byte
or
No TWDR action or
No TWDR action
or
No TWDR action
0
0
1
X
1
0
0
1
1
1
X
X
1
1
1
X
Next Action Taken by TWI Hardware
Data byte will be transmitted and ACK or NOT ACK
will be received
Repeated START will be transmitted
STOP condition will be transmitted and
TWSTO Flag will be reset
STOP condition followed by a START condition will
be transmitted and TWSTO Flag will be reset
227
7593L–AVR–09/12
Table 21-3.
0x20
0x28
0x30
0x38
228
Status codes for Master Transmitter mode. (Continued)
SLA+W has been transmitted;
NOT ACK has been received
Data byte has been transmitted;
ACK has been received
Data byte has been transmitted;
NOT ACK has been received
Arbitration lost in SLA+W or data
bytes
Load data byte
or
No TWDR action or
No TWDR action
or
No TWDR action
0
0
1
X
1
0
0
1
1
1
X
X
1
1
1
X
Load data byte
or
No TWDR action or
No TWDR action
or
No TWDR action
0
0
1
X
1
0
0
1
1
1
X
X
1
1
1
X
Load data byte
or
No TWDR action or
No TWDR action
or
No TWDR action
0
0
1
X
1
0
0
1
1
1
X
X
1
1
1
X
No TWDR action
or
No TWDR action
0
0
1
X
1
0
1
X
Data byte will be transmitted and ACK or NOT ACK
will be received
Repeated START will be transmitted
STOP condition will be transmitted and
TWSTO Flag will be reset
STOP condition followed by a START condition will
be transmitted and TWSTO Flag will be reset
Data byte will be transmitted and ACK or NOT ACK
will be received
Repeated START will be transmitted
STOP condition will be transmitted and
TWSTO Flag will be reset
STOP condition followed by a START condition will
be transmitted and TWSTO Flag will be reset
Data byte will be transmitted and ACK or NOT ACK
will be received
Repeated START will be transmitted
STOP condition will be transmitted and
TWSTO Flag will be reset
STOP condition followed by a START condition will
be transmitted and TWSTO Flag will be reset
2-wire Serial Bus will be released and not addressed
Slave mode entered
A START condition will be transmitted when the bus
becomes free
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 21-13. Formats and states in the Master Transmitter mode.
MT
Successfull
transmission
to a slave
receiver
S
SLA
$08
W
A
DATA
$18
A
P
$28
Next transfer
started with a
repeated start
condition
RS
SLA
W
$10
Not acknowledge
received after the
slave address
A
R
P
$20
MR
Not acknowledge
received after a data
byte
A
P
$30
Arbitration lost in slave
address or data byte
A or A
Other master
continues
$38
Arbitration lost and
addressed as slave
A
$68
From master to slave
From slave to master
21.8.2
A or A
Other master
continues
$38
Other master
continues
$78
DATA
To corresponding
states in slave mode
$B0
A
n
Any number of data bytes
and their associated acknowledge bits
This number (contained in TWSR) corresponds
to a defined state of the Two-Wire Serial Bus. The
prescaler bits are zero or masked to zero
Master Receiver mode
In the Master Receiver mode, a number of data bytes are received from a Slave Transmitter
(Slave see Figure 21-14 on page 230). In order to enter a Master mode, a START condition
must be transmitted. The format of the following address packet determines whether Master
Transmitter or Master Receiver mode is to be entered. If SLA+W is transmitted, MT mode is
entered, if SLA+R is transmitted, MR mode is entered. All the status codes mentioned in this
section assume that the prescaler bits are zero or are masked to zero.
229
7593L–AVR–09/12
Figure 21-14. Data transfer in Master Receiver mode.
VCC
Device 1
Device 2
MASTER
RECEIVER
SLAVE
TRANSMITTER
Device 3
........
Device n
R1
R2
SDA
SCL
A START condition is sent by writing the following value to TWCR:
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
1
X
1
0
X
1
0
X
TWEN must be written to one to enable the 2-wire Serial Interface, TWSTA must be written to
one to transmit a START condition and TWINT must be set to clear the TWINT Flag. The TWI
will then test the 2-wire Serial Bus and generate a START condition as soon as the bus
becomes free. After a START condition has been transmitted, the TWINT Flag is set by hardware, and the status code in TWSR will be 0x08 (see Table 21-3 on page 227). In order to enter
MR mode, SLA+R must be transmitted. This is done by writing SLA+R to TWDR. Thereafter the
TWINT bit should be cleared (by writing it to one) to continue the transfer. This is accomplished
by writing the following value to TWCR:
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
1
X
0
0
X
1
0
X
When SLA+R have been transmitted and an acknowledgement bit has been received, TWINT is
set again and a number of status codes in TWSR are possible. Possible status codes in Master
mode are 0x38, 0x40, or 0x48. The appropriate action to be taken for each of these status codes
is detailed in Table 21-4 on page 231. Received data can be read from the TWDR Register
when the TWINT Flag is set high by hardware. This scheme is repeated until the last byte has
been received. After the last byte has been received, the MR should inform the ST by sending a
NACK after the last received data byte. The transfer is ended by generating a STOP condition or
a repeated START condition. A STOP condition is generated by writing the following value to
TWCR:
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
1
X
0
1
X
1
0
X
A REPEATED START condition is generated by writing the following value to TWCR:
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
1
X
1
0
X
1
0
X
After a repeated START condition (state 0x10) the 2-wire Serial Interface can access the same
Slave again, or a new Slave without transmitting a STOP condition. Repeated START enables
the Master to switch between Slaves, Master Transmitter mode and Master Receiver mode without losing control over the bus
230
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AT90USB64/128
Table 21-4.
Status code
(TWSR)
prescaler bits
are 0
Status codes for Master Receiver mode.
Application Software Response
Status of the 2-wire Serial Bus
and 2-wire Serial Interface
Hardware
To TWCR
To/from TWDR
TWINT
TWEA
0x08
A START condition has been
transmitted
Load SLA+R
0
0
1
X
SLA+R will be transmitted
ACK or NOT ACK will be received
0x10
A repeated START condition
has been transmitted
Load SLA+R
or
Load SLA+W
0
0
1
X
0
0
1
X
SLA+R will be transmitted
ACK or NOT ACK will be received
SLA+W will be transmitted
Logic will switch to Master Transmitter mode
No TWDR action
or
No TWDR action
0
0
1
X
1
0
1
X
0
Data byte will be received and NOT ACK will be returned
0x38
Arbitration lost in SLA+R or
NOT ACK bit
STA
STO
Next Action Taken by TWI Hardware
2-wire Serial Bus will be released and not addressed
Slave mode will be entered
A START condition will be transmitted when the bus becomes free
0x40
SLA+R has been transmitted;
ACK has been received
No TWDR action
or
No TWDR action
0
0
1
0
0
1
1
Data byte will be received and ACK will be returne
0x48
SLA+R has been transmitted;
NOT ACK has been received
No TWDR action or
No TWDR action
or
No TWDR action
1
0
0
1
1
1
X
X
1
1
1
X
Repeated START will be transmitted
STOP condition will be transmitted and TWSTO Flag will
be reset
STOP condition followed by a START condition will be
transmitted and TWSTO Flag will be reset
0
1
0
0x50
Data byte has been received;
ACK has been returned
Read data byte
or
Read data byte
0
0
0
1
1
Data byte will be received and ACK will be returned
0x58
Data byte has been received;
NOT ACK has been returned
Read data byte or
Read data byte
or
Read data byte
1
0
0
1
1
1
X
X
1
1
1
X
Repeated START will be transmitted
STOP condition will be transmitted and TWSTO Flag will
be reset
STOP condition followed by a START condition will be
transmitted and TWSTO Flag will be reset
Data byte will be received and NOT ACK will be returned
231
7593L–AVR–09/12
Figure 21-15. Formats and states in the Master Receiver mode.
MR
Successfull
reception
from a slave
receiver
S
SLA
R
A
DATA
A
$40
$08
DATA
A
$50
P
$58
Next transfer
started with a
repeated start
condition
RS
SLA
R
$10
Not acknowledge
received after the
slave address
A
W
P
$48
MT
Arbitration lost in slave
address or data byte
A or A
Other master
continues
A
$38
Arbitration lost and
addressed as slave
A
$68
$38
Other master
continues
$78
A
From slave to master
21.8.3
To corresponding
states in slave mode
$B0
DATA
From master to slave
Other master
continues
Any number of data bytes
and their associated acknowledge bits
This number (contained in TWSR) corresponds
to a defined state of the Two-Wire Serial Bus. The
prescaler bits are zero or masked to zero
n
Slave Receiver mode
In the Slave Receiver mode, a number of data bytes are received from a Master Transmitter
(see Figure 21-16). All the status codes mentioned in this section assume that the prescaler bits
are zero or are masked to zero.
Figure 21-16. Data transfer in Slave Receiver mode.
VCC
Device 1
Device 2
SLAVE
RECEIVER
MASTER
TRANSMITTER
Device 3
........
Device n
R1
R2
SDA
SCL
To initiate the Slave Receiver mode, TWAR and TWCR must be initialized as follows:
TWAR
Value
232
TWA6
TWA5
TWA4
TWA3
TWA2
TWA1
TWA0
TWGCE
Device’s Own Slave Address
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
The upper seven bits are the address to which the 2-wire Serial Interface will respond when
addressed by a Master. If the LSB is set, the TWI will respond to the general call address (0x00),
otherwise it will ignore the general call address.
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
0
1
0
0
0
1
0
X
TWEN must be written to one to enable the TWI. The TWEA bit must be written to one to enable
the acknowledgement of the device’s own slave address or the general call address. TWSTA
and TWSTO must be written to zero.
When TWAR and TWCR have been initialized, the TWI waits until it is addressed by its own
slave address (or the general call address if enabled) followed by the data direction bit. If the
direction bit is “0” (write), the TWI will operate in SR mode, otherwise ST mode is entered. After
its own slave address and the write bit have been received, the TWINT Flag is set and a valid
status code can be read from TWSR. The status code is used to determine the appropriate software action. The appropriate action to be taken for each status code is detailed in Table 21-5 on
page 234. The Slave Receiver mode may also be entered if arbitration is lost while the TWI is in
the Master mode (see states 0x68 and 0x78).
If the TWEA bit is reset during a transfer, the TWI will return a “Not Acknowledge” (“1”) to SDA
after the next received data byte. This can be used to indicate that the Slave is not able to
receive any more bytes. While TWEA is zero, the TWI does not acknowledge its own slave
address. However, the 2-wire Serial Bus is still monitored and address recognition may resume
at any time by setting TWEA. This implies that the TWEA bit may be used to temporarily isolate
the TWI from the 2-wire Serial Bus.
In all sleep modes other than Idle mode, the clock system to the TWI is turned off. If the TWEA
bit is set, the interface can still acknowledge its own slave address or the general call address by
using the 2-wire Serial Bus clock as a clock source. The part will then wake up from sleep and
the TWI will hold the SCL clock low during the wake up and until the TWINT Flag is cleared (by
writing it to one). Further data reception will be carried out as normal, with the AVR clocks running as normal. Observe that if the AVR is set up with a long start-up time, the SCL line may be
held low for a long time, blocking other data transmissions.
Note that the 2-wire Serial Interface Data Register – TWDR does not reflect the last byte present
on the bus when waking up from these Sleep modes.
233
7593L–AVR–09/12
Table 21-5.
Status code
(TWSR)
prescaler bits
are 0
Status codes for Slave Receiver mode.
Application software response
Status of the 2-wire serial bus
and 2-wire serial interface hardware
To TWCR
To/from TWDR
STA
STO
TWINT
TWEA
0x60
Own SLA+W has been received;
ACK has been returned
No TWDR action
or
No TWDR action
X
0
1
0
X
0
1
1
0x68
Arbitration lost in SLA+R/W as
Master; own SLA+W has been
received; ACK has been returned
No TWDR action
or
No TWDR action
X
0
1
0
X
0
1
1
0x70
General call address has been
received; ACK has been returned
No TWDR action
or
No TWDR action
X
0
1
0
X
0
1
1
0x78
Arbitration lost in SLA+R/W as
Master; General call address has
been received; ACK has been returned
No TWDR action
or
No TWDR action
X
0
1
0
X
0
1
1
0x80
Previously addressed with own
SLA+W; data has been received;
ACK has been returned
Read data byte
or
Read data byte
X
0
1
0
X
0
1
1
0x88
Previously addressed with own
SLA+W; data has been received;
NOT ACK has been returned
Read data byte
or
Read data byte
or
0
0
1
0
0
0
1
1
Read data byte
or
1
0
1
0
Read data byte
1
0
1
1
0
0x90
Previously addressed with general call; data has been received;
ACK has been returned
Read data byte
or
Read data byte
X
0
1
X
0
1
1
0x98
Previously addressed with general call; data has been received;
NOT ACK has been returned
Read data byte
or
Read data byte
or
0
0
1
0
0
0
1
1
Read data byte
or
1
0
1
0
Read data byte
1
0
1
1
No action
0
0
1
0
0
0
1
1
1
0
1
0
1
0
1
1
0xA0
234
A STOP condition or repeated
START condition has been received while still addressed as
Slave
Next action taken by TWI hardware
Data byte will be received and NOT ACK will be returned
Data byte will be received and ACK will be returned
Data byte will be received and NOT ACK will be returned
Data byte will be received and ACK will be returned
Data byte will be received and NOT ACK will be returned
Data byte will be received and ACK will be returned
Data byte will be received and NOT ACK will be returned
Data byte will be received and ACK will be returned
Data byte will be received and NOT ACK will be returned
Data byte will be received and ACK will be returned
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”;
a START condition will be transmitted when the bus
becomes free
Data byte will be received and NOT ACK will be returned
Data byte will be received and ACK will be returned
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”;
a START condition will be transmitted when the bus
becomes free
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 21-17. Formats and states in the Slave Receiver mode.
Reception of the own
slave address and one or
more data bytes. All are
acknowledged
S
SLA
W
A
DATA
$60
A
DATA
$80
Last data byte received
is not acknowledged
A
P or S
$80
$A0
A
P or S
$88
Arbitration lost as master
and addressed as slave
A
$68
Reception of the general call
address and one or more data
bytes
General Call
A
DATA
$70
A
DATA
$90
Last data byte received is
not acknowledged
A
P or S
$90
$A0
A
P or S
$98
Arbitration lost as master and
addressed as slave by general call
A
$78
From master to slave
DATA
From slave to master
21.8.4
A
n
Any number of data bytes
and their associated acknowledge bits
This number (contained in TWSR) corresponds
to a defined state of the Two-Wire Serial Bus. The
prescaler bits are zero or masked to zero
Slave Transmitter mode
In the Slave Transmitter mode, a number of data bytes are transmitted to a Master Receiver
(see Figure 21-18). All the status codes mentioned in this section assume that the prescaler bits
are zero or are masked to zero.
Figure 21-18. Data transfer in Slave Transmitter mode.
VCC
Device 1
Device 2
SLAVE
TRANSMITTER
MASTER
RECEIVER
Device 3
........
Device n
R1
R2
SDA
SCL
235
7593L–AVR–09/12
To initiate the Slave Transmitter mode, TWAR and TWCR must be initialized as follows:
TWAR
TWA6
TWA5
Value
TWA4
TWA3
TWA2
TWA1
TWA0
TWGCE
Device’s Own Slave Address
The upper seven bits are the address to which the 2-wire Serial Interface will respond when
addressed by a Master. If the LSB is set, the TWI will respond to the general call address (0x00),
otherwise it will ignore the general call address.
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
Value
0
1
0
0
0
1
0
X
TWEN must be written to one to enable the TWI. The TWEA bit must be written to one to enable
the acknowledgement of the device’s own slave address or the general call address. TWSTA
and TWSTO must be written to zero.
When TWAR and TWCR have been initialized, the TWI waits until it is addressed by its own
slave address (or the general call address if enabled) followed by the data direction bit. If the
direction bit is “1” (read), the TWI will operate in ST mode, otherwise SR mode is entered. After
its own slave address and the write bit have been received, the TWINT Flag is set and a valid
status code can be read from TWSR. The status code is used to determine the appropriate software action. The appropriate action to be taken for each status code is detailed in Table 21-6 on
page 237. The Slave Transmitter mode may also be entered if arbitration is lost while the TWI is
in the Master mode (see state 0xB0).
If the TWEA bit is written to zero during a transfer, the TWI will transmit the last byte of the transfer. State 0xC0 or state 0xC8 will be entered, depending on whether the Master Receiver
transmits a NACK or ACK after the final byte. The TWI is switched to the not addressed Slave
mode, and will ignore the Master if it continues the transfer. Thus the Master Receiver receives
all “1” as serial data. State 0xC8 is entered if the Master demands additional data bytes (by
transmitting ACK), even though the Slave has transmitted the last byte (TWEA zero and expecting NACK from the Master).
While TWEA is zero, the TWI does not respond to its own slave address. However, the 2-wire
Serial Bus is still monitored and address recognition may resume at any time by setting TWEA.
This implies that the TWEA bit may be used to temporarily isolate the TWI from the 2-wire Serial
Bus.
In all sleep modes other than Idle mode, the clock system to the TWI is turned off. If the TWEA
bit is set, the interface can still acknowledge its own slave address or the general call address by
using the 2-wire Serial Bus clock as a clock source. The part will then wake up from sleep and
the TWI will hold the SCL clock will low during the wake up and until the TWINT Flag is cleared
(by writing it to one). Further data transmission will be carried out as normal, with the AVR clocks
running as normal. Observe that if the AVR is set up with a long start-up time, the SCL line may
be held low for a long time, blocking other data transmissions.
Note that the 2-wire Serial Interface Data Register – TWDR does not reflect the last byte present
on the bus when waking up from these sleep modes.
236
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 21-6.
Status code
(TWSR) prescaler bits
are 0
0xA8
0xB0
0xB8
0xC0
0xC8
Status codes for Slave Transmitter mode.
Application software response
Status of the 2-wire serial bus and
2-wire serial interface hardware
To TWCR
To/from TWDR
STA
STO
TWINT
TWEA
Load data byte
or
Load data byte
X
0
1
0
X
0
1
1
Arbitration lost in SLA+R/W as
Master; own SLA+R has been received; ACK has been returned
Load data byte
or
Load data byte
X
0
1
0
X
0
1
1
Data byte in TWDR has been
transmitted; ACK has been received
Load data byte
or
Load data byte
X
0
1
0
X
0
1
1
Data byte in TWDR has been
transmitted; NOT ACK has been
received
No TWDR action
or
No TWDR action
or
0
0
1
0
0
0
1
1
No TWDR action
or
1
0
1
0
No TWDR action
1
0
1
1
No TWDR action
or
No TWDR action
or
0
0
1
0
0
0
1
1
No TWDR action
or
1
0
1
0
No TWDR action
1
0
1
1
Own SLA+R has been received;
ACK has been returned
Last data byte in TWDR has been
transmitted (TWEA = “0”); ACK
has been received
Next action taken by TWI hardware
Last data byte will be transmitted and NOT ACK should
be received
Data byte will be transmitted and ACK should be received
Last data byte will be transmitted and NOT ACK should
be received
Data byte will be transmitted and ACK should be received
Last data byte will be transmitted and NOT ACK should
be received
Data byte will be transmitted and ACK should be received
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA;
a START condition will be transmitted when the bus becomes free
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”;
a START condition will be transmitted when the bus becomes free
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA;
a START condition will be transmitted when the bus becomes free
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”;
a START condition will be transmitted when the bus becomes free
237
7593L–AVR–09/12
Figure 21-19. Formats and states in the Slave Transmitter mode.
Reception of the own
slave address and one or
more data bytes
S
SLA
R
A
DATA
$A8
Arbitration lost as master
and addressed as slave
A
DATA
$B8
A
P or S
$C0
A
$B0
Last data byte transmitted.
Switched to not addressed
slave (TWEA = '0')
A
All 1's
P or S
$C8
DATA
From master to slave
From slave to master
21.8.5
Any number of data bytes
and their associated acknowledge bits
A
This number (contained in TWSR) corresponds
to a defined state of the Two-Wire Serial Bus. The
prescaler bits are zero or masked to zero
n
Miscellaneous states
There are two status codes that do not correspond to a defined TWI state, see Table 21-7.
Status 0xF8 indicates that no relevant information is available because the TWINT Flag is not
set. This occurs between other states, and when the TWI is not involved in a serial transfer.
Status 0x00 indicates that a bus error has occurred during a 2-wire Serial Bus transfer. A bus
error occurs when a START or STOP condition occurs at an illegal position in the format frame.
Examples of such illegal positions are during the serial transfer of an address byte, a data byte,
or an acknowledge bit. When a bus error occurs, TWINT is set. To recover from a bus error, the
TWSTO Flag must set and TWINT must be cleared by writing a logic one to it. This causes the
TWI to enter the not addressed Slave mode and to clear the TWSTO Flag (no other bits in
TWCR are affected). The SDA and SCL lines are released, and no STOP condition is
transmitted.
Table 21-7.
Miscellaneous states.
Status code
(TWSR)
prescaler bits
are 0
Status of the 2-wire serial bus
and 2-wire serial interface
hardware
Application software response
To TWCR
To/from TWDR
0xF8
No relevant state information
available; TWINT = “0”
No TWDR action
0x00
Bus error due to an illegal
START or STOP condition
No TWDR action
21.8.6
STA
STO
TWINT
TWEA
No TWCR action
0
1
1
Next action taken by TWI hardware
Wait or proceed current transfer
X
Only the internal hardware is affected, no STOP condition is sent on the bus. In all cases, the bus is released and TWSTO is cleared.
Combining several TWI modes
In some cases, several TWI modes must be combined in order to complete the desired action.
Consider for example reading data from a serial EEPROM. Typically, such a transfer involves
the following steps:
1. The transfer must be initiated.
2. The EEPROM must be instructed what location should be read.
3. The reading must be performed.
4. The transfer must be finished.
238
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Note that data is transmitted both from Master to Slave and vice versa. The Master must instruct
the Slave what location it wants to read, requiring the use of the MT mode. Subsequently, data
must be read from the Slave, implying the use of the MR mode. Thus, the transfer direction must
be changed. The Master must keep control of the bus during all these steps, and the steps
should be carried out as an atomical operation. If this principle is violated in a multimaster system, another Master can alter the data pointer in the EEPROM between steps 2 and 3, and the
Master will read the wrong data location. Such a change in transfer direction is accomplished by
transmitting a REPEATED START between the transmission of the address byte and reception
of the data. After a REPEATED START, the Master keeps ownership of the bus. The following
figure shows the flow in this transfer.
Figure 21-20. Combining several TWI modes to access a serial EEPROM.
Master transmitter
S
SLA+W
A
ADDRESS
S = START
A
Rs
SLA+R
A
DATA
A
Rs = REPEATED START
Transmitted from master to slave
21.9
Master receiver
P
P = STOP
Transmitted from slave to master
Multi-master systems and arbitration
If multiple masters are connected to the same bus, transmissions may be initiated simultaneously by one or more of them. The TWI standard ensures that such situations are handled in
such a way that one of the masters will be allowed to proceed with the transfer, and that no data
will be lost in the process. An example of an arbitration situation is depicted below, where two
masters are trying to transmit data to a Slave Receiver.
Figure 21-21. An arbitration example.
VCC
Device 1
Device 2
Device 3
MASTER
TRANSMITTER
MASTER
TRANSMITTER
SLAVE
RECEIVER
........
Device n
R1
R2
SDA
SCL
Several different scenarios may arise during arbitration, as described below:
• Two or more masters are performing identical communication with the same Slave. In this
case, neither the Slave nor any of the masters will know about the bus contention
• Two or more masters are accessing the same Slave with different data or direction bit. In this
case, arbitration will occur, either in the READ/WRITE bit or in the data bits. The masters
trying to output a one on SDA while another Master outputs a zero will lose the arbitration.
Losing masters will switch to not addressed Slave mode or wait until the bus is free and
transmit a new START condition, depending on application software action
239
7593L–AVR–09/12
• Two or more masters are accessing different slaves. In this case, arbitration will occur in the
SLA bits. Masters trying to output a one on SDA while another Master outputs a zero will lose
the arbitration. Masters losing arbitration in SLA will switch to Slave mode to check if they are
being addressed by the winning Master. If addressed, they will switch to SR or ST mode,
depending on the value of the READ/WRITE bit. If they are not being addressed, they will
switch to not addressed Slave mode or wait until the bus is free and transmit a new START
condition, depending on application software action
This is summarized in Figure 21-22. Possible status values are given in circles.
Figure 21-22. Possible status codes caused by arbitration.
START
SLA
Data
Arbitration lost in SLA
Own
Address / General call
received
No
STOP
Arbitration lost in data
38
TWI bus will be released and not addressed slave mode will be entered
A START condition will be transmitted when the bus becomes free
Yes
Direction
Write
68/78
Read
B0
240
Data byte will be received and NOT ACK will be returned
Data byte will be received and ACK will be returned
Last data byte will be transmitted and NOT ACK should be received
Data byte will be transmitted and ACK should be received
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
22. USB controller
22.1
Features
• Support full-speed and low-speed
• Support ping-pong mode (dual bank)
• 832 bytes of DPRAM:
– One endpoint 64 bytes maximum (default control endpoint)
– One endpoint of 256 bytes maximum (one or two banks)
– Five endpoints of 64 bytes maximum (one or two banks)
22.2
Block diagram
The USB controller provides the hardware to interface a USB link to a data flow stored in a double port memory (DPRAM).
The USB controller requires a 48MHz ±0.25% reference clock (for Full-Speed operation), which
is the output of an internal PLL. The PLL generates the internal high frequency (48MHz) clock
for USB interface, the PLL input is generated from an external lower frequency (the crystal oscillator or external clock input pin from XTAL1; to satisfy the USB frequency accuracy and jitter,
only this clock source allows proper functionnality of the USB controller).
The 48MHz clock is used to generate a 12MHz Full-speed (or 1.5MHz Low-Speed) bit clock
from the received USB differential data and to transmit data according to full or low speed USB
device tolerance. Clock recovery is done by a Digital Phase Locked Loop (DPLL) block, which is
compliant with the jitter specification of the USB bus.
To comply with the USB Electrical specification, USB Pads (D+ or D-) should be powered within
the 3.0 to 3.6V range. As Atmel AT90USB64/128 can be powered up to 5.5V, an internal regulator provides the USB pads power supply.
Figure 22-1. USB controller block diagram overview.
UVCC
UCAP
AVCC
PLL
24x
USB regulator
XTAL1
clk
2MHz
PLL clock
prescaler
clk
48MHz
CPU
D-
DPLL
clock
recovery
D+
USB
interface
VBUS
On-Chip
USB DPRAM
UID
241
7593L–AVR–09/12
22.3
Typical application implementation
Depending on the USB operating mode (Device only, Reduced Host or OTG mode) and on the
target application power supply, the Atmel AT90USB64/128 require different hardware typical
implementations.
Figure 22-2. Operating modes versus frequency and power-supply.
Maximum
operating frequency [MHz]
VCC (V)
5.5
16MHz
4.5
USB compliant,
with internal regulator
3.6
8MHz
3.4
USB compliant,
without internal regulator
3.0
2.7
USB not operational
2MHz
VCC min
0
22.3.1
22.3.1.1
Device mode
Bus powered device
Figure 22-3. Typical bus powered application with 5V I/O.
UVCC
AVCC
VCC
UCAP
1µF
VBUS
VBUS
UDP
D+
Rs = 22
UDM
DRs = 22
UVSS
UID
UGND
UID
XTAL1
242
XTAL2
GND
GND
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 22-4. Typical bus powered application with 3V I/O.
External
3V regulator
UVCC
AVCC
VCC
UCAP
1µF
VBUS
VBUS
UDP
D+
Rs = 22
UDM
DRs = 22
UVSS
UVSS
UGND
UID
UID
XTAL1
22.3.1.2
XTAL2
GND
GND
Self powered device
Figure 22-5. Typical self powered application with 3.4V to 5.5V I/O.
External 3.4V - 5.5V
power supply
UVCC
AVCC
VCC
UCAP
1µF
VBUS
VBUS
UDP
D+
Rs = 22
UDM
DRs = 22
UVSS
UID
UGND
UID
XTAL1
XTAL2
GND
GND
243
7593L–AVR–09/12
Figure 22-6. Typical self powered application with 3.0V to 3.6 I/O.
External 3.0V - 3.6V
power supply
UVCC
AVCC
VCC
UCAP
1µF
VBUS
VBUS
UDP
D+
Rs = 22
UDM
DRs = 22
UVSS
UGND
UID
UID
XTAL1
22.3.2
XTAL2
GND
GND
Host / OTG mode
Figure 22-7. Host/OTG application with 3.0V to 3.6 I/O.
External 3.0V - 3.4V
power supply
5V
UVCC
AVCC
VCC
5V DC/DC
generator
UCAP
1µF
UVCON
VBUS
VBUS
UDM
D+
Rs = 22
UDP
DRs = 22
UVSS
UID
UGND
UID
XTAL1
244
XTAL2
GND
GND
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 22-8. Host/OTG application with 5V I/O.
External 5.0V
power supply
5V
UVCC
AVCC
VCC
UCAP
1µF
UVCON
VBUS
VBUS
UDP
D+
Rs = 22
UDM
DRs = 22
UVSS
UID
UGND
UID
XTAL1
22.3.3
XTAL2
GND
GND
Design guidelines
• Serial resistors on USB Data lines must have 22Ω value (±5%)
• Traces from the input USB receptable (or from the cable connection in the case of a tethered
device) to the USB microcontroller pads should be as short as possible, and follow differential
traces routing rules (same length, as near as possible, avoid vias accumulation)
• Voltage transient / ESD suppressors may also be used to prevent USB pads to be damaged
by external disturbances
• Ucap capacitor should be 1µF (±10%) for correct operation
• A 10µF capacitor is highly recommended on VBUS line
245
7593L–AVR–09/12
22.4
22.4.1
General operating modes
Introduction
After a hardware reset, the USB controller is disabled. When enabled, the USB controller has to
run the Device Controller or the Host Controller. This is performed using the USB ID detection.
• If the ID pin is not connected to ground, the USB ID bit is set by hardware (internal pull up on
the UID pad) and the USB Device controller is selected
• The ID bit is cleared by hardware when a low level has been detected on the ID pin. The
Device controller is then disabled and the Host controller enabled
The software anyway has to select the mode (Host, Device) in order to access to the Device
controller registers or to the Host controller registers, which are multiplexed. For example, even
if the USB controller has detected a Device mode (pin ID high), the software shall select the
device mode (bit HOST cleared), otherwise it will access to the host registers. This is also true
for the Host mode.
Note:
22.4.2
For the Atmel AT90USB646/1286 products the Host mode is not included in the USB controller,
and the ID pin is not used and should be configured and used as a general I/O.
Power-on and reset
The next diagram explains the USB controller main states on power-on:
Figure 22-9. USB controller states after reset.
Clock stopped
FRZCLK=1
M acro off
USBE=0
Reset
USBE=1
ID=1
<any other
state>
HW
RESET
USBE=0
USBE=0
Device
USBE=1
ID=0
USBE=0
AT90USB646/1286forcedmode
Host
AT90USB647/1287only
USB Controller state after an hardware reset is ‘Reset’. In this state:
• USBE is not set
• the USB controller clock is stopped in order to minimize the power consumption (FRZCLK=1)
• the USB controller is disabled
• the USB pad is in the suspend mode
• the Host and Device USB controllers internal states are reset
After setting USBE, the USB Controller enters in the Host or in the Device state (according to the
USB ID pin). The selected controller is ‘Idle’.
The USB Controller can at any time be ‘stopped’ by clearing USBE. In fact, clearing USBE acts
as an hardware reset.
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22.4.3
Interrupts
Two interrupts vectors are assigned to USB interface.
Figure 22-10. USB interrupt system.
USB general
& OTG interrupt
USB device
interrupt
USB general
interrupt vector
USB host
interrupt
Endpoint
interrupt
USB endpoint/pipe
interrupt vector
Pipe
interrupt
See Section 23.17, page 272 and Section 24.15, page 291 for more details on the Host and
Device interrupts.
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Figure 22-11. USB general interrupt vector sources.
IDTI
USBINT.1
VBUSTI
USBINT.0
STOI
OTGINT.5
IDTE
USBCON.1
VBUSTE
USBCON.0
STOE
OTGIEN.5
HNPERRI
OTGINT.4
HNPERRE
OTGIEN.4
ROLEEXI
OTGINT.3
BCERRI
OTGINT.2
VBERRI
OTGINT.1
SRPI
OTGINT.0
UPRSMI
UDINT.6
EORSMI
UDINT.5
USB general
interrupt vector
ROLEEXE
OTGIEN.3
BCERRE
OTGIEN.2
VBERRE
OTGIEN.1
SRPE
OTGIEN.0
UPRSME
UDIEN.6
EORSME
UDIEN.5
WAKEUPI
UDINT.4
WAKEUPE
UDIEN.4
EORSTI
UDINT.3
SOFI
UDINT.2
SUSPI
UDINT.0
USB device
interrupt
USB general
interrupt vector
EORSTE
UDIEN.3
SOFE
UDIEN.2
SUSPE
UDIEN.0
HWUPI
UHINT.6
HWUPE
UHIEN.6
HSOFI
UHINT.5
RXRSMI
UHINT.4
RSMEDI
UHINT.3
RSTI
UHINT.2
DDISCI
UHINT.1
DCONNI
UHINT.0
248
HSOFE
UHIEN.5
RXRSME
UHIEN.4
USB host
interrupt
RSMEDE
UHIEN.3
RSTE
UHIEN.2
DDISCE
UHIEN.1
Asynchronous interrupt source
(allows the CPU to wake up from power down mode)
DCONNE
UHIEN.0
AT90USB64/128
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Figure 22-12. USB endpoint/pipe Interrupt vector sources.
Endpoint 6
Endpoint 5
Endpoint 4
Endpoint 3
Endpoint 2
Endpoint 1
Endpoint 0
OVERFI
UESTAX.6
UNDERFI
UESTAX.5
NAKINI
UEINTX.6
NAKOUTI
UEINTX.4
RXSTPI
UEINTX.3
RXOUTI
UEINTX.2
FLERRE
UEIENX.7
NAKINE
UEIENX.6
TXSTPE
UEIENX.4
RXSTPE
UEIENX.3
Endpoint interrupt
EPINT
UEINT.X
RXOUTE
UEIENX.2
STALLEDI
UEINTX.1
STALLEDE
UEIENX.1
TXINI
UEINTX.0
TXINE
UEIENX.0
USB endpoint/pipe
interrupt vector
PIPE 6
PIPE 5
PIPE 4
PIPE 3
PIPE 2
PIPE 1
PIPE 0
OVERFI
UPSTAX.6
UNDERFI
UPSTAX.5
NAKEDI
UPINTX.6
PERRI
UPINTX.4
TXSTPI
UPINTX.3
TXOUTI
UPINTX.2
FLERRE
UPIEN.7
NAKEDE
UPIEN.6
PERRE
UPIEN.4
TXSTPE
UPIEN.3
FLERRE
UPIEN.X
Pipe interrupt
TXOUTE
UPIEN.2
RXSTALLI
UPINTX.1
RXSTALLE
UPIEN.1
RXINI
UPINTX.0
RXINE
UPIEN.0
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Figure 22-13. USB general and OTG controller interrupt system.
IDTI
USBINT.1
VBUSTI
USBINT.0
STOI
OTGINT.5
IDTE
USBCON.1
VBUSTE
USBCON.0
STOE
OTGIEN.5
HNPERRI
OTGINT.4
HNPERRE
OTGIEN.4
ROLEEXI
OTGINT.3
BCERRI
OTGINT.2
VBERRI
OTGINT.1
SRPI
OTGINT.0
USB general & OTG
interrupt vector
ROLEEXE
OTGIEN.3
BCERRE
OTGIEN.2
VBERRE
OTGIEN.1
Asynchronous interrupt source
(allows the CPU to wake up from power down mode
SRPE
OTGIEN.0
There are two kinds of interrupts: processing (that is, their generation are part of the normal processing) and exception (errors).
Processing interrupts are generated when such events occur:
• USB ID Pad change detection (insert, remove)(IDTI)
• VBUS plug-in detection (insert, remove) (VBUSTI)
• SRP detected(SRPI)
• Role Exchanged(ROLEEXI)
Exception Interrupts are generated with the following events:
• Drop on VBus Detected(VBERRI)
• Error during the B-Connection(BCERRI)
• HNP Error(HNPERRI)
• Time-out detected during Suspend mode(STOII)
22.5
22.5.1
Power modes
Idle mode
In this mode, the CPU core is halted (CPU clock stopped). The Idle mode is taken wether the
USB controller is running or not. The CPU “wakes up” on any USB interrupts.
22.5.2
Power down
In this mode, the oscillator is stopped and halts all the clocks (CPU and peripherals). The USB
controller “wakes up” when:
• the WAKEUPI interrupt is triggered in the Peripheral mode (HOST cleared)
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• the HWUPI interrupt is triggered in the Host mode (HOST set)
• the IDTI interrupt is triggered
• the VBUSTI interrupt is triggered
22.5.3
Freeze clock
The firmware has the ability to reduce the power consumption by setting the FRZCLK bit, which
freeze the clock of USB controller. When FRZCLK is set, it is still possible to access to the following registers:
• USBCON, USBSTA, USBINT
• UDCON (detach, ...)
• UDINT
• UDIEN
• UHCON
• UHINT
• UHIEN
Moreover, when FRZCLK is set, only the following interrupts may be triggered:
• WAKEUPI
• IDTI
• VBUSTI
• HWUPI
22.6
Speed control
22.6.1
Device mode
When the USB interface is configured in device mode, the speed selection (Full Speed or Low
Speed) depends on the UDP/UDM pull-up. The LSM bit in UDCON register allows to select an
internal pull up on UDM (Low Speed mode) or UDP (Full Speed mode) data lines.
Figure 22-14. Device mode speed selection.
USB
regulator
UCAP
DETACH
UDCON.0
LSM
RPU
RPU
UDCON.2
UDP
UDM
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22.6.2
Host mode
When the USB interface is configured in host mode, internal Pull Down resistors are activated on
both UDP UDM lines and the interface detects the type of connected device.
22.7
Memory management
The controller does only support the following memory allocation management.
The reservation of a Pipe or an Endpoint can only be made in the increasing order (Pipe/Endpoint 0 to the last Pipe/Endpoint). The firmware shall thus configure them in the same order.
The reservation of a Pipe or an Endpoint “ki” is done when its ALLOC bit is set. Then, the hardware allocates the memory and inserts it between the Pipe/Endpoints “ki-1” and “ki+1”. The “ki+1”
Pipe/Endpoint memory “slides” up and its data is lost. Note that the “ki+2” and upper Pipe/Endpoint memory does not slide.
Clearing a Pipe enable (PEN) or an Endpoint enable (EPEN) does not clear either its ALLOC bit,
or its configuration (EPSIZE/PSIZE, EPBK/PBK). To free its memory, the firmware should clear
ALLOC. Then, the “ki+1” Pipe/Endpoint memory automatically “slides” down. Note that the “ki+2”
and upper Pipe/Endpoint memory does not slide.
The following figure illustrates the allocation and reorganization of the USB memory in a typical
example:
Table 22-1.
Allocation and reorganization USB memory flow.
Free memory
Free memory
Free memory
Free memory
5
5
5
5
4
4
Lost memory
3
EPEN=0
(ALLOC=1)
4
3 (bigger size)
2
2
2
2
1
1
1
1
0
0
0
0
Pipe/Endpoints
activation
Pipe/Endpoint
Disable
Free its memory
(ALLOC=0)
Pipe/Endpoint
Activatation
4
Conflict
EPEN=1
ALLOC=1
• First, Pipe/Endpoint 0 to Pipe/Endpoint 5 are configured, in the growing order. The memory
of each is reserved in the DPRAM
• Then, the Pipe/Endpoint 3 is disabled (EPEN=0), but its memory reservation is internally kept
by the controller
• Its ALLOC bit is cleared: the Pipe/Endpoint 4 “slides” down, but the Pipe/Endpoint 5 does not
“slide”
• Finally, if the firmware chooses to reconfigure the Pipe/Endpoint 3, with a bigger size. The
controller reserved the memory after the endpoint 2 memory and automatically “slide” the
Pipe/Endpoint 4. The Pipe/Endpoint 5 does not move and a memory conflict appear, in that
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both Pipe/Endpoint 4 and 5 use a common area. The data of those endpoints are potentially
lost
Note that:
• the data of Pipe/Endpoint 0 are never lost whatever the activation or deactivation of the
higher Pipe/Endpoint. Its data is lost if it is deactivated
• Deactivate and reactivate the same Pipe/Endpoint with the same parameters does not lead
to a “slide” of the higher endpoints. For those endpoints, the data are preserved
• CFGOK is set by hardware even in the case where there is a “conflict” in the memory
allocation
22.8
PAD suspend
The next figures illustrates the pad behaviour:
• In the “idle” mode, the pad is put in low power consumption mode
• In the “active” mode, the pad is working
Figure 22-15. Pad behaviour.
USBE=1
& DETACH=0
& suspend
Idle mode
USBE=0
| DETACH=1
| suspend
Active mode
The SUSPI flag indicated that a suspend state has been detected on the USB bus. This flag
automatically put the USB pad in Idle. The detection of a non-idle event sets the WAKEUPI flag
and wakes-up the USB pad.
SUSPI
Suspend detected = USB pad power down
WAKEUPI
Clear suspend by software
Clear resume by software
Resume = USB pad wake-up
PAD status
Active
Power Down
Active
Moreover, the pad can also be put in the “idle” mode if the DETACH bit is set. It come back in
the active mode when the DETACH bit is cleared.
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22.9
OTG timers customizing
It is possible to refine some OTG timers thanks to the OTGTCON register that contains the
PAGE bits to select the timer and the VALUE bits to adjust the value. User should refer to lastest
releases of the OTG specification to select compliant timings.
• PAGE=00b: AWaitVrise time-out. [OTG]. In Host mode, once VBUSREQ has been set to “1”,
if no VBUS is detected on VBUS pin after this AWaitVrise delay then the VBERRI error flag is
set.
– VALUE=00bTime-out is set to 20ms
– VALUE=01bTime-out is set to 50ms
– VALUE=10bTime-out is set to 70ms
– VALUE=11bTime-out is set to 100ms
• PAGE=01b: VbBusPulsing. [OTG]. In Device mode, this delay corresponds to the pulse
duration on Vbus during a SRP.
– VALUE=00bTime-out is set to 15ms
– VALUE=01bTime-out is set to 23ms
– VALUE=10bTime-out is set to 31ms
– VALUE=11bTime-out is set to 40ms
• PAGE=10b: PdTmOutCnt. [OTG]. In Device mode, when a SRP has been requested to be
sent by the firmware, this delay is waited by the hardware after VBUS has gone below the
“session_valid” threshold voltage and before initiating the first pulse. This delay should be
considered as an approximation of USB lines discharge (pull-down resistors vs. line
capacitance) in order to wait that VBUS has gone below the “b_session_end” threshold
voltae, as defined in the OTG specification.
– VALUE=00bTime-out is set to 93ms
– VALUE=01bTime-out is set to 105ms
– VALUE=10bTime-out is set to 118ms
– VALUE=11bTime-out is set to 131ms
• PAGE=11b: SRPDetTmOut. [OTG]. In Host mode, this delay is the minimum pulse duration
required to detect and accept a valid SRP from a Device.
– VALUE=00bTime-out is set to 1µs
– VALUE=01bTime-out is set to 100µs
– VALUE=10bTime-out is set to 1ms
– VALUE=11bTime-out is set to 11ms
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22.10 Plug-in detection
The USB connection is detected by the VBUS pad, thanks to the following architecture:
Figure 22-16. Plug-in detection input block diagram.
VDD
RPU
VBus_pulsing
Session_valid
VBUS
RPU
Logic
Vbus_valid
VBUS
VBUSTI
USBSTA.0
USBINT.0
VBus_discharge
VSS
Pad logic
The control logic of the VBUS pad outputs a signal regarding the VBUS voltage level:
• The “Session_valid” signal is active high when the voltage on the VBUS pad is higher or
equal to 1.4V. If lower than 1.4V, the signal is not active
• The “Vbus_valid” signal is active high when the voltage on the VBUS pad is higher or equal to
4.4V. If lower than 4.4V, the signal is not active
• The VBUS status bit is set when VBUS is greater than “Vbus_valid”. The VBUS status bit is
cleared when VBUS falls below “Session_valid” (hysteresis behavior)
• The VBUSTI flag is set each time the VBUS bit state changes
22.10.1
Peripheral mode
The USB peripheral cannot attach to the bus while VBUS bit is not set.
22.10.2
Host mode
The Host must use the UVCON pin to drive an external power switch or regulator that powers
the Vbus line. The UVCON pin is automatically asserted and set high by hardware when
UVCONE and VBUSREQ bits are set by firmware.
If a device connects (pull-up on DP or DM) within 300ms of Vbus delivery, the DCONNI flag will
rise. But, once VBUSREQ bit has been set, if no peripheral connection is detected within 300ms,
the BCERRI flag (and interrupt) will rise and Vbus delivery will be stopped (UVCON cleared).
If that behavior represents a limitation for the Host application, the following work-around may be
used :
1. UVCONE and VBUSREQ must be cleared.
2. VBUSHWC must be set (to disable hardware control of UVCON pin).
3. PORTE,7 pin (alternate function of UVCON pin) must be set by firmware.
4. a device connection will be detected thanks to the SRPI flag (that may usually be used
to detect a DP/DM pulse sent by an OTG B-Device that requests a new session).
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22.11 ID detection
The ID pin transition is detected thanks to the following architecture:
Figure 22-17. ID detection input block diagram.
RPU
VDD
Internal pull up
1
UID
ID
0
UIMOD
USBSTA.1
UHWCON.7
UIDE
UHWCON.6
The ID pin can be used to detect the USB mode (Peripheral or Host) or software selected. This
allows the UID pin to be used has general purpose I/O even when USB interface is enable.
When the UID pin is selected, by default, (no A-plug or B-plug), the macro is in the Peripheral
mode (internal pull-up). The IDTI interrupt is triggered when a A-plug (Host) is plugged or
unplugged. The interrupt is not triggered when a B-plug (Periph) is plugged or unplugged.
ID detection is independent of USB global interface enable.
22.12 Registers description
22.12.1
USB general registers
Bit
7
6
UIMOD
UIDE
5
4
3
2
1
Read/write
R/W
R/W
R
R/W
R
R
R
R/W
Initial value
1
0
0
0
0
0
0
0
UVCONE
0
UVREGE
UHWCON
• 7 – UIMOD: USB Mode bit
This bit has no effect when the UIDE bit is set (external UID pin activated). Set to enable the
USB device mode. Clear to enable the USB host mode
• 6 – UIDE: UID pin Enable
Set to enable the USB mode selection (peripheral/host) through the UID pin. Clear to enable the
USB mode selection (peripheral/host) with UIMOD bit register.
UIDE should be modified only when the USB interface is disabled (USBE bit cleared).
• 5 – Reserved
The value read from this bit is always 0. Do not set this bit.
• 4 – UVCONE: UVCON pin Enable
Set to enable the UVCON pin control. Clear to disable the UVCON pin control. This bit should be
set only when the USB interface is enable.
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• 3-1 – Reserved
The value read from these bits is always 0. Do not set these bits.
• 0 – UVREGE: USB pad regulator Enable
Set to enable the USB pad regulator. Clear to disable the USB pad regulator.
Bit
7
6
5
4
3
2
1
0
USBE
HOST
FRZCLK
OTGPADE
-
-
IDTE
VBUSTE
Read/write
R/W
R/W
R/W
R/W
R
R
R/W
R/W
Initial value
0
0
1
0
0
0
0
0
USBCON
• 7 – USBE: USB macro Enable bit
Set to enable the USB controller. Clear to disable and reset the USB controller, to disable the
USB transceiver and to disable the USB controller clock inputs.
• 6 – HOST: HOST bit
Set to enable the Host mode. Clear to enable the device mode.
• 5 – FRZCLK: Freeze USB Clock bit
Set to disable the clock inputs (the ”Resume Detection” is still active). This reduces the power
consumption. Clear to enable the clock inputs.
• 4 – OTGPADE: OTG Pad Enable
Set to enable the OTG pad. Clear to disable the OTG pad. The OTG pad is actually the VBUS
pad.
Note that this bit can be set/cleared even if USBE=0. That allows the VBUS detection even if the
USB macro is disabled. This pad must be enabled in both Host and Device modes in order to
allow USB operation (attaching, transmitting...).
• 3-2 – Reserved
The value read from these bits is always 0. Do not set these bits.
• 1 – IDTE: ID Transition Interrupt Enable bit
Set this bit to enable the ID Transition interrupt generation. Clear this bit to disable the ID Transition interrupt generation.
• 0 – VBUSTE: VBUS Transition Interrupt Enable bit
Set this bit to enable the VBUS Transition interrupt generation.
Clear this bit to disable the VBUS Transition interrupt generation.
Bit
7
6
5
4
3
-
-
-
-
SPEED
Read/write
R
R
R
R
R
Initial value
0
0
0
0
1
2
1
0
ID
VBUS
R
R
R
0
1
0
USBSTA
• 7-4 - Reserved
The value read from these bits is always 0. Do not set these bits.
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• 3 – SPEED: Speed Status Flag
This should be read only when the USB controller operates in host mode, in device mode the
value read from this bit is undeterminated.
Set by hardware when the controller is in FULL-SPEED mode. Cleared by hardware when the
controller is in LOW-SPEED mode.
• 2 – Reserved
The value read from this bit is always 0. Do not set this bit.
• 1 – ID: IUD pin flag
The value read from this bit indicates the state of the UID pin.
• 0 – VBUS: VBus flag
The value read from this bit indicates the state of the VBUS pin. This bit can be used in device
mode to monitor the USB bus connection state of the application. See Section 22.10, page 255
for more details.
Bit
7
6
5
4
3
2
1
0
-
-
-
-
-
-
IDTI
VBUSTI
Read/write
R
R
R
R
R
R
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
USBINT
7-2 - Reserved
The value read from these bits is always 0. Do not set these bits.
1 – IDTI: D Transition Interrupt flag
Set by hardware when a transition (high to low, low to high) has been detected on the UID pin.
Shall be cleared by software.
• 0 – VBUSTI: IVBUS Transition Interrupt flag
Set by hardware when a transition (high to low, low to high) has been detected on the VBUS
pad.
Shall be cleared by software.
Bit
7
6
5
4
3
2
1
0
-
-
HNPREQ
SRPREQ
SRPSEL
VBUSHWC
VBUSREQ
VBUSRQC
Read/write
R
R
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
OTGCON
• 7-6 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 5 – HNPREQ: HNP Request bit
Set to initiate the HNP when the controller is in the Device mode (B). Set to accept the HNP
when the controller is in the Host mode (A).
Clear otherwise.
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• 4 – SRPREQ: SRP Request bit
Set to initiate the SRP when the controller is in Device mode. Cleared by hardware when the
controller is initiating a SRP.
• 3 – SRPSEL: SRP Selection bit
Set to choose VBUS pulsing as SRP method.
Clear to choose data line pulsing as SRP method.
• 2 – VBUSHWC: VBus Hardware Control bit
Set to disable the hardware control over the UVCON pin.
Clear to enable the hardware control over the UVCON pin.
See for more details
• 1 – VBUSREQ: VBUS Request bit
Set to assert the UVCON pin in order to enable the VBUS power supply generation. This bit
shall be used when the controller is in the Host mode.
Cleared by hardware when VBUSRQC is set.
• 0 – VBUSRQC: VBUS Request Clear bit
Set to deassert the UVCON pin in order to enable the VBUS power supply generation. This bit
shall be used when the controller is in the Host mode.
Cleared by hardware immediately after the set.
Bit
7
6
-
5
PAGE
4
3
2
-
-
-
1
0
VALUE
OTGTCON
Read/write
R
R/W
R/W
R
R
R/W
R/W
R/W
Initial value
1
0
0
0
0
0
0
0
• 7 – Reserved
This bit is reserved and always set.
• 6-5 – PAGE: Timer page access bit
Set/clear to access a special timer register. See Section 22.9, page 254 for more details.
• 4-3 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 1-0 – VALUE: Value bit
Set to initialize the new value of the timer. See Section 22.9, page 254 for more details.
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Bit
7
6
5
4
3
2
1
0
-
-
STOE
HNPERRE
ROLEEXE
BCERRE
VBERRE
SRPE
Read/write
R
R
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
OTGIEN
• 7-6 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 5 – STOE: Suspend Time-out Error Interrupt Enable bit
Set to enable the STOI interrupt. Clear to disable the STOI interrupt.
• 4 – HNPERRE: HNP Error Interrupt Enable bit
Set to enable the HNPERRI interrupt. Clear to disable the HNPERRI interrupt.
• 3 – ROLEEXE: Role Exchange Interrupt Enable bit
Set to enable the ROLEEXI interrupt. Clear to disable the ROLEEXI interrupt.
• 2 – BCERRE: B-Connection Error Interrupt Enable bit
Set to enable the BCERRI interrupt. Clear to disable the BCERRI interrupt.
• 1 – VBERRE: VBus Error Interrupt Enable bit
Set to enable the VBERRI interrupt. Clear to disable the VBERRI interrupt.
• 0 – SRPE: SRP Interrupt Enable bit
Set to enable the SRPI interrupt. Clear to disable the SRPI interrupt.
Bit
7
6
5
4
3
2
1
0
-
-
STOI
HNPERRI
ROLEEXI
BCERRI
VBERRI
SRPI
Read/write
R
R
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
OTGINT
• 7-6 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 5 – STOI: Suspend Time-out Error Interrupt flag
Set by hardware when a time-out error (more than 150ms) has been detected after a suspend.
Shall be cleared by software.
• 4 – HNPERRI: HNP Error Interrupt flag
Set by hardware when an error has been detected during the protocol. Shall be cleared by
software.
• 3 – ROLEEXI: Role Exchange Interrupt flag
Set by hardware when the USB controller has successfully swapped its mode, due to an HNP
negotiation: Host to Device or Device to Host. However the mode selection bit (Host/Device) is
unchanged and must be changed by firmware in order to reach the correct RAM locations and
events bits. Shall be cleared by software.
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• 2 – BCERRI: B-Connection Error Interrupt flag
Set by hardware when an error occur during the B-Connection (that is, if Peripheral has not connected after 300ms of Vbus delivery request). Shall be cleared by software.
• 1 – VBERRI: V-Bus Error Interrupt flag
Set by hardware when a drop on VBus has been detected. Shall be cleared by software.
• 0 – SRPI: SRP Interrupt flag
Set by hardware when a SRP has been detected. Shall be used in the Host mode only. Shall be
cleared by software.
22.13 USB Software Operating modes
Depending on the USB operating mode, the software should perform some the following
operations:
Power On the USB interface
• Power-On USB pads regulator
• Configure PLL interface
• Enable PLL and wait PLL lock
• Enable USB interface
• Configure USB interface (USB speed, Endpoints configuration...)
• Wait for USB VBUS information connection
• Attach USB device
Power Off the USB interface
• Detach USB interface
• Disable USB interface
• Disable PLL
• Disable USB pad regulator
Suspending the USB interface
• Clear Suspend Bit
• Freeze USB clock
• Disable PLL
• Be sure to have interrupts enable to exit sleep mode
• Make the MCU enter sleep mode
Resuming the USB interface
• Enable PLL
• Wait PLL lock
• Unfreeze USB clock
• Clear Resume information
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23. USB device operating modes
23.1
Introduction
The USB device controller supports full speed and low speed data transfers. In addition to the
default control endpoint, it provides six other endpoints, which can be configured in control, bulk,
interrupt or isochronous modes:
• Endpoint 0:programmable size FIFO up to 64 bytes, default control endpoint
• Endpoints 1 programmable size FIFO up to 256 bytes in ping-pong mode
• Endpoints 2 to 6: programmable size FIFO up to 64 bytes in ping-pong mode
The controller starts in the “idle” mode. In this mode, the pad consumption is reduced to the
minimum.
23.2
Power-on and reset
The next diagram explains the USB device controller main states on power-on:
Figure 23-1. USB device controller states after reset.
USBE=0
<any
other
state>
USBE=0
Reset
Idle
USBE=1
UID=1
HW
RESET
The reset state of the Device controller is:
• the macro clock is stopped in order to minimize the power consumption (FRZCLK set)
• the USB device controller internal state is reset (all the registers are reset to their default
value. Note that DETACH is set.)
• the endpoint banks are reset
• the D+ or D- pull up are not activated (mode Detach)
The D+ or D- pull-up will be activated as soon as the DETACH bit is cleared and VBUS is
present.
The macro is in the ‘Idle’ state after reset with a minimum power consumption and does not
need to have the PLL activated to enter in this state.
The USB device controller can at any time be reset by clearing USBE (disable USB interface).
23.3
Endpoint reset
An endpoint can be reset at any time by setting in the UERST register the bit corresponding to
the endpoint (EPRSTx). This resets:
• the internal state machine on that endpoint
• the Rx and Tx banks are cleared and their internal pointers are restored
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• the UEINTX, UESTA0X and UESTA1X are restored to their reset value
The data toggle field remains unchanged.
The other registers remain unchanged.
The endpoint configuration remains active and the endpoint is still enabled.
The endpoint reset may be associated with a clear of the data toggle command (RSTDT bit) as
an answer to the CLEAR_FEATURE USB command.
23.4
USB reset
When an USB reset is detected on the USB line, the next operations are performed by the
controller:
• all the endpoints are disabled
• the default control endpoint remains configured (see Section 23.3, page 262 for more details)
23.5
Endpoint selection
Prior to any operation performed by the CPU, the endpoint must first be selected. This is done
by setting the EPNUM2:0 bits (UENUM register) with the endpoint number which will be managed by the CPU.
The CPU can then access to the various endpoint registers and data.
23.6
Endpoint activation
The endpoint is maintained under reset as long as the EPEN bit is not set.
The following flow must be respected in order to activate an endpoint:
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Figure 23-2. Endpoint activation flow.
Endpoint
Activation
UENUM
Select the endpoint
EPNUM=x
EPEN=1
Activate the endpoint
UECFG0X
Configure:
- the endpoint direction
- the endpoint type
EPDIR
EPTYPE
...
Configure:
- the endpoint size
- the bank parametrization
Allocation and reorganization of
the memory is made on-the-fly
UECFG1X
ALLOC
EPSIZE
EPBK
CFGOK=1
Yes
Endpoint activated
Test the correct endpoint
configuration
No
ERROR
As long as the endpoint is not correctly configured (CFGOK cleared), the hardware does not
acknowledge the packets sent by the host.
CFGOK is will not be sent if the Endpoint size parameter is bigger than the DPRAM size.
A clear of EPEN acts as an endpoint reset (see Section 23.3, page 262 for more details). It also
performs the next operation:
• The configuration of the endpoint is kept (EPSIZE, EPBK, ALLOC kept)
• It resets the data toggle field
• The DPRAM memory associated to the endpoint is still reserved
See Section 22.7, page 252 for more details about the memory allocation/reorganization.
23.7
Address setup
The USB device address is set up according to the USB protocol:
• the USB device, after power-up, responds at address 0
• the host sends a SETUP command (SET_ADDRESS(addr))
• the firmware records that address in UADD, but keep ADDEN cleared
• the USB device sends an IN command of 0 bytes (IN 0 Zero Length Packet)
• then, the firmware can enable the USB device address by setting ADDEN. The only accepted
address by the controller is the one stored in UADD
ADDEN and UADD shall not be written at the same time.
UADD contains the default address 00h after a power-up or USB reset.
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ADDEN is cleared by hardware:
• after a power-up reset
• when an USB reset is received
• or when the macro is disabled (USBE cleared)
When this bit is cleared, the default device address 00h is used.
23.8
Suspend, wake-up and resume
After a period of 3ms during which the USB line was inactive, the controller switches to the fullspeed mode and triggers (if enabled) the SUSPI (suspend) interrupt. The firmware may then set
the FRZCLK bit.
The CPU can also, depending on software architecture, enter in the idle mode to lower again the
power consumption.
There are two ways to recover from the “Suspend” mode:
• First one is to clear the FRZCLK bit. This is possible if the CPU is not in the Idle mode
• Second way, if the CPU is “idle”, is to enable the WAKEUPI interrupt (WAKEUPE set). Then,
as soon as an non-idle signal is seen by the controller, the WAKEUPI interrupt is triggered.
The firmware shall then clear the FRZCLK bit to restart the transfer
There are no relationship between the SUSPI interrupt and the WAKEUPI interrupt: the WAKEUPI interrupt is triggered as soon as there are non-idle patterns on the data lines. Thus, the
WAKEUPI interrupt can occurs even if the controller is not in the “suspend” mode.
When the WAKEUPI interrupt is triggered, if the SUSPI interrupt bit was already set, it is cleared
by hardware.
When the SUSPI interrupt is triggered, if the WAKEUPI interrupt bit was already set, it is cleared
by hardware.
23.9
Detach
The reset value of the DETACH bit is 1.
It is possible to re-enumerate a device, simply by setting and clearing the DETACH bit.
• Setting DETACH will disconnect the pull-up on the D+ or D- pad (depending on full or low
speed mode selected). Then, clearing DETACH will connect the pull-up on the D+ or D- pad
Figure 23-3. Detach a device in full-speed.
UVREF
UVREF
EN=1
D+
D+
D-
DDetach, then
Attach
EN=1
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23.10 Remote Wake-up
The “Remote Wake-up” (or “upstream resume”) request is the only operation allowed to be sent
by the device on its own initiative. Anyway, to do that, the device should first have received a
DEVICE_REMOTE_WAKEUP request from the host.
• First, the USB controller must have detected the “suspend” state of the line: the remote wakeup can only be sent when a SUSPI flag is set
• The firmware has then the ability to set RMWKUP to send the “upstream resume” stream.
This will automatically be done by the controller after 5ms of inactivity on the USB line
• When the controller starts to send the “upstream resume”, the UPRSMI interrupt is triggered
(if enabled). SUSPI is cleared by hardware
• RMWKUP is cleared by hardware at the end of the “upstream resume”
• If the controller detects a good “End Of Resume” signal from the host, an EORSMI interrupt
is triggered (if enabled)
23.11 STALL request
For each endpoint, the STALL management is performed using two bits:
– STALLRQ (enable stall request)
– STALLRQC (disable stall request)
– STALLEDI (stall sent interrupt)
To send a STALL handshake at the next request, the STALLRQ request bit has to be set. All following requests will be handshak’ed with a STALL until the STALLRQC bit is set.
Setting STALLRQC automatically clears the STALLRQ bit. The STALLRQC bit is also immediately cleared by hardware after being set by software. Thus, the firmware will never read this bit
as set.
Each time the STALL handshake is sent, the STALLEDI flag is set by the USB controller and the
EPINTx interrupt will be triggered (if enabled).
The incoming packets will be discarded (RXOUTI and RWAL will not be set).
The host will then send a command to reset the STALL: the firmware just has to set the STALLRQC bit and to reset the endpoint.
23.11.1
Special consideration for control endpoints
A SETUP request is always ACK’ed.
If a STALL request is set for a Control Endpoint and if a SETUP request occurs, the SETUP
request has to be ACK’ed and the STALLRQ request and STALLEDI sent flags are automatically reset (RXSETUPI set, TXIN cleared, STALLED cleared, TXINI cleared...).
This management simplifies the enumeration process management. If a command is not supported or contains an error, the firmware set the STALL request flag and can return to the main
task, waiting for the next SETUP request.
This function is compliant with the Chapter 8 test that may send extra status for a
GET_DESCRIPTOR. The firmware sets the STALL request just after receiving the status. All
extra status will be automatically STALL’ed until the next SETUP request.
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23.11.2
STALL handshake and retry mechanism
The Retry mechanism has priority over the STALL handshake. A STALL handshake is sent if the
STALLRQ request bit is set and if there is no retry required.
23.12 CONTROL endpoint management
A SETUP request is always ACK’ed. When a new setup packet is received, the RXSTPI interrupt is triggered (if enabled). The RXOUTI interrupt is not triggered.
The FIFOCON and RWAL fields are irrelevant with CONTROL endpoints. The firmware shall
thus never use them on that endpoints. When read, their value is always 0.
CONTROL endpoints are managed by the following bits:
• RXSTPI is set when a new SETUP is received. It shall be cleared by firmware to
acknowledge the packet and to clear the endpoint bank
• RXOUTI is set when a new OUT data is received. It shall be cleared by firmware to
acknowledge the packet and to clear the endpoint bank
• TXINI is set when the bank is ready to accept a new IN packet. It shall be cleared by firmware
to send the packet and to clear the endpoint bank
23.12.1
Control write
Figure 23-4 shows a control write transaction. During the status stage, the controller will not necessary send a NAK at the first IN token:
• If the firmware knows the exact number of descriptor bytes that must be read, it can then
anticipate on the status stage and send a ZLP for the next IN token
• or it can read the bytes and poll NAKINI, which tells that all the bytes have been sent by the
host, and the transaction is now in the status stage
Figure 23-4. Control write transaction.
SETUP
USB line
RXSTPI
RXOUTI
TXINI
23.12.2
DATA
SETUP
HW
OUT
STATUS
OUT
IN
IN
NAK
SW
HW
SW
HW
SW
SW
Control read
Figure 23-5 on page 268 shows a control read transaction. The USB controller has to manage
the simultaneous write requests from the CPU and the USB host.
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Figure 23-5. Control read transaction.
SETUP
USB line
DATA
SETUP
RXSTPI
HW
IN
STATUS
IN
OUT
OUT
NAK
SW
RXOUTI
TXINI
HW
SW
HW
SW
SW
Wr Enable
HOST
Wr Enable
CPU
A NAK handshake is always generated at the first status stage command.
When the controller detect the status stage, all the data writen by the CPU are erased, and
clearing TXINI has no effects.
The firmware checks if the transmission is complete or if the reception is complete.
The OUT retry is always ack’ed. This reception:
- set the RXOUTI flag (received OUT data)
- set the TXINI flag (data sent, ready to accept new data)
software algorithm:
set transmit ready
wait (transmit complete OR Receive complete)
if receive complete, clear flag and return
if transmit complete, continue
Once the OUT status stage has been received, the USB controller waits for a SETUP request.
The SETUP request have priority over any other request and has to be ACK’ed. This means that
any other flag should be cleared and the fifo reset when a SETUP is received.
WARNING: the byte counter is reset when the OUT Zero Length Packet is received. The firmware has to take care of this.
23.13 OUT endpoint management
OUT packets are sent by the host. All the data can be read by the CPU, which acknowledges or
not the bank when it is empty.
23.13.1
Overview
The Endpoint must be configured first.
Each time the current bank is full, the RXOUTI and the FIFOCON bits are set. This triggers an
interrupt if the RXOUTE bit is set. The firmware can acknowledge the USB interrupt by clearing
the RXOUTI bit. The Firmware read the data and clear the FIFOCON bit in order to free the current bank. If the OUT Endpoint is composed of multiple banks, clearing the FIFOCON bit will
switch to the next bank. The RXOUTI and FIFOCON bits are then updated by hardware in accordance with the status of the new bank.
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RXOUTI shall always be cleared before clearing FIFOCON.
The RWAL bit always reflects the state of the current bank. This bit is set if the firmware can
read data from the bank, and cleared by hardware when the bank is empty.
Figure 23-6. Example with 1 and 2 OUT data bank.
OUT
DATA
(to bank 0)
NAK
ACK
OUT
DATA
(to bank 0)
ACK
HW
RXOUTI
HW
SW
SW
read data from CPU
BANK 0
FIFOCON
SW
read data from CPU
BANK 0
Example with 2 OUT data banks
OUT
DATA
(to bank 0)
ACK
OUT
DATA
(to bank 1)
ACK
HW
RXOUTI
FIFOCON
23.13.2
HW
SW
SW
read data from CPU
BANK 0
SW
read data from CPU
BANK 1
Detailed description
The data are read by the CPU, following the next flow:
• When the bank is filled by the host, an endpoint interrupt (EPINTx) is triggered, if enabled
(RXOUTE set) and RXOUTI is set. The CPU can also poll RXOUTI or FIFOCON, depending
on the software architecture
• The CPU acknowledges the interrupt by clearing RXOUTI
• The CPU can read the number of byte (N) in the current bank (N=BYCT)
• The CPU can read the data from the current bank (“N” read of UEDATX)
• The CPU can free the bank by clearing FIFOCON when all the data is read, that is:
– after “N” read of UEDATX
– as soon as RWAL is cleared by hardware
If the endpoint uses two banks, the second one can be filled by the HOST while the current one
is being read by the CPU. Then, when the CPU clear FIFOCON, the next bank may be already
ready and RXOUTI is set immediately.
23.14 IN endpoint management
IN packets are sent by the USB device controller, upon an IN request from the host. All the data
can be written by the CPU, which acknowledge or not the bank when it is full.
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23.14.1
Overview
The Endpoint must be configured first.
The TXINI bit is set by hardware when the current bank becomes free. This triggers an interrupt
if the TXINE bit is set. The FIFOCON bit is set at the same time. The CPU writes into the FIFO
and clears the FIFOCON bit to allow the USB controller to send the data. If the IN Endpoint is
composed of multiple banks, this also switches to the next data bank. The TXINI and FIFOCON
bits are automatically updated by hardware regarding the status of the next bank.
TXINI shall always be cleared before clearing FIFOCON.
The RWAL bit always reflects the state of the current bank. This bit is set if the firmware can
write data to the bank, and cleared by hardware when the bank is full.
Figure 23-7. Example with 1 and 2 IN data bank.
NAK
DATA
(bank 0)
IN
ACK
IN
HW
TXINI
FIFOCON
SW
write data from CPU
BANK 0
SW
SW
SW
write data from CPU
BANK 0
Example with 2 IN data banks
DATA
(bank 0)
IN
ACK
IN
DATA
(bank 1)
ACK
HW
TXINI
FIFOCON
23.14.2
SW
write data from CPU
BANK 0
SW
SW
write data from CPU
BANK 1
SW
SW
write data from CPU
BANK0
Detailed description
The data are written by the CPU, following the next flow:
• When the bank is empty, an endpoint interrupt (EPINTx) is triggered, if enabled (TXINE set)
and TXINI is set. The CPU can also poll TXINI or FIFOCON, depending the software
architecture choice
• The CPU acknowledges the interrupt by clearing TXINI
• The CPU can write the data into the current bank (write in UEDATX)
• The CPU can free the bank by clearing FIFOCON when all the data are written, that is:
– after “N” write into UEDATX
– as soon as RWAL is cleared by hardware
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If the endpoint uses two banks, the second one can be read by the HOST while the current is
being written by the CPU. Then, when the CPU clears FIFOCON, the next bank may be already
ready (free) and TXINI is set immediately.
23.14.2.1
Abort
An “abort” stage can be produced by the host in some situations:
• In a control transaction: ZLP data OUT received during a IN stage
• In an isochronous IN transaction: ZLP data OUT received on the OUT endpoint during a IN
stage on the IN endpoint
• ...
The KILLBK bit is used to kill the last “written” bank. The best way to manage this abort is to perform the following operations:
Table 23-1.
Abort flow.
Endpoint
Abort
Clear
UEIENX.
TXINE
NBUSYBK
=0
Yes
Disable the TXINI interrupt.
Abort is based on the fact
that no banks are busy,
meaning that nothing has to
be sent.
No
Endpoint
reset
Yes
KILLBK=1
Kill the last written
bank.
KILLBK=1
Wait for the end of the
procedure.
No
Abort done
23.15 Isochronous mode
23.15.1
Underflow
An underflow can occur during IN stage if the host attempts to read a bank which is empty. In
this situation, the UNDERFI interrupt is triggered.
An underflow can also occur during OUT stage if the host send a packet while the banks are
already full. Typically, he CPU is not fast enough. The packet is lost.
It is not possible to have underflow error during OUT stage, in the CPU side, since the CPU
should read only if the bank is ready to give data (RXOUTI=1 or RWAL=1)
23.15.2
CRC error
A CRC error can occur during OUT stage if the USB controller detects a bad received packet. In
this situation, the STALLEDI interrupt is triggered. This does not prevent the RXOUTI interrupt
from being triggered.
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23.16 Overflow
In Control, Isochronous, Bulk or Interrupt Endpoint, an overflow can occur during OUT stage, if
the host attempts to write in a bank that is too small for the packet. In this situation, the OVERFI
interrupt is triggered (if enabled). The packet is acknowledged and the RXOUTI interrupt is also
triggered (if enabled). The bank is filled with the first bytes of the packet.
It is not possible to have overflow error during IN stage, in the CPU side, since the CPU should
write only if the bank is ready to access data (TXINI=1 or RWAL=1).
23.17 Interrupts
Figure 23-8 shows all the interrupts sources.
Figure 23-8. USB device controller interrupt system.
UPRSMI
UDINT.6
EORSMI
UDINT.5
UPRSME
UDIEN.6
EORSME
UDIEN.5
WAKEUPI
UDINT.4
WAKEUPE
UDIEN.4
EORSTI
UDINT.3
SOFI
UDINT.2
SUSPI
UDINT.0
USB device
interrupt
EORSTE
UDIEN.3
SOFE
UDIEN.2
SUSPE
UDIEN.0
There are two kinds of interrupts: processing (that is, their generation are part of the normal processing) and exception (errors).
Processing interrupts are generated when:
• VBUS plug-in detection (insert, remove)(VBUSTI)
• Upstream resume(UPRSMI)
• End of resume(EORSMI)
• Wake up(WAKEUPI)
• End of reset (Speed Initialization)(EORSTI)
• Start of frame(SOFI, if FNCERR=0)
• Suspend detected after 3ms of inactivity(SUSPI)
Exception Interrupts are generated when:
• CRC error in frame number of SOF(SOFI, FNCERR=1)
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Figure 23-9. USB device controller endpoint interrupt system.
Endpoint 6
Endpoint 5
Endpoint 4
Endpoint 3
Endpoint 2
Endpoint 1
Endpoint 0
OVERFI
UESTAX.6
UNDERFI
UESTAX.5
FLERRE
UEIENX.7
NAKINI
UEINTX.6
NAKINE
UEIENX.6
NAKOUTI
UEINTX.4
TXSTPE
UEIENX.4
RXSTPI
UEINTX.3
Endpoint interrupt
EPINT
UEINT.X
TXOUTE
UEIENX.3
RXOUTI
UEINTX.2
RXOUTE
UEIENX.2
STALLEDI
UEINTX.1
STALLEDE
UEIENX.1
TXINI
UEINTX.0
TXINE
UEIENX.0
Processing interrupts are generated when:
• Ready to accept IN data(EPINTx, TXINI=1)
• Received OUT data(EPINTx, RXOUTI=1)
• Received SETUP(EPINTx, RXSTPI=1)
Exception Interrupts are generated when:
• Stalled packet(EPINTx, STALLEDI=1)
• CRC error on OUT in isochronous mode(EPINTx, STALLEDI=1)
• Overflow in isochronous mode(EPINTx, OVERFI=1)
• Underflow in isochronous mode(EPINTx, UNDERFI=1)
• NAK IN sent(EPINTx, NAKINI=1)
• NAK OUT sent(EPINTx, NAKOUTI=1)
23.18 Registers
23.18.1
USB device general registers
Bit
7
6
5
4
3
2
1
0
-
-
-
-
-
LSM
RMWKUP
DETACH
Read/write
R
R
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
1
UDCON
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• 7-3 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 2 - LSM - USB Device Low Speed Mode selection
When configured USB is configured in device mode, this bit allows to select the USB the USB
Low Speed or Full Speed Mod.
Clear to select full speed mode (D+ internal pull-up will be activate with the ATTACH bit will be
set) .
Set to select low speed mode (D- internal pull-up will be activate with the ATTACH bit will be
set). This bit has no effect when the USB interface is configured in HOST mode.
• 1- RMWKUP - Remote Wake-up bit
Set to send an “upstream-resume” to the host for a remote wake-up (the SUSPI bit must be set).
Cleared by hardware when signalling finished. Clearing by software has no effect.
See Section 23.10, page 266 for more details.
• 0 - DETACH - Detach bit
Set to physically detach de device (disconnect internal pull-up on D+ or D-).
Clear to reconnect the device. See Section 23.9, page 265 for more details.
Bit
7
6
5
4
3
2
1
0
-
UPRSMI
EORSMI
WAKEUPI
EORSTI
SOFI
-
SUSPI
0
0
0
0
0
0
0
0
UDINT
Read/write
Initial value
• 7 - Reserved
The value read from this bits is always 0. Do not set this bit.
• 6 - UPRSMI - Upstream Resume Interrupt flag
Set by hardware when the USB controller is sending a resume signal called “Upstream
Resume”. This triggers an USB interrupt if UPRSME is set.
Shall be cleared by software (USB clocks must be enabled before). Setting by software has no
effect.
• 5 - EORSMI - End Of Resume Interrupt flag
Set by hardware when the USB controller detects a good “End Of Resume” signal initiated by
the host. This triggers an USB interrupt if EORSME is set.
Shall be cleared by software. Setting by software has no effect.
• 4 - WAKEUPI - Wake-up CPU Interrupt flag
Set by hardware when the USB controller is re-activated by a filtered non-idle signal from the
lines (not by an upstream resume). This triggers an interrupt if WAKEUPE is set. This interrupt
should be enable only to wake up the CPU core from power down mode.
Shall be cleared by software (USB clock inputs must be enabled before). Setting by software
has no effect.
See Section 23.8, page 265 for more details.
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• 3 - EORSTI - End Of Reset Interrupt flag
Set by hardware when an “End Of Reset” has been detected by the USB controller. This triggers
an USB interrupt if EORSTE is set.
Shall be cleared by software. Setting by software has no effect.
• 2 - SOFI - Start Of Frame Interrupt flag
Set by hardware when an USB “Start Of Frame” PID (SOF) has been detected (every 1ms). This
triggers an USB interrupt if SOFE is set.
• 1 - Reserved
The value read from this bits is always 0. Do not set this bit
• 0 - SUSPI - Suspend Interrupt flag
Set by hardware when an USB “Suspend” ‘idle bus for three frame periods: a J state for 3ms) is
detected. This triggers an USB interrupt if SUSPE is set.
Shall be cleared by software. Setting by software has no effect.
See Section 23.8, page 265 for more details.
The interrupt bits are set even if their corresponding ‘Enable’ bits is not set.
Bit
7
6
5
4
3
2
1
0
-
UPRSME
EORSME
WAKEUPE
EORSTE
SOFE
-
SUSPE
0
0
0
0
0
0
0
0
UDIEN
Read/write
Initial value
• 7 - Reserved
The value read from this bits is always 0. Do not set this bit.
• 6 - UPRSME - Upstream Resume Interrupt Enable bit
Set to enable the UPRSMI interrupt.
Clear to disable the UPRSMI interrupt.
• 5 - EORSME - End Of Resume Interrupt Enable bit
Set to enable the EORSMI interrupt.
Clear to disable the EORSMI interrupt.
• 4 - WAKEUPE - Wake-up CPU Interrupt Enable bit
Set to enable the WAKEUPI interrupt. For correct interrupt handle execution, this interrupt
should be enable only before entering power-down mode.
Clear to disable the WAKEUPI interrupt.
• 3 - EORSTE - End Of Reset Interrupt Enable bit
Set to enable the EORSTI interrupt. This bit is set after a reset.
Clear to disable the EORSTI interrupt.
• 2 - SOFE - Start Of Frame Interrupt Enable bit
Set to enable the SOFI interrupt.
Clear to disable the SOFI interrupt.
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• 1 - Reserved
The value read from this bits is always 0. Do not set this bit
• 0 - SUSPE - Suspend Interrupt Enable Bit
Set to enable the SUSPI interrupt.
Clear to disable the SUSPI interrupt.
Bit
7
6
5
4
3
ADDEN
2
1
0
UADD6:0
UDADDR
Read/write
W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
• 7 - ADDEN - Address Enable Bit
Set to activate the UADD (USB address).
Cleared by hardware. Clearing by software has no effect.
See Section 23.7, page 264 for more details.
• 6-0 - UADD6:0 - USB Address Bits
Load by software to configure the device address.
Bit
7
6
5
4
3
-
-
-
-
-
2
1
0
Read/write
R
R
R
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
FNUM10:8
UDFNUMH
• 7-3 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 2-0 - FNUM10:8 - Frame Number Upper Value
Set by hardware. These bits are the three MSB of the 11-bits Frame Number information. They
are provided in the last received SOF packet. FNUM is updated if a corrupted SOF is received.
Bit
7
6
5
4
3
2
1
0
FNUM7:0
UDFNUML
Read/write
R
R
R
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
• Frame Number Lower Value
Set by hardware. These bits are the eight LSB of the 11-bits Frame Number information.
Bit
7
6
5
4
3
2
1
0
-
-
-
FNCERR
-
-
-
-
0
0
0
0
Read/write
Initial value
UDMFN
R
0
0
0
0
• 7-5 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 4 - FNCERR -Frame Number CRC Error flag
Set by hardware when a corrupted Frame Number in start of frame packet is received.
This bit and the SOFI interrupt are updated at the same time.
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• 3-0 - Reserved
The value read from these bits is always 0. Do not set these bits.
23.18.2
USB device endpoint registers
Bit
7
6
5
4
3
-
-
-
-
-
2
1
0
Read/write
R
R
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
EPNUM2:0
UENUM
• 7-3 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 2-0 - EPNUM2:0 Endpoint Number bits
Load by software to select the number of the endpoint which shall be accessed by the CPU. See
Section 23.5, page 263 for more details.
EPNUM = 111b is forbidden.
Bit
7
6
5
4
3
2
1
0
-
EPRST6
EPRST5
EPRST4
EPRST3
EPRST2
EPRST1
EPRST0
Read/write
R
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
UERST
• 7 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 6-0 - EPRST6:0 - Endpoint FIFO Reset bits
Set to reset the selected endpoint FIFO prior to any other operation, upon hardware reset or
when an USB bus reset has been received. See Section 23.3, page 262 for more information
Then, clear by software to complete the reset operation and start using the endpoint.
Bit
7
6
5
4
3
2
1
0
-
-
STALLRQ
STALLRQC
RSTDT
-
-
EPEN
Read/write
R
R
W
W
W
R
R
R/W
Initial value
0
0
0
0
0
0
0
0
UECONX
• 7-6 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 5 - STALLRQ - STALL Request Handshake bit
Set to request a STALL answer to the host for the next handshake.
Cleared by hardware when a new SETUP is received. Clearing by software has no effect.
See Section 23.11, page 266 for more details.
• 4 - STALLRQC - STALL Request Clear Handshake bit
Set to disable the STALL handshake mechanism.
Cleared by hardware immediately after the set. Clearing by software has no effect.
See Section 23.11, page 266 for more details.
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• RSTDT - Reset Data Toggle bit
Set to automatically clear the data toggle sequence:
For OUT endpoint: the next received packet will have the data toggle 0.
For IN endpoint: the next packet to be sent will have the data toggle 0.
Cleared by hardware instantaneously. The firmware does not have to wait that the bit is cleared.
Clearing by software has no effect.
• 2 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 1 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 0 - EPEN - Endpoint Enable bit
Set to enable the endpoint according to the device configuration. Endpoint 0 shall always be
enabled after a hardware or USB reset and participate in the device configuration.
Clear this bit to disable the endpoint. See Section 23.6, page 263 for more details.
Bit
7
6
5
4
3
2
1
0
EPTYPE1:0
-
-
-
-
-
EPDIR
Read/write
R/W
R/W
R
R
R
R
R
R/W
Initial value
0
0
0
0
0
0
0
0
UECFG0X
• 7-6 - EPTYPE1:0 - Endpoint Type bits
Set this bit according to the endpoint configuration:
00b: Control10b: Bulk
01b: Isochronous11b: Interrupt
• 5-4 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 3-2 - Reserved for test purpose
The value read from these bits is always 0. Do not set these bits.
• 1 - Reserved
The value read from this bits is always 0. Do not set this bit.
• 0 - EPDIR - Endpoint Direction bit
Set to configure an IN direction for bulk, interrupt or isochronous endpoints.
Clear to configure an OUT direction for bulk, interrupt, isochronous or control endpoints.
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Bit
7
6
-
5
4
3
EPSIZE2:0
2
EPBK1:0
1
0
ALLOC
-
Read/write
R
R/W
R/W
R/W
R/W
R/W
R/W
R
Initial value
0
0
0
0
0
0
0
0
UECFG1X
• 7 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 6-4 - EPSIZE2:0 - Endpoint Size bits
Set this bit according to the endpoint size:
000b: 8 bytes
100b: 128 bytes (only for endpoint 1)
001b: 16 bytes
101b: 256 bytes (only for endpoint 1)
010b: 32 bytes
110b: Reserved. Do not use this configuration
011b: 64 bytes
111b: Reserved. Do not use this configuration
• 3-2 - EPBK1:0 - Endpoint Bank bits
Set this field according to the endpoint size:
00b: One bank
01b: Double bank
1xb: Reserved. Do not use this configuration
• 1 - ALLOC - Endpoint Allocation bit
Set this bit to allocate the endpoint memory.
Clear to free the endpoint memory.
See Section 23.6, page 263 for more details.
• 0 - Reserved
The value read from these bits is always 0. Do not set these bits.
Bit
7
6
5
4
CFGOK
OVERFI
UNDERFI
-
3
2
Read/write
R
R/W
R/W
R/W
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
DTSEQ1:0
1
0
NBUSYBK1:0
UESTA0X
• 7 - CFGOK - Configuration Status flag
Set by hardware when the endpoint X size parameter (EPSIZE) and the bank parametrization
(EPBK) are correct compared to the max FIFO capacity and the max number of allowed bank.
This bit is updated when the bit ALLOC is set.
If this bit is cleared, the user should reprogram the UECFG1X register with correct EPSIZE and
EPBK values.
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• 6 - OVERFI - Overflow Error Interrupt flag
Set by hardware when an overflow error occurs in an isochronous endpoint. An interrupt
(EPINTx) is triggered (if enabled).
See Section 23.15, page 271 for more details.
Shall be cleared by software. Setting by software has no effect.
• 5 - UNDERFI - Flow Error Interrupt flag
Set by hardware when an underflow error occurs in an isochronous endpoint. An interrupt
(EPINTx) is triggered (if enabled).
See Section 23.15, page 271 for more details.
Shall be cleared by software. Setting by software has no effect.
• 4 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 3-2 - DTSEQ1:0 - Data Toggle Sequencing flag
Set by hardware to indicate the PID data of the current bank:
00b
Data0
01b
Data1
1xb
Reserved
For OUT transfer, this value indicates the last data toggle received on the current bank.
For IN transfer, it indicates the Toggle that will be used for the next packet to be sent. This is not
relative to the current bank.
• 1-0 - NBUSYBK1:0 - Busy Bank flag
Set by hardware to indicate the number of busy bank.
For IN endpoint, it indicates the number of busy bank(s), filled by the user, ready for IN transfer.
For OUT endpoint, it indicates the number of busy bank(s) filled by OUT transaction from the
host.
00b
All banks are free
01b
One busy bank
10b
Two busy banks
11b
Reserved
Bit
7
6
5
4
3
2
-
-
-
-
-
CTRLDIR
1
0
Read/write
R
R
R
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
CURRBK1:0
UESTA1X
• 7-3 - Reserved
The value read from these bits is always 0. Do not set these bits.
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• 2 - CTRLDIR - Control Direction (flag, and bit for debug purpose)
Set by hardware after a SETUP packet, and gives the direction of the following packet:
- 1 for IN endpoint
- 0 for OUT endpoint
Can not be set or cleared by software.
• 1-0 - CURRBK1:0 - Current Bank (all endpoints except Control endpoint) flag
Set by hardware to indicate the number of the current bank:
00b
Bank0
01b
Bank1
1xb
Reserved
Can not be set or cleared by software.
Bit
7
6
5
4
3
2
1
0
FIFOCON
NAKINI
RWAL
NAKOUTI
RXSTPI
RXOUTI
STALLEDI
TXINI
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
UEINTX
• 7 - FIFOCON - FIFO Control bit
For OUT and SETUP Endpoint:
Set by hardware when a new OUT message is stored in the current bank, at the same time than
RXOUT or RXSTP.
Clear to free the current bank and to switch to the following bank. Setting by software has no
effect.
For IN Endpoint:
Set by hardware when the current bank is free, at the same time than TXIN.
Clear to send the FIFO data and to switch the bank. Setting by software has no effect.
• 6 - NAKINI - NAK IN Received Interrupt flag
Set by hardware when a NAK handshake has been sent in response of a IN request from the
host. This triggers an USB interrupt if NAKINE is sent.
Shall be cleared by software. Setting by software has no effect.
• 5 - RWAL - Read/Write Allowed flag
Set by hardware to signal:
- for an IN endpoint: the current bank is not full, that is, the firmware can push data into the FIFO,
- for an OUT endpoint: the current bank is not empty, that is, the firmware can read data from the
FIFO.
The bit is never set if STALLRQ is set, or in case of error.
Cleared by hardware otherwise.
This bit shall not be used for the control endpoint.
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• 4 - NAKOUTI - NAK OUT Received Interrupt flag
Set by hardware when a NAK handshake has been sent in response of a OUT/PING request
from the host. This triggers an USB interrupt if NAKOUTE is sent.
Shall be cleared by software. Setting by software has no effect.
• 3 - RXSTPI - Received SETUP Interrupt flag
Set by hardware to signal that the current bank contains a new valid SETUP packet. An interrupt (EPINTx) is triggered (if enabled).
Shall be cleared by software to handshake the interrupt. Setting by software has no effect.
This bit is inactive (cleared) if the endpoint is an IN endpoint.
• 2 - RXOUTI / KILLBK - Received OUT Data Interrupt flag
Set by hardware to signal that the current bank contains a new packet. An interrupt (EPINTx) is
triggered (if enabled).
Shall be cleared by software to handshake the interrupt. Setting by software has no effect.
Kill Bank IN bit
Set this bit to kill the last written bank.
Cleared by hardware when the bank is killed. Clearing by software has no effect.
See page 271 for more details on the Abort.
• 1 - STALLEDI - STALLEDI Interrupt flag
Set by hardware to signal that a STALL handshake has been sent, or that a CRC error has been
detected in a OUT isochronous endpoint.
Shall be cleared by software. Setting by software has no effect.
• 0 - TXINI - Transmitter Ready Interrupt flag
Set by hardware to signal that the current bank is free and can be filled. An interrupt (EPINTx) is
triggered (if enabled).
Shall be cleared by software to handshake the interrupt. Setting by software has no effect.
This bit is inactive (cleared) if the endpoint is an OUT endpoint.
Bit
7
6
5
4
3
2
1
0
FLERRE
NAKINE
-
NAKOUTE
RXSTPE
RXOUTE
STALLEDE
TXINE
Read/write
R/W
R/W
R
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
UEIENX
• 7 - FLERRE - Flow Error Interrupt Enable flag
Set to enable an endpoint interrupt (EPINTx) when OVERFI or UNDERFI are sent.
Clear to disable an endpoint interrupt (EPINTx) when OVERFI or UNDERFI are sent.
• 6 - NAKINE - NAK IN Interrupt Enable bit
Set to enable an endpoint interrupt (EPINTx) when NAKINI is set.
Clear to disable an endpoint interrupt (EPINTx) when NAKINI is set.
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• 5 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 4 - NAKOUTE - NAK OUT Interrupt Enable bit
Set to enable an endpoint interrupt (EPINTx) when NAKOUTI is set.
Clear to disable an endpoint interrupt (EPINTx) when NAKOUTI is set.
• 3 - RXSTPE - Received SETUP Interrupt Enable flag
Set to enable an endpoint interrupt (EPINTx) when RXSTPI is sent.
Clear to disable an endpoint interrupt (EPINTx) when RXSTPI is sent.
• 2 - RXOUTE - Received OUT Data Interrupt Enable flag
Set to enable an endpoint interrupt (EPINTx) when RXOUTI is sent.
Clear to disable an endpoint interrupt (EPINTx) when RXOUTI is sent.
• 1 - STALLEDE - Stalled Interrupt Enable flag
Set to enable an endpoint interrupt (EPINTx) when STALLEDI is sent.
Clear to disable an endpoint interrupt (EPINTx) when STALLEDI is sent.
• 0 - TXINE - Transmitter Ready Interrupt Enable flag
Set to enable an endpoint interrupt (EPINTx) when TXINI is sent.
Clear to disable an endpoint interrupt (EPINTx) when TXINI is sent.
Bit
7
6
5
4
3
2
1
0
DAT D7
DAT D6
DAT D5
DAT D4
DAT D3
DAT D2
DAT D1
DAT D0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
UEDATX
• 7-0 - DAT7:0 -Data bits
Set by the software to read/write a byte from/to the endpoint FIFO selected by EPNUM.
Bit
7
-
6
-
5
-
4
-
3
-
2
1
BYCT D10 BYCT D9
0
BYCT D8
Read/write
R
R
R
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
UEBCHX
• 7-3 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 2-0 - BYCT10:8 - Byte count (high) bits
Set by hardware. This field is the MSB of the byte count of the FIFO endpoint. The LSB part is
provided by the UEBCLX register.
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Bit
7
6
5
4
3
2
1
0
BYCT D7
BYCT D6
BYCT D5
BYCT D4
BYCT D3
BYCT D2
BYCT D1
BYCT D0
Read/write
R
R
R
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
UEBCLX
• 7-0 - BYCT7:0 - Byte Count (low) bits
Set by the hardware. BYCT10:0 is:
- (for IN endpoint) increased after each writing into the endpoint and decremented after each
byte sent,
- (for OUT endpoint) increased after each byte sent by the host, and decremented after each
byte read by the software.
Bit
7
6
5
4
3
2
1
-
EPINT D6
EPINT D5
EPINT D4
EPINT D3
EPINT D2
EPINT D1
0
Read/write
R
R
R
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
EPINT D0 UEINT
• 7 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 6-0 - EPINT6:0 - Endpoint Interrupts bits
Set by hardware when an interrupt is triggered by the UEINTX register and if the corresponding
endpoint interrupt enable bit is set.
Cleared by hardware when the interrupt source is served.
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24. USB host operating modes
This mode is available only on Atmel AT90USB647/1287 products.
24.1
Pipe description
For the USB Host controller, the term of Pipe is used instead of Endpoint for the USB Device
controller. A Host Pipe corresponds to a Device Endpoint, as described in the USB specification.
Figure 24-1. Pipes and endpoints in a USB system.
In the USB Host controller, a Pipe will be associated to a Device Endpoint, considering the
Device Configuration Descriptors.
24.2
Detach
The reset value of the DETACH bit is 1. Thus, the firmware has the responsibility of clearing this
bit before switching to the Host mode (HOST set).
24.3
Power-on and reset
Figure 24-2 explains the USB host controller main states on power-on.
Figure 24-2. USB host controller states after reset.
Device
disconnection
Clock stopped
Macro off
<any
other
state>
Host
Idle
Device
connection
Device
disconnection
Host
Ready
SOFE=0
SOFE=1
Host
Suspend
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USB host controller state after an hardware reset is ‘Reset’. When the USB controller is enabled
and the USB Host controller is selected, the USB controller is in ‘Idle’ state. In this state, the
USB Host controller waits for the Device connection, with a minimum power consumption.
The USB Pad should be in Idle mode. The macro does not need to have the PLL activated to
enter in ‘Host Ready’ state.
The Host controller enters in Suspend state when the USB bus is in Suspend state, that is, when
the Host controller doesn’t generate the Start of Frame. In this state, the USB consumption is
minimum. The Host controller exits to the Suspend state when starting to generate the SOF over
the USB line.
24.4
Device detection
A Device is detected by the USB controller when the USB bus if different from D+ and D- low. In
other words, when the USB Host Controller detects the Device pull-up on the D+ line. To enable
this detection, the Host Controller has to provide the Vbus power supply to the Device.
The Device Disconnection is detected by the USB Host controller when the USB Idle correspond
to D+ and D- low on the USB line.
24.5
Pipe selection
Prior to any operation performed by the CPU, the Pipe must first be selected. This is done by
setting PNUM2:0 bits (UPNUM register) with the Pipe number which will be managed by the
CPU.
The CPU can then access to the various Pipe registers and data.
24.6
Pipe configuration
The following flow (see Figure 24-3 on page 287) must be respected in order to activate a Pipe.
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Figure 24-3. Pipe activation flow.
Pipe
Activ ation
UPCONX
Enablethepipe
PENABLE=1
UPCFG0X
PTYPE
PTOKEN
PEPNUM
UPCFG1X
PSIZE
PBK
CFGMEM
CFGOK=1
SelectthePipetype:
* Type(Control,Bulk,Interrupt)
* Token(IN,OUT ,SET UP)
* Endpointnumber
ConfigurethePipememory:
* Pipesize
* Numberofbanks
No
Y es
UPCFG2X
INT FRQ
(interruptonly)
ERROR
Configurethepollinginterval
forInterruptpipe
Pipeactiv ated
and f reezed
Once the Pipe is activated (EPEN set) and, the hardware is ready to send requests to the
Device.
When configured (CFGOK = 1), only the Pipe Token (PTOKEN) and the polling interval for Interrupt pipe can be modified.
A Control type pipe supports only one bank. Any other value will lead to a configuration error
(CFGOK = 0).
A clear of PEN will reset the configuration of the Pipe. All the corresponding Pipe registers are
reset to there reset values. Please refer to “Memory management” on page 252 for more details.
Note: The firmware has to configure the Default Control Pipe with the following parameters:
• Type: Control
• Token: SETUP
• Data bank: 1
• Size: 64 Bytes
The firmware asks for eight bytes of the Device Descriptor sending a GET_DESCRIPTOR
request. These bytes contains the MaxPacketSize of the Device default control endpoint and the
firmware re-configures the size of the Default Control Pipe with this size parameter.
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24.7
USB reset
The USB controller sends a USB Reset when the firmware set the RESET bit. The RSTI bit is
set by hardware when the USB Reset has been sent. This triggers an interrupt if the RSTE has
been set.
When a USB Reset has been sent, all the Pipe configuration and the memory allocation are
reset. The General Host interrupt enable register is left unchanged.
If the bus was previously in suspend mode (SOFEN = 0), the USB controller automatically
switches to the resume mode (HWUPI is set) and the SOFEN bit is set by hardware in order to
generate SOF immediately after the USB Reset.
24.8
Address setup
Once the Device has answer to the first Host requests with the default address (0), the Host
assigns a new address to the device. The Host controller has to send a USB reset to the device
and perform a SET ADDRESS control request, with the new address to be used by the Device.
This control request ended, the firmware write the new address into the UHADDR register. All
following requests, on every Pipes, will be performed using this new address.
When the Host controller send a USB reset, the UHADDR register is reset by hardware and the
following Host requests will be performed using the default address (0).
24.9
Remote wake-up detection
The Host Controller enters in Suspend mode when clearing the SOFEN bit. No more Start Of
Frame is sent on the USB bus and the USB Device enters in Suspend mode 3ms later.
The Device awakes the Host Controller by sending an Upstream Resume (Remote Wake-Up
feature). The Host Controller detects a non-idle state on the USB bus and set the HWUPI bit. If
the non-Idle correspond to an Upstream Resume (K state), the RXRSMI bit is set by hardware.
The firmware has to generate a downstream resume within 1ms and for at least 20ms by setting
the RESUME bit.
Once the downstream Resume has been generated, the SOFEN bit is automatically set by hardware in order to generate SOF immediately after the USB resume.
Host
Ready
SOFE=0
SOFE=1
or HWUP=1
Host
Suspend
24.10 USB pipe reset
The firmware can reset a Pipe using the pipe reset register. The configuration of the pipe and
the data toggle remains unchanged. Only the bank management and the status bits are reset to
their initial values.
To completely reset a Pipe, the firmware has to disable and then enable the pipe.
24.11 Pipe data access
In order to read or to write into the Pipe Fifo, the CPU selects the Pipe number with the UPNUM
register and performs read or write action on the UPDATX register.
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24.12 Control pipe management
A Control transaction is composed of three phases:
• SETUP
• Data (IN or OUT)
• Status (OUT or IN)
The firmware has to change the Token for each phase.
The initial data toggle is set for the corresponding token (ONLY for Control Pipe):
• SETUP: Data0
• OUT: Data1
• IN: Data1 (expected data toggle)
24.13 OUT pipe management
The Pipe must be configured and not frozen first.
Note: if the firmware decides to switch to suspend mode (clear SOFEN) even if a bank is ready
to be sent, the USB controller will automatically exit from Suspend mode and the bank will be
sent.
The TXOUT bit is set by hardware when the current bank becomes free. This triggers an interrupt if the TXOUTE bit is set. The FIFOCON bit is set at the same time. The CPU writes into the
FIFO and clears the FIFOCON bit to allow the USB controller to send the data.
If the OUT Pipe is composed of multiple banks, this also switches to the next data bank. The
TXOUT and FIFOCON bits are automatically updated by hardware regarding the status of the
next bank.
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Figure 24-4. Example with OUT data banks.
Example with 1 OUT data bank
DATA
(bank 0)
OUT
ACK
OUT
HW
TXOUT
SW
SW
FIFOCON
SW
SW
write data from CPU
BANK 0
write data from CPU
BANK 0
Example with 2 OUT data banks
DATA
(bank 0)
OUT
ACK
OUT
DATA
(bank 1)
ACK
HW
TXOUT
SW
FIFOCON
SW
SW
SW
SW
write data from CPU
BANK 0
write data from CPU
BANK0
write data from CPU
BANK 1
Example with 2 OUT data banks
OUT
DATA
(bank 0)
ACK
OUT
DATA
(bank 1)
ACK
HW
TXOUT
SW
FIFOCON
SW
SW
write data from CPU
BANK 0
write data from CPU
BANK 1
SW
SW
write data from CPU
BANK0
24.14 IN Pipe management
The Pipe must be configured first.
When the Host requires data from the device, the firmware has to determine first the IN mode to
use using the INMODE bit:
• INMODE = 0. The INRQX register is taken in account. The Host controller will perform
(INRQX+1) IN requests on the selected Pipe before freezing the Pipe. This mode avoids to
have extra IN requests on a Pipe
• INMODE = 1. The USB controller will perform infinite IN request until the firmware freezes the
Pipe
The IN request generation will start when the firmware clear the PFREEZE bit.
Each time the current bank is full, the RXIN and the FIFOCON bits are set. This triggers an interrupt if the RXINE bit is set. The firmware can acknowledge the USB interrupt by clearing the
RXIN bit. The Firmware read the data and clear the FIFOCON bit in order to free the current
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bank. If the IN Pipe is composed of multiple banks, clearing the FIFOCON bit will switch to the
next bank. The RXIN and FIFOCON bits are then updated by hardware in accordance with the
status of the new bank.
Figure 24-5. Example with IN data banks.
Example with 1 IN data bank
IN
DATA
(to bank 0)
ACK
DATA
(to bank 0)
IN
HW
RXIN
ACK
HW
SW
FIFOCON
SW
read data from CPU
BANK 0
SW
read data from CPU
BANK 0
Example with 2 IN data banks
IN
DATA
(to bank 0)
ACK
IN
DATA
(to bank 1)
HW
RXIN
24.14.1
HW
SW
FIFOCON
ACK
SW
read data from CPU
BANK 0
SW
read data from CPU
BANK 1
CRC error (isochronous only)
A CRC error can occur during IN stage if the USB controller detects a bad received packet. In
this situation, the STALLEDI/CRCERRI interrupt is triggered. This does not prevent the RXINI
interrupt from being triggered.
24.15 Interrupt system
Figure 24-6. USB host controller interrupt system.
HWUPI
UHINT.6
HWUPE
UHIEN.6
HSOFI
UHINT.5
RXRSMI
UHINT.4
RSMEDI
UHINT.3
RSTI
UHINT.2
DDISCI
UHINT.1
DCONNI
UHINT.0
HSOFE
UHIEN.5
RXRSME
UHIEN.4
USB host
interrupt
RSMEDE
UHIEN.3
RSTE
UHIEN.2
DDISCE
UHIEN.1
DCONNE
UHIEN.0
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Figure 24-7. USB device controller pipe interrupt system.
PIPE 6
PIPE 5
PIPE 4
PIPE 3
PIPE 2
PIPE 1
PIPE 0
OVERFI
UPSTAX.6
UNDERFI
UPSTAX.5
FLERRE
UPIEN.7
NAKEDI
UPINTX.6
NAKEDE
UPIEN.6
PERRI
UPINTX.4
PERRE
UPIEN.4
TXSTPI
UPINTX.3
Pipe interrupt
FLERRE
UPIEN.7
TXSTPE
UPIEN.3
TXOUTI
UPINTX.2
TXOUTE
UPIEN.2
RXSTALLI
UPINTX.1
RXSTALLE
UPIEN.1
RXINI
UPINTX.0
RXINE
UPIEN.0
24.16 Registers
24.16.1
General USB host registers
Bit
7
6
5
4
3
2
1
0
-
-
-
-
-
RESUME
RESET
SOFEN
Read/write
R
R
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
UHCON
• 7-3 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 2 - RESUME - Send USB Resume
Set this bit to generate a USB Resume on the USB bus.
Cleared by hardware when the USB Resume has been sent. Clearing by software has no effect.
This bit should be set only when the start of frame generation is enable (SOFEN bit set).
• 1 - RESET - Send USB Reset
Set this bit to generate a USB Reset on the USB bus.
Cleared by hardware when the USB Reset has been sent. Clearing by software has no effect.
Refer to the USB reset section for more details.
• 0 - SOFEN - Start Of Frame Generation Enable
Set this bit to generate SOF on the USB bus in full speed mode and keep-alive in low speed
mode.
Clear this bit to disable the SOF generation and to leave the USB bus in Idle state.
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Bit
7
6
5
4
3
2
1
0
-
HWUPI
HSOFI
RXRSMI
RSMEDI
RSTI
DDISCI
DCONNI
Read/write
R
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
UHINT
• 7 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 6 - HWUPI - Host Wake-Up Interrupt
Set by hardware when a non-idle state is detected on the USB bus.This interrupt should be
enable only to wake up the CPU core from power down mode.
Shall be clear by software to acknowledge the interrupt. Setting by software has no effect.
• 5 - HSOFI - Host Start Of Frame Interrupt
Set by hardware when a SOF is issued by the Host controller. This triggers a USB interrupt
when HSOFE is set. When using the host controller in low speed mode, this bit is also set when
a keep-alive is sent.
Shall be cleared by software to acknowledge the interrupt. Setting by software has no effect.
• 4 - RXRSMI - Upstream Resume Received Interrupt
Set by hardware when an Upstream Resume has been received from the Device.
Shall be cleared by software. Setting by software has no effect.
• 3 - RSMEDI - Downstream Resume Sent Interrupt
Set by hardware when a Downstream Resume has been sent to the Device.
Shall be cleared by software. Setting by software has no effect.
• 2 - RSTI - USB Reset Sent Interrupt
Set by hardware when a USB Reset has been sent to the Device.
Shall be cleared by software. Setting by software has no effect.
• 1 - DDISCI - Device Disconnection Interrupt
Set by hardware when the device has been removed from the USB bus.
Shall be cleared by software. Setting by software has no effect.
• 0 - DCONNI - Device Connection Interrupt
Set by hardware when a new device has been connected to the USB bus.
Shall be cleared by software. Setting by software has no effect.
Bit
7
6
5
4
3
2
1
0
HWUPE
HSOFE
RXRSME
RSMEDE
RSTE
DDISCE
DCONNE
Read/write
R
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
UHIEN
• 7 - Reserved
The value read from these bits is always 0. Do not set these bits.
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• 6 - HWUPE - Host Wake-Up Interrupt Enable
Set this bit to enable HWUP interrupt.For correct interrupt handle execution, this interrupt should
be enable only before entering power-down mode.
Clear this bit to disable HWUP interrupt.
• 5 - HSOFE - Host Start Of frame Interrupt Enable
Set this bit to enable HSOF interrupt.
Clear this bit to disable HSOF interrupt.
• 4 - RXRSME -Upstream Resume Received Interrupt Enable
Set this bit to enable the RXRSMI interrupt.
Clear this bit to disable the RXRSMI interrupt.
• 3 - RSMEDE - Downstream Resume Sent Interrupt Enable
Set this bit to enable the RSMEDI interrupt.
Clear this bit to disable the RSMEDI interrupt.
• 2 - RSTE - USB Reset Sent Interrupt Enable
Set this bit to enable the RSTI interrupt.
Clear this bit to disable the RSTI interrupt.
• 1 - DDISCE - Device Disconnection Interrupt Enable
Set this bit to enable the DDISCI interrupt.
Clear this bit to disable the DDISCI interrupt.
• 0 - DCONNE - Device Connection Interrupt Enable
Set this bit to enable the DCONNI interrupt.
Clear this bit to disable the DCONNI interrupt.
Bit
7
6
5
4
3
2
1
0
HADDR6
HADDR5
HADDR4
HADDR3
HADDR2
HADDR1
HADDR0
HADDR6
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
UHADDR
• 7 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 6-0 - HADDR6:0 - USB Host Address
These bits contain the address of the USB Device.
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Bit
7
6
5
4
3
2
1
0
-
-
-
-
-
FNUM10
FNUM9
FNUM8
Read/write
R
R
R
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
UHFNUMH
• 7-4 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 3-0 - FNUM10:8 - Frame Number
The value contained in this register is the current SOF number.
This value can be modified by software.
Bit
7
6
5
4
3
2
1
0
FNUM7
FNUM6
FNUM5
FNUM4
FNUM3
FNUM2
FNUM1
FNUM0
Read/write
R
R
R
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
UHFNUML
• 7-0 - FNUM7:0 - Frame Number
The value contained in this register is the current SOF number.
This value can be modified by software.
Bit
7
6
5
4
3
2
1
0
FLEN7
FLEN6
FLEN5
FLEN4
FLEN3
FLEN2
FLEN1
FLEN0
Read/write
R
R
R
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
UHFLEN
• 7-0 - FLEN7:0 - Frame Length
The value contained the data frame length transmited.
24.16.2
USB Host Pipe registers
Bit
7
6
5
4
3
Read/write
Initial value
0
0
0
0
0
2
1
0
PNUM2
PNUM1
PNUM0
RW
RW
RW
0
0
0
UPNUM
• 7-3 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 2-0 - PNUM2:0 - Pipe Number
Select the pipe using this register. The USB Host registers ended by a X correspond then to this
number.
This number is used for the USB controller following the value of the PNUMD bit.
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Bit
7
6
5
4
3
2
1
0
-
P6RST
P5RST
P4RST
P3RST
P2RST
P1RST
P0RST
RW
RW
RW
RW
RW
RW
RW
0
0
0
0
0
0
0
Read/write
Initial value
0
UPRST
• 7 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 6 - P6RST - Pipe 6 Reset
Set this bit to 1 and reset this bit to 0 to reset the Pipe 6.
• 5 - P5RST - Pipe 5 Reset
Set this bit to 1 and reset this bit to 0 to reset the Pipe 5.
• 4 - P4RST - Pipe 4 Reset
Set this bit to 1 and reset this bit to 0 to reset the Pipe 4.
• 3 - P3RST - Pipe 3 Reset
Set this bit to 1 and reset this bit to 0 to reset the Pipe 3.
• 2 - P2RST - Pipe 2 Reset
Set this bit to 1 and reset this bit to 0 to reset the Pipe 2.
• 1 - P1RST - Pipe 1 Reset
Set this bit to 1 and reset this bit to 0 to reset the Pipe 1.
• 0 - P0RST - Pipe 0 Reset
Set this bit to 1 and reset this bit to 0 to reset the Pipe 0.
Bit
7
6
5
4
3
2
1
0
-
PFREEZE
INMODE
-
RSTDT
-
-
PEN
RW
RW
0
0
Read/write
Initial value
0
RW
0
0
UPCONX
RW
0
0
0
• 7 - Reserved
The value read from this bit is always 0. Do not set this bit.
• 6 - PFREEZE - Pipe Freeze
Set this bit to Freeze the Pipe requests generation.
Clear this bit to enable the Pipe request generation.
This bit is set by hardware when:
- the pipe is not configured
- a STALL handshake has been received on this Pipe
- An error occurs on the Pipe (UPINTX.PERRI = 1)
- (INRQ+1) In requests have been processed
This bit is set at 1 by hardware after a Pipe reset or a Pipe enable.
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• 5 - INMODE - IN Request mode
Set this bit to allow the USB controller to perform infinite IN requests when the Pipe is not frozen.
Clear this bit to perform a pre-defined number of IN requests. This number is stored in the UINRQX register.
• 4 - Reserved
The value read from this bit is always 0. Do not set this bit.
• 3 - RSTDT - Reset Data Toggle
Set this bit to reset the Data Toggle to its initial value for the current Pipe.
Cleared by hardware when proceed. Clearing by software has no effect.
• 2 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 1 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 0 - PEN - Pipe Enable
Set to enable the Pipe.
Clear to disable and set the pipe.
Bit
7
6
PTYPE1
PTYPE0
5
4
3
2
1
0
Read/write
RW
RW
RW
RW
RW
RW
RW
RW
Initial value
0
0
0
0
0
0
0
0
PTOKEN1 PTOKEN0 PEPNUM3 PEPNUM2 PEPNUM1 PEPNUM0 UPCFG0X
• 7-6 - PTYPE1:0 - Pipe Type
Select the type of the Pipe:
- 00: Control
- 01: Isochronous
- 10: Bulk
- 11: Interrupt
• 5-4 - PTOKEN1:0 - Pipe Token
Select the Token to associate to the Pipe
- 00: SETUP
- 01: IN
- 10: OUT
- 11: reserved
• 3-0 - PEPNUM3:0 - Pipe Endpoint Number
Set this field according to the Pipe configuration. Set the number of the Endpoint targeted by the
Pipe. This value is from 0 and 15.
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Bit
7
6
-
5
4
3
PSIZE2:0
2
PBK1:0
1
0
ALLOC
-
Read/write
R
RW
RW
RW
RW
RW
RW
Initial value
0
0
0
0
0
0
0
UPCFG1X
0
• 7 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 6-4 - PSIZE2:0 - Pipe Size
Select the size of the Pipe:
- 000: 8
- 100: 128 (only for endpoint 1)
- 001: 16
- 101: 256 (only for endpoint 1)
- 010: 32
- 110: Reserved. Do not use this configuration.
- 011: 64
- 111: Reserved. Do not use this configuration.
• 3-2 - PBK1:0 - Pipe Bank
Select the number of bank to declare for the current Pipe.
- 00: 1 bank
- 01: 2 banks
- 10: invalid
- 11: invalid
• ALLOC - Configure Pipe Memory
Set to configure the pipe memory with the characteristics.
Clear to update the memory allocation. Refer to the Memory Management chapter for more
details.
7 - Reserved
The value read from these bits is always 0. Do not set these bits.
Bit
7
6
5
4
3
2
1
INTFRQ7
INTFRQ6
INTFRQ5
INTFRQ4
INTFRQ3
INTFRQ2
INTFRQ1
0
Read/write
RW
RW
RW
RW
RW
RW
RW
RW
Initial value
0
0
0
0
0
0
0
0
INTFRQ0 UPCFG2X
• 7 - INTFRQ7:0 - Interrupt Pipe Request Frequency
These bits are the maximum value in millisecond of the polling period for an Interrupt Pipe.
This value has no effect for a non-Interrupt Pipe.
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Bit
7
6
5
4
CFGOK
OVERFI
UNDERFI
-
Read/write
R
RW
RW
Initial value
0
0
0
0
3
2
1
DTSEQ1:0
0
NBUSYBK
UPSTAX
R
R
R
R
0
0
0
0
• 7 - CFGOK - Configure Pipe Memory OK
Set by hardware if the required memory configuration has been successfully performed.
Cleared by hardware when the pipe is disabled. The USB reset and the reset pipe have no effect
on the configuration of the pipe.
• 6 - OVERFI - Overflow
Set by hardware when a the current Pipe has received more data than the maximum length of
the current Pipe. An interrupt is triggered if the FLERRE bit is set.
Shall be cleared by software. Setting by software has no effect.
• 5 - UNDERFI - Underflow
Set by hardware when a transaction underflow occurs in the current isochronous or interrupt
Pipe. The Pipe can’t send the data flow required by the device. A ZLP will be sent instead. An
interrupt is triggered if the FLERRE bit is set.
Shall be cleared by software. Setting by software has no effect.
Note: the Host controller has to send a OUT packet, but the bank is empty. A ZLP will be sent
and the UNDERFI bit is set.
• 4 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 3-2 - DTSEQ1:0 - Toggle Sequencing flag
Set by hardware to indicate the PID data of the current bank:
00b
Data0
01b
Data1
1xb
Reserved.
For OUT Pipe, this value indicates the next data toggle that will be sent. This is not relative to the
current bank.
For IN Pipe, this value indicates the last data toggle received on the current bank.
• 1-0 - NBUSYBK1:0 - Busy Bank flag
Set by hardware to indicate the number of busy bank.
For OUT Pipe, it indicates the number of busy bank(s), filled by the user, ready for OUT transfer.
For IN Pipe, it indicates the number of busy bank(s) filled by IN transaction from the Device.
00b
All banks are free
01b
1 busy bank
10b
2 busy banks
11b
Reserved.
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Bit
7
6
5
4
3
2
1
0
INRQ7
INRQ6
INRQ5
INRQ4
INRQ3
INRQ2
INRQ1
INRQ0
Read/write
RW
RW
RW
RW
RW
RW
RW
RW
Initial value
0
0
0
0
0
0
0
0
UPINRQX
• 7-0 - INRQ7:0 - IN Request Number Before Freeze
Enter the number of IN transactions before the USB controller freezes the pipe. The USB controller will perform (INRQ+1) IN requests before to freeze the Pipe. This counter is automatically
decreased by 1 each time a IN request has been successfully performed.
This register has no effect when the INMODE bit is set (infinite IN requests generation till the
pipe is not frozen).
Bit
7
6
-
COUNTER1:0
Read/write
Initial value
0
5
4
3
2
CRC16
TIMEOUT
PID
1
0
DATAPID DATATGL
RW
RW
RW
RW
RW
RW
RW
0
0
0
0
0
0
0
UPERRX
• 7-6 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 5 - COUNTER1:0 - Error counter
This counter is increased by the USB controller each time an error occurs on the Pipe. When this
value reaches 3, the Pipe is automatically frozen.
Clear these bits by software.
• 4 - CRC16 - CRC16 Error
Set by hardware when a CRC16 error has been detected.
Shall be cleared by software. Setting by software has no effect.
• 3 - TIMEOUT - Time-out Error
Set by hardware when a time-out error has been detected.
Shall be cleared by software. Setting by software has no effect.
• 2 - PID - PID Error
Set by hardware when a PID error has been detected.
Shall be cleared by software. Setting by software has no effect.
• 1 - DATAPID - Data PID Error
Set by hardware when a data PID error has been detected.
Shall be cleared by software. Setting by software has no effect.
• 0 - DATATGL - Bad Data Toggle
Set by hardware when a data toggle error has been detected.
Shall be cleared by software. Setting by software has no effect.
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Bit
7
6
5
4
3
2
1
0
FIFOCON
NAKEDI
RWAL
PERRI
TXSTPI
TXOUTI
RXSTALLI
RXINI
Read/write
RW
RW
RW
RW
RW
RW
RW
RW
Initial value
0
0
0
0
0
0
0
0
UPINTX
• 7 - FIFOCON - FIFO Control
For OUT and SETUP Pipe:
Set by hardware when the current bank is free, at the same time than TXOUT or TXSTP.
Clear to send the FIFO data and to switch the bank. Setting by software has no effect.
For IN Pipe:
Set by hardware when a new IN message is stored in the current bank, at the same time than
RXIN.
Clear to free the current bank and to switch to the following bank. Setting by software has no
effect.
• 6 - NAKEDI - NAK Handshake received
Set by hardware when a NAK has been received on the current bank of the Pipe. This triggers
an interrupt if the NAKEDE bit is set in the UPIENX register.
Shall be clear to handshake the interrupt. Setting by software has no effect.
• 5 - RWAL - Read/Write Allowed
OUT Pipe:
Set by hardware when the firmware can write a new data into the Pipe FIFO.
Cleared by hardware when the current Pipe FIFO is full.
IN Pipe:
Set by hardware when the firmware can read a new data into the Pipe FIFO.
Cleared by hardware when the current Pipe FIFO is empty.
This bit is also cleared by hardware when the RXSTALL or the PERR bit is set
• 4 - PERRI -PIPE Error
Set by hardware when an error occurs on the current bank of the Pipe. This triggers an interrupt
if the PERRE bit is set in the UPIENX register. Refers to the UPERRX register to determine the
source of the error.
Automatically cleared by hardware when the error source bit is cleared.
• 3 - TXSTPI - SETUP Bank ready
Set by hardware when the current SETUP bank is free and can be filled. This triggers an interrupt if the TXSTPE bit is set in the UPIENX register.
Shall be cleared to handshake the interrupt. Setting by software has no effect.
• 2 - TXOUTI -OUT Bank ready
Set by hardware when the current OUT bank is free and can be filled. This triggers an interrupt if
the TXOUTE bit is set in the UPIENX register.
Shall be cleared to handshake the interrupt. Setting by software has no effect.
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• 1 - RXSTALLI / CRCERR - STALL Received / Isochronous CRC Error
Set by hardware when a STALL handshake has been received on the current bank of the Pipe.
The Pipe is automatically frozen. This triggers an interrupt if the RXSTALLE bit is set in the UPIENX register.
Shall be cleared to handshake the interrupt. Setting by software has no effect.
For Isochronous Pipe:
Set by hardware when a CRC error occurs on the current bank of the Pipe. This triggers an interrupt if the TXSTPE bit is set in the UPIENX register.
Shall be cleared to handshake the interrupt. Setting by software has no effect.
• 0 - RXINI - IN Data received
Set by hardware when a new USB message is stored in the current bank of the Pipe. This triggers an interrupt if the RXINE bit is set in the UPIENX register.
Shall be cleared to handshake the interrupt. Setting by software has no effect.
Bit
7
6
5
4
3
2
1
0
FLERRE
NAKEDE
-
PERRE
TXSTPE
TXOUTE
RXSTALLE
RXINE
Read/write
RW
RW
RW
RW
RW
RW
RW
Initial value
0
0
0
0
0
0
0
0
UPIENX
• 7 - FLERRE - Flow Error Interrupt enable
Set to enable the OVERFI and UNDERFI interrupts.
Clear to disable the OVERFI and UNDERFI interrupts.
• 6 - NAKEDE -NAK Handshake Received Interrupt Enable
Set to enable the NAKEDI interrupt.
Clear to disable the NAKEDI interrupt.
• 5 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 4 - PERRE -PIPE Error Interrupt Enable
Set to enable the PERRI interrupt.
Clear to disable the PERRI interrupt.
• 3 - TXSTPE - SETUP Bank ready Interrupt Enable
Set to enable the TXSTPI interrupt.
Clear to disable the TXSTPI interrupt.
• 2 - TXOUTE - OUT Bank ready Interrupt Enable
Set to enable the TXOUTI interrupt.
Clear to disable the TXOUTI interrupt.
• 1 - RXSTALLE - STALL Received Interrupt Enable
Set to enable the RXSTALLI interrupt.
Clear to disable the RXSTALLI interrupt.
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• 0 - RXINE - IN Data received Interrupt Enable
Set to enable the RXINI interrupt.
Clear to disable the RXINI interrupt.
Bit
7
6
5
4
3
2
1
0
PDAT7
PDAT6
PDAT5
PDAT4
PDAT3
PDAT2
PDAT1
PDAT0
Read/write
RW
RW
RW
RW
RW
RW
RW
RW
Initial value
0
0
0
0
0
0
0
0
UPDATX
• 7-0 - PDAT7:0 - Pipe Data bits
Set by the software to read/write a byte from/to the Pipe FIFO selected by PNUM.
Bit
7
6
5
4
3
2
1
0
-
-
-
-
-
PBYCT10
PBYCT9
PBYCT8
R
R
R
0
0
0
Read/write
Initial value
0
0
0
0
0
UPBCHX
• 7-3 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 2-0 - PBYCT10:8 - Byte count (high) bits
Set by hardware. This field is the MSB of the byte count of the FIFO endpoint. The LSB part is
provided by the UPBCLX register.
Bit
7
6
5
4
3
2
1
0
PBYCT7
PBYCT6
PBYCT5
PBYCT4
PBYCT3
PBYCT2
PBYCT1
PBYCT0
Read/write
R
R
R
R
R
R
R
R
Initial value
0
0
0
0
0
0
0
0
UPBCLX
• 7-0 - PBYCT7:0 - Byte Count (low) bits
Set by the hardware. PBYCT10:0 is:
- (for OUT Pipe) increased after each writing into the Pipe and decremented after each byte
sent,
- (for IN Pipe) increased after each byte received by the host, and decremented after each byte
read by the software.
Bit
7
6
5
4
3
2
1
0
-
PINT6
PINT5
PINT4
PINT3
PINT2
PINT1
PINT0
0
0
0
0
0
0
0
0
UPINT
Read/write
Initial value
• 7 - Reserved
The value read from these bits is always 0. Do not set these bits.
• 6-0 - PINT6:0 - Pipe Interrupts bits
Set by hardware when an interrupt is triggered by the UPINTX register and if the corresponding
endpoint interrupt enable bit is set.
Cleared by hardware when the interrupt source is served.
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25. Analog Comparator
The Analog Comparator compares the input values on the positive pin AIN0 and negative pin
AIN1. When the voltage on the positive pin AIN0 is higher than the voltage on the negative pin
AIN1, the Analog Comparator output, ACO, is set. The comparator’s output can be set to trigger
the Timer/Counter1 Input Capture function. In addition, the comparator can trigger a separate
interrupt, exclusive to the Analog Comparator. The user can select Interrupt triggering on comparator output rise, fall or toggle. A block diagram of the comparator and its surrounding logic is
shown in Figure 25-1.
The Power Reduction ADC bit, PRADC, in “PRR0 – Power Reduction Register 0” on page 54
must be disabled by writing a logical zero to be able to use the ADC input MUX.
Figure 25-1. Analog Comparator block diagram (2).
BANDGAP
REFERENCE
ACBG
ACME
ADEN
ADC MULTIPLEXER
OUTPUT (1)
Notes:
1. See Table 25-2 on page 306.
2. Refer to Figure 1-1 on page 3 and Table 11-6 on page 79 for Analog Comparator pin
placement.
25.0.1
ADCSRB – ADC Control and Status Register B
Bit
7
6
5
4
3
2
1
–
ACME
–
–
-
ADTS2
ADTS1
0
ADTS0
Read/write
R
R/W
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
ADCSRB
• Bit 6 – ACME: Analog Comparator Multiplexer Enable
When this bit is written logic one and the ADC is switched off (ADEN in ADCSRA is zero), the
ADC multiplexer selects the negative input to the Analog Comparator. When this bit is written
logic zero, AIN1 is applied to the negative input of the Analog Comparator. For a detailed
description of this bit, see “Analog Comparator multiplexed input” on page 306.
25.0.2
ACSR – Analog Comparator Control and Status Register
Bit
304
7
6
5
4
3
2
1
ACD
ACBG
ACO
ACI
ACIE
ACIC
ACIS1
0
ACIS0
Read/write
R/W
R/W
R
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
N/A
0
0
0
0
0
ACSR
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• Bit 7 – ACD: Analog Comparator Disable
When this bit is written logic one, the power to the Analog Comparator is switched off. This bit
can be set at any time to turn off the Analog Comparator. This will reduce power consumption in
Active and Idle mode. When changing the ACD bit, the Analog Comparator Interrupt must be
disabled by clearing the ACIE bit in ACSR. Otherwise an interrupt can occur when the bit is
changed.
• Bit 6 – ACBG: Analog Comparator Bandgap Select
When this bit is set, a fixed bandgap reference voltage replaces the positive input to the Analog
Comparator. When this bit is cleared, AIN0 is applied to the positive input of the Analog Comparator. See “Internal voltage reference” on page 62.
• Bit 5 – ACO: Analog Comparator Output
The output of the Analog Comparator is synchronized and then directly connected to ACO. The
synchronization introduces a delay of 1 - 2 clock cycles.
• Bit 4 – ACI: Analog Comparator Interrupt Flag
This bit is set by hardware when a comparator output event triggers the interrupt mode defined
by ACIS1 and ACIS0. The Analog Comparator interrupt routine is executed if the ACIE bit is set
and the I-bit in SREG is set. ACI is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, ACI is cleared by writing a logic one to the flag.
• Bit 3 – ACIE: Analog Comparator Interrupt Enable
When the ACIE bit is written logic one and the I-bit in the Status Register is set, the Analog Comparator interrupt is activated. When written logic zero, the interrupt is disabled.
• Bit 2 – ACIC: Analog Comparator Input Capture Enable
When written logic one, this bit enables the input capture function in Timer/Counter1 to be triggered by the Analog Comparator. The comparator output is in this case directly connected to the
input capture front-end logic, making the comparator utilize the noise canceler and edge select
features of the Timer/Counter1 Input Capture interrupt. When written logic zero, no connection
between the Analog Comparator and the input capture function exists. To make the comparator
trigger the Timer/Counter1 Input Capture interrupt, the ICIE1 bit in the Timer Interrupt Mask
Register (TIMSK1) must be set.
• Bits 1, 0 – ACIS1, ACIS0: Analog Comparator Interrupt Mode Select
These bits determine which comparator events that trigger the Analog Comparator interrupt. The
different settings are shown in Table 25-1.
Table 25-1.
ACIS1/ACIS0 settings.
ACIS1
ACIS0
Interrupt mode
0
0
Comparator Interrupt on Output Toggle
0
1
Reserved
1
0
Comparator Interrupt on Falling Output Edge
1
1
Comparator Interrupt on Rising Output Edge
When changing the ACIS1/ACIS0 bits, the Analog Comparator Interrupt must be disabled by
clearing its Interrupt Enable bit in the ACSR Register. Otherwise an interrupt can occur when the
bits are changed.
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25.1
Analog Comparator multiplexed input
It is possible to select any of the ADC7..0 pins to replace the negative input to the Analog Comparator. The ADC multiplexer is used to select this input, and consequently, the ADC must be
switched off to utilize this feature. If the Analog Comparator Multiplexer Enable bit (ACME in
ADCSRB) is set and the ADC is switched off (ADEN in ADCSRA is zero), and MUX2..0 in
ADMUX select the input pin to replace the negative input to the Analog Comparator, as shown in
Table 25-2. If ACME is cleared or ADEN is set, AIN1 is applied to the negative input to the Analog Comparator.
Table 25-2.
25.1.1
Analog Comparator multiplexed input.
ACME
ADEN
MUX2..0
Analog Comparator negative input
0
x
xxx
AIN1
1
1
xxx
AIN1
1
0
000
ADC0
1
0
001
ADC1
1
0
010
ADC2
1
0
011
ADC3
1
0
100
ADC4
1
0
101
ADC5
1
0
110
ADC6
1
0
111
ADC7
DIDR1 – Digital Input Disable Register 1
Bit
7
6
5
4
3
2
1
0
–
–
–
–
–
–
AIN1D
AIN0D
Read/write
R
R
R
R
R
R
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
DIDR1
• Bit 1, 0 – AIN1D, AIN0D: AIN1, AIN0 Digital Input Disable
When this bit is written logic one, the digital input buffer on the AIN1/0 pin is disabled. The corresponding PIN Register bit will always read as zero when this bit is set. When an analog signal is
applied to the AIN1/0 pin and the digital input from this pin is not needed, this bit should be written logic one to reduce power consumption in the digital input buffer.
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26. ADC – Analog to Digital Converter
26.1
Features
•
•
•
•
•
•
•
•
•
•
•
•
•
•
26.2
10-bit resolution
0.5 LSB integral non-linearity
±2 LSB absolute accuracy
65 - 260µs conversion time
Up to 15ksps at maximum resolution
Eight multiplexed single ended input channels
Seven differential input channels
Optional left adjustment for ADC result readout
0 - VCC ADC input voltage range
Selectable 2.56V ADC reference voltage
Free running or single conversion mode
ADC start conversion by auto triggering on interrupt sources
Interrupt on ADC conversion complete
Sleep mode noise canceler
Overview
The Atmel AT90USB64/128 features a 10-bit successive approximation ADC. The ADC is connected to an 8-channel Analog Multiplexer which allows eight single-ended voltage inputs
constructed from the pins of Port F. The single-ended voltage inputs refer to 0V (GND).
The device also supports 16 differential voltage input combinations. Two of the differential inputs
(ADC1, ADC0 and ADC3, ADC2) are equipped with a programmable gain stage, providing
amplification steps of 0 dB (1×), 20 dB (10×), or 46 dB (200×) on the differential input voltage
before the A/D conversion. Seven differential analog input channels share a common negative
terminal (ADC1), while any other ADC input can be selected as the positive input terminal. If 1×
or 10× gain is used, 8-bit resolution can be expected. If 200× gain is used, 7-bit resolution can
be expected.
The ADC contains a Sample and Hold circuit which ensures that the input voltage to the ADC is
held at a constant level during conversion. A block diagram of the ADC is shown in Figure 26-1
on page 308.
The ADC has a separate analog supply voltage pin, AVCC. AVCC must not differ more than ±0.3V
from VCC. See the paragraph “ADC noise canceler” on page 314 on how to connect this pin.
Internal reference voltages of nominally 2.56V or AVCC are provided on-chip. The voltage reference may be externally decoupled at the AREF pin by a capacitor for better noise performance.
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Figure 26-1. Analog to digital converter block schematic.
ADC CONVERSION
COMPLETE IRQ
INTERRUPT
FLAGS
ADTS[2:0]
15
TRIGGER
SELECT
ADC[9:0]
ADPS1
0
ADC DATA REGISTER
(ADCH/ADCL)
ADPS0
ADPS2
ADIF
ADATE
ADEN
ADSC
ADC CTRL. & STATUS
REGISTER (ADCSRA)
MUX0
MUX2
MUX1
MUX4
MUX3
REFS0
ADLAR
REFS1
ADC MULTIPLEXER
SELECT (ADMUX)
ADIE
ADIF
8-BIT DATA BUS
AVCC
PRESCALER
START
GAIN SELECTION
CHANNEL SELECTION
MUX DECODER
CONVERSION LOGIC
INTERNAL
REFERENCE
SAMPLE & HOLD
COMPARATOR
AREF
10-BIT DAC
+
ADHSM
GND
BANDGAP
REFERENCE
ADC7
SINGLE ENDED / DIFFERENTIAL SELECTION
ADC6
ADC5
ADC MULTIPLEXER
OUTPUT
POS.
INPUT
MUX
ADC4
ADC3
+
DIFFERENTIAL
AMPLIFIER
ADC2
ADC1
ADC0
NEG.
INPUT
MUX
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26.3
Operation
The ADC converts an analog input voltage to a 10-bit digital value through successive approximation. The minimum value represents GND and the maximum value represents the voltage on
the AREF pin minus 1 LSB. Optionally, AVCC or an internal 2.56V reference voltage may be connected to the AREF pin by writing to the REFSn bits in the ADMUX Register. The internal
voltage reference may thus be decoupled by an external capacitor at the AREF pin to improve
noise immunity.
The analog input channel and differential gain are selected by writing to the MUX bits in
ADMUX. Any of the ADC input pins, as well as GND and a fixed bandgap voltage reference, can
be selected as single ended inputs to the ADC. A selection of ADC input pins can be selected as
positive and negative inputs to the differential amplifier.
The ADC is enabled by setting the ADC Enable bit, ADEN in ADCSRA. Voltage reference and
input channel selections will not go into effect until ADEN is set. The ADC does not consume
power when ADEN is cleared, so it is recommended to switch off the ADC before entering power
saving sleep modes.
The ADC generates a 10-bit result which is presented in the ADC Data Registers, ADCH and
ADCL. By default, the result is presented right adjusted, but can optionally be presented left
adjusted by setting the ADLAR bit in ADMUX.
If the result is left adjusted and no more than 8-bit precision is required, it is sufficient to read
ADCH. Otherwise, ADCL must be read first, then ADCH, to ensure that the content of the Data
Registers belongs to the same conversion. Once ADCL is read, ADC access to Data Registers
is blocked. This means that if ADCL has been read, and a conversion completes before ADCH is
read, neither register is updated and the result from the conversion is lost. When ADCH is read,
ADC access to the ADCH and ADCL Registers is re-enabled.
The ADC has its own interrupt which can be triggered when a conversion completes. The ADC
access to the Data Registers is prohibited between reading of ADCH and ADCL, the interrupt
will trigger even if the result is lost.
26.4
Starting a conversion
A single conversion is started by writing a logical one to the ADC Start Conversion bit, ADSC.
This bit stays high as long as the conversion is in progress and will be cleared by hardware
when the conversion is completed. If a different data channel is selected while a conversion is in
progress, the ADC will finish the current conversion before performing the channel change.
Alternatively, a conversion can be triggered automatically by various sources. Auto Triggering is
enabled by setting the ADC Auto Trigger Enable bit, ADATE in ADCSRA. The trigger source is
selected by setting the ADC Trigger Select bits, ADTS in ADCSRB (See description of the ADTS
bits for a list of the trigger sources). When a positive edge occurs on the selected trigger signal,
the ADC prescaler is reset and a conversion is started. This provides a method of starting conversions at fixed intervals. If the trigger signal is still set when the conversion completes, a new
conversion will not be started. If another positive edge occurs on the trigger signal during conversion, the edge will be ignored. Note that an interrupt flag will be set even if the specific
interrupt is disabled or the Global Interrupt Enable bit in SREG is cleared. A conversion can thus
be triggered without causing an interrupt. However, the interrupt flag must be cleared in order to
trigger a new conversion at the next interrupt event.
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Figure 26-2. ADC auto trigger logic.
ADTS[2:0]
PRESCALER
START
CLKADC
ADATE
ADIF
SOURCE 1
.
.
.
.
CONVERSION
LOGIC
EDGE
DETECTOR
SOURCE n
ADSC
Using the ADC Interrupt Flag as a trigger source makes the ADC start a new conversion as soon
as the ongoing conversion has finished. The ADC then operates in Free Running mode, constantly sampling and updating the ADC Data Register. The first conversion must be started by
writing a logical one to the ADSC bit in ADCSRA. In this mode the ADC will perform successive
conversions independently of whether the ADC Interrupt Flag, ADIF is cleared or not.
If Auto Triggering is enabled, single conversions can be started by writing ADSC in ADCSRA to
one. ADSC can also be used to determine if a conversion is in progress. The ADSC bit will be
read as one during a conversion, independently of how the conversion was started.
26.5
Prescaling and conversion timing
Figure 26-3. ADC prescaler.
ADEN
START
Reset
7-BIT ADC PRESCALER
CK/64
CK/128
CK/32
CK/8
CK/16
CK/4
CK/2
CK
ADPS0
ADPS1
ADPS2
ADC CLOCK SOURCE
By default, the successive approximation circuitry requires an input clock frequency between
50kHz and 200kHz to get maximum resolution. If a lower resolution than 10 bits is needed, the
input clock frequency to the ADC can be higher than 200kHz to get a higher sample rate. Alternatively, setting the ADHSM bit in ADCSRB allows an increased ADC clock frequency at the
expense of higher power consumption.
The ADC module contains a prescaler, which generates an acceptable ADC clock frequency
from any CPU frequency above 100kHz. The prescaling is set by the ADPS bits in ADCSRA.
The prescaler starts counting from the moment the ADC is switched on by setting the ADEN bit
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in ADCSRA. The prescaler keeps running for as long as the ADEN bit is set, and is continuously
reset when ADEN is low.
When initiating a single ended conversion by setting the ADSC bit in ADCSRA, the conversion
starts at the following rising edge of the ADC clock cycle. See “Differential channels” on page
312 for details on differential conversion timing.
A normal conversion takes 13 ADC clock cycles. The first conversion after the ADC is switched
on (ADEN in ADCSRA is set) takes 25 ADC clock cycles in order to initialize the analog circuitry.
The actual sample-and-hold takes place 1.5 ADC clock cycles after the start of a normal conversion and 13.5 ADC clock cycles after the start of an first conversion. When a conversion is
complete, the result is written to the ADC Data Registers, and ADIF is set. In Single Conversion
mode, ADSC is cleared simultaneously. The software may then set ADSC again, and a new
conversion will be initiated on the first rising ADC clock edge.
When Auto Triggering is used, the prescaler is reset when the trigger event occurs. This assures
a fixed delay from the trigger event to the start of conversion. In this mode, the sample-and-hold
takes place two ADC clock cycles after the rising edge on the trigger source signal. Three additional CPU clock cycles are used for synchronization logic.
In Free Running mode, a new conversion will be started immediately after the conversion completes, while ADSC remains high. For a summary of conversion times, see Table 26-1 on page
312.
Figure 26-4. ADC timing diagram, first conversion (single conversion mode).
Next
conversion
First conversion
Cycle number
1
2
12
13
14
15
16
17
18
19
20
21
22
23
24
25
1
2
3
ADC clock
ADEN
ADSC
ADIF
ADCH
Sign and MSB of result
ADCL
LSB of result
MUX and REFS
update
MUX
and REFS
update
Conversion
complete
Sample & hold
Figure 26-5. ADC timing diagram, single conversion.
One conversion
Cycle number
1
2
3
4
5
6
7
8
9
Next conversion
10
11
12
13
1
2
3
ADC clock
ADSC
ADIF
ADCH
Sign and MSB of result
ADCL
LSB of result
Sample & hold
MUX and REFS
update
Conversion
complete
MUX and REFS
update
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Figure 26-6. ADC timing diagram, auto triggered conversion.
One conversion
1
Cycle number
2
3
4
5
6
7
8
9
Next conversion
10
11
12
13
1
2
ADC clock
Trigger
Source
ADATE
ADIF
ADCH
Sign and MSB of result
ADCL
LSB of result
Prescaler
reset
Sample &
hold
Prescaler
reset
Conversion
complete
MUX and REFS
update
Figure 26-7. ADC timing diagram, free running conversion.
One conversion
Cycle number
11
12
Next conversion
13
1
2
3
4
ADC clock
ADSC
ADIF
ADCH
Sign and MSB of result
ADCL
LSB of result
Sample & hold
Conversion
complete
Table 26-1.
ADC conversion time.
Condition
Sample & Hold
(Cycles from Start of Conversion)
Conversion Time
(Cycles)
26.5.1
MUX and REFS
update
First conversion
Normal conversion,
single ended
Auto triggered
conversion
14.5
1.5
2
25
13
13.5
Differential channels
When using differential channels, certain aspects of the conversion need to be taken into
consideration.
Differential conversions are synchronized to the internal clock CKADC2 equal to half the ADC
clock frequency. This synchronization is done automatically by the ADC interface in such a way
that the sample-and-hold occurs at a specific phase of CKADC2. A conversion initiated by the
user (that is, all single conversions, and the first free running conversion) when CKADC2 is low will
take the same amount of time as a single ended conversion (13 ADC clock cycles from the next
prescaled clock cycle). A conversion initiated by the user when CKADC2 is high will take 14 ADC
clock cycles due to the synchronization mechanism. In Free Running mode, a new conversion is
initiated immediately after the previous conversion completes, and since CKADC2 is high at this
time, all automatically started (that is, all but the first) Free Running conversions will take 14
ADC clock cycles.
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If differential channels are used and conversions are started by Auto Triggering, the ADC must
be switched off between conversions. When Auto Triggering is used, the ADC prescaler is reset
before the conversion is started. Since the stage is dependent of a stable ADC clock prior to the
conversion, this conversion will not be valid. By disabling and then re-enabling the ADC between
each conversion (writing ADEN in ADCSRA to “0” then to “1”), only extended conversions are
performed. The result from the extended conversions will be valid. See “Prescaling and conversion timing” on page 310 for timing details.
The gain stage is optimized for a bandwidth of 4kHz at all gain settings. Higher frequencies may
be subjected to non-linear amplification. An external low-pass filter should be used if the input
signal contains higher frequency components than the gain stage bandwidth. Note that the ADC
clock frequency is independent of the gain stage bandwidth limitation. For example, the ADC
clock period may be 6µs, allowing a channel to be sampled at 12ksps, regardless of the bandwidth of this channel.
26.6
Changing channel or reference selection
The MUXn and REFS1:0 bits in the ADMUX Register are single buffered through a temporary
register to which the CPU has random access. This ensures that the channels and reference
selection only takes place at a safe point during the conversion. The channel and reference
selection is continuously updated until a conversion is started. Once the conversion starts, the
channel and reference selection is locked to ensure a sufficient sampling time for the ADC. Continuous updating resumes in the last ADC clock cycle before the conversion completes (ADIF in
ADCSRA is set). Note that the conversion starts on the following rising ADC clock edge after
ADSC is written. The user is thus advised not to write new channel or reference selection values
to ADMUX until one ADC clock cycle after ADSC is written.
If Auto Triggering is used, the exact time of the triggering event can be indeterministic. Special
care must be taken when updating the ADMUX Register, in order to control which conversion
will be affected by the new settings.
If both ADATE and ADEN is written to one, an interrupt event can occur at any time. If the
ADMUX Register is changed in this period, the user cannot tell if the next conversion is based
on the old or the new settings. ADMUX can be safely updated in the following ways:
a. When ADATE or ADEN is cleared.
b.
During conversion, minimum one ADC clock cycle after the trigger event.
c.
After a conversion, before the interrupt flag used as trigger source is cleared.
When updating ADMUX in one of these conditions, the new settings will affect the next ADC
conversion.
Special care should be taken when changing differential channels. Once a differential channel
has been selected, the stage may take as much as 125µs to stabilize to the new value. Thus
conversions should not be started within the first 125µs after selecting a new differential channel. Alternatively, conversion results obtained within this period should be discarded.
The same settling time should be observed for the first differential conversion after changing
ADC reference (by changing the REFS1:0 bits in ADMUX).
The settling time and gain stage bandwidth is independent of the ADHSM bit setting.
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26.6.1
ADC input channels
When changing channel selections, the user should observe the following guidelines to ensure
that the correct channel is selected:
• In Single Conversion mode, always select the channel before starting the conversion. The
channel selection may be changed one ADC clock cycle after writing one to ADSC. However,
the simplest method is to wait for the conversion to complete before changing the channel
selection
• In Free Running mode, always select the channel before starting the first conversion. The
channel selection may be changed one ADC clock cycle after writing one to ADSC. However,
the simplest method is to wait for the first conversion to complete, and then change the
channel selection. Since the next conversion has already started automatically, the next
result will reflect the previous channel selection. Subsequent conversions will reflect the new
channel selection
When switching to a differential gain channel, the first conversion result may have a poor accuracy due to the required settling time for the automatic offset cancellation circuitry. The user
should preferably disregard the first conversion result.
26.6.2
ADC voltage reference
The reference voltage for the ADC (VREF) indicates the conversion range for the ADC. Single
ended channels that exceed VREF will result in codes close to 0x3FF. VREF can be selected as
either AVCC, internal 2.56V reference, or external AREF pin.
AVCC is connected to the ADC through a passive switch. The internal 2.56V reference is generated from the internal bandgap reference (VBG) through an internal amplifier. In either case, the
external AREF pin is directly connected to the ADC, and the reference voltage can be made
more immune to noise by connecting a capacitor between the AREF pin and ground. VREF can
also be measured at the AREF pin with a high impedant voltmeter. Note that VREF is a high
impedant source, and only a capacitive load should be connected in a system.
If the user has a fixed voltage source connected to the AREF pin, the user may not use the other
reference voltage options in the application, as they will be shorted to the external voltage. If no
external voltage is applied to the AREF pin, the user may switch between AVCC and 2.56V as
reference selection. The first ADC conversion result after switching reference voltage source
may be inaccurate, and the user is advised to discard this result.
If differential channels are used, the selected reference should not be closer to AVCC than indicated in Table 31-5 on page 397.
26.7
ADC noise canceler
The ADC features a noise canceler that enables conversion during sleep mode to reduce noise
induced from the CPU core and other I/O peripherals. The noise canceler can be used with ADC
Noise Reduction and Idle mode. To make use of this feature, the following procedure should be
used:
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a. Make sure that the ADC is enabled and is not busy converting. Single Conversion
mode must be selected and the ADC conversion complete interrupt must be
enabled.
b.
Enter ADC Noise Reduction mode (or Idle mode). The ADC will start a conversion
once the CPU has been halted.
c.
If no other interrupts occur before the ADC conversion completes, the ADC interrupt will wake up the CPU and execute the ADC Conversion Complete interrupt
routine. If another interrupt wakes up the CPU before the ADC conversion is complete, that interrupt will be executed, and an ADC Conversion Complete interrupt
request will be generated when the ADC conversion completes. The CPU will
remain in active mode until a new sleep command is executed.
Note that the ADC will not be automatically turned off when entering other sleep modes than Idle
mode and ADC Noise Reduction mode. The user is advised to write zero to ADEN before entering such sleep modes to avoid excessive power consumption.
If the ADC is enabled in such sleep modes and the user wants to perform differential conversions, the user is advised to switch the ADC off and on after waking up from sleep to prompt an
extended conversion to get a valid result.
26.7.1
Analog input circuitry
The analog input circuitry for single ended channels is illustrated in Figure 26-8. An analog
source applied to ADCn is subjected to the pin capacitance and input leakage of that pin, regardless of whether that channel is selected as input for the ADC. When the channel is selected, the
source must drive the S/H capacitor through the series resistance (combined resistance in the
input path).
The ADC is optimized for analog signals with an output impedance of approximately 10kΩ or
less. If such a source is used, the sampling time will be negligible. If a source with higher impedance is used, the sampling time will depend on how long time the source needs to charge the
S/H capacitor, with can vary widely. The user is recommended to only use low impedant sources
with slowly varying signals, since this minimizes the required charge transfer to the S/H
capacitor.
If differential gain channels are used, the input circuitry looks somewhat different, although
source impedances of a few hundred kΩ or less is recommended.
Signal components higher than the Nyquist frequency (fADC/2) should not be present for either
kind of channels, to avoid distortion from unpredictable signal convolution. The user is advised
to remove high frequency components with a low-pass filter before applying the signals as
inputs to the ADC.
Figure 26-8. Analog input circuitry.
IIH
ADCn
1..100kΩ
CS/H= 14pF
IIL
VCC/2
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26.7.2
Analog noise canceling techniques
Digital circuitry inside and outside the device generates EMI which might affect the accuracy of
analog measurements. If conversion accuracy is critical, the noise level can be reduced by
applying the following techniques:
a. Keep analog signal paths as short as possible. Make sure analog tracks run over
the analog ground plane, and keep them well away from high-speed switching digital tracks.
b.
The AVCC pin on the device should be connected to the digital VCC supply voltage
via an LC network as shown in Figure 26-9.
c.
Use the ADC noise canceler function to reduce induced noise from the CPU.
d. If any ADC port pins are used as digital outputs, it is essential that these do not
switch while a conversion is in progress.
Figure 26-9. ADC power connections.
VCC
51
52
GND
53
(ADC7) PF7
54
(ADC6) PF6
55
(ADC5) PF5
56
(ADC4) PF4
57
(ADC3) PF3
58
(ADC2) PF2
59
(ADC1) PF1
60
(ADC0) PF0
61
AREF
62
10μH
GND
AVCC
100nF
Analog ground plane
63
64
1
NC
(AD0) PA0
26.7.3
Offset compensation schemes
The gain stage has a built-in offset cancellation circuitry that nulls the offset of differential measurements as much as possible. The remaining offset in the analog path can be measured
directly by selecting the same channel for both differential inputs. This offset residue can be then
subtracted in software from the measurement results. Using this kind of software based offset
correction, offset on any channel can be reduced below one LSB.
26.7.4
ADC accuracy definitions
An n-bit single-ended ADC converts a voltage linearly between GND and V REF in 2 n steps
(LSBs). The lowest code is read as 0, and the highest code is read as 2n-1.
Several parameters describe the deviation from the ideal behavior:
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• Offset: The deviation of the first transition (0x000 to 0x001) compared to the ideal transition
(at 0.5 LSB). Ideal value: 0 LSB
Figure 26-10. Offset error.
Output code
Ideal ADC
Actual ADC
Offset
error
VREF Input voltage
• Gain Error: After adjusting for offset, the Gain Error is found as the deviation of the last
transition (0x3FE to 0x3FF) compared to the ideal transition (at 1.5 LSB below maximum).
Ideal value: 0 LSB
Figure 26-11. Gain error.
Output code
Gain
error
Ideal ADC
Actual ADC
VREF Input voltage
• Integral non-linearity (INL): After adjusting for offset and gain error, the INL is the maximum
deviation of an actual transition compared to an ideal transition for any code. Ideal value: 0
LSB
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Figure 26-12. Integral non-linearity (INL).
Output code
INL
Ideal ADC
Actual ADC
VREF
Input voltage
• Differential Non-linearity (DNL): The maximum deviation of the actual code width (the interval
between two adjacent transitions) from the ideal code width (1 LSB). Ideal value: 0 LSB
Figure 26-13. Differential non-linearity (DNL).
Output code
0x3FF
1 LSB
DNL
0x000
0
VREF Input voltage
• Quantization Error: Due to the quantization of the input voltage into a finite number of codes,
a range of input voltages (1 LSB wide) will code to the same value. Always ±0.5 LSB.
• Absolute Accuracy: The maximum deviation of an actual (unadjusted) transition compared to
an ideal transition for any code. This is the compound effect of offset, gain error, differential
error, non-linearity, and quantization error. Ideal value: ±0.5 LSB.
26.8
ADC conversion result
After the conversion is complete (ADIF is high), the conversion result can be found in the ADC
Result Registers (ADCL, ADCH).
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For single ended conversion, the result is:
V IN ⋅ 1024
ADC = -------------------------V REF
where VIN is the voltage on the selected input pin and VREF the selected voltage reference (see
Table 26-3 on page 322 and Table 26-4 on page 322). 0x000 represents analog ground, and
0x3FF represents the selected reference voltage minus one LSB.
If differential channels are used, the result is:
( V POS – V NEG ) ⋅ GAIN ⋅ 512
ADC = ----------------------------------------------------------------------V REF
where VPOS is the voltage on the positive input pin, VNEG the voltage on the negative input pin,
GAIN the selected gain factor and VREF the selected voltage reference. The result is presented
in two’s complement form, from 0x200 (-512d) through 0x1FF (+511d). Note that if the user
wants to perform a quick polarity check of the result, it is sufficient to read the MSB of the result
(ADC9 in ADCH). If the bit is one, the result is negative, and if this bit is zero, the result is positive. Figure 26-14 shows the decoding of the differential input range.
Table 82 shows the resulting output codes if the differential input channel pair (ADCn - ADCm) is
selected with a reference voltage of VREF.
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Figure 26-14. Differential measurement range.
Output code
0x1FF
0x000
- VREF
0x3FF
0
VREF
Differential input
voltage (volts)
0x200
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Table 26-2.
Correlation between input voltage and output codes.
VADCn
Read code
Corresponding decimal value
VADCm + VREF /GAIN
0x1FF
511
VADCm + 0.999 VREF /GAIN
0x1FF
511
VADCm + 0.998 VREF /GAIN
0x1FE
510
...
...
...
VADCm + 0.001 VREF /GAIN
0x001
1
VADCm
0x000
0
VADCm - 0.001 VREF /GAIN
0x3FF
-1
...
...
...
VADCm - 0.999 VREF /GAIN
0x201
-511
VADCm - VREF /GAIN
0x200
-512
Example 1:
– ADMUX = 0xED (ADC3 - ADC2, 10× gain, 2.56V reference, left adjusted result)
– Voltage on ADC3 is 300mV, voltage on ADC2 is 500mV.
– ADCR = 512 × 10 × (300 - 500) / 2560 = -400 = 0x270
– ADCL will thus read 0x00, and ADCH will read 0x9C.
Writing zero to ADLAR right adjusts the result: ADCL = 0x70, ADCH = 0x02.
Example 2:
– ADMUX = 0xFB (ADC3 - ADC2, 1× gain, 2.56V reference, left adjusted result)
– Voltage on ADC3 is 300mV, voltage on ADC2 is 500mV.
– ADCR = 512 × 1 × (300 - 500) / 2560 = -41 = 0x029.
– ADCL will thus read 0x40, and ADCH will read 0x0A.
Writing zero to ADLAR right adjusts the result: ADCL = 0x00, ADCH = 0x29.
26.9
26.9.1
ADC register description
ADMUX – ADC Multiplexer Selection Register
Bit
7
6
5
4
3
2
1
0
REFS1
REFS0
ADLAR
MUX4
MUX3
MUX2
MUX1
MUX0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
ADMUX
• Bit 7:6 – REFS1:0: Reference Selection bits
These bits select the voltage reference for the ADC, as shown in Table 26-3 on page 322. If
these bits are changed during a conversion, the change will not go in effect until this conversion
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is complete (ADIF in ADCSRA is set). The internal voltage reference options may not be used if
an external reference voltage is being applied to the AREF pin.
Table 26-3.
Voltage reference selections for ADC.
REFS1
REFS0
Voltage reference selection
0
0
AREF, internal VREF turned off
0
1
AVCC with external capacitor on AREF pin
1
0
Reserved
1
1
Internal 2.56V Voltage Reference with external capacitor on AREF pin
• Bit 5 – ADLAR: ADC Left Adjust Result
The ADLAR bit affects the presentation of the ADC conversion result in the ADC Data Register.
Write one to ADLAR to left adjust the result. Otherwise, the result is right adjusted. Changing the
ADLAR bit will affect the ADC Data Register immediately, regardless of any ongoing conversions. For a complete description of this bit, see “ADCL and ADCH – The ADC data register” on
page 324.
• Bits 4:0 – MUX4:0: Analog Channel Selection bits
The value of these bits selects which combination of analog inputs are connected to the ADC.
These bits also select the gain for the differential channels. See Table 26-4 for details. If these
bits are changed during a conversion, the change will not go in effect until this conversion is
complete (ADIF in ADCSRA is set).
Table 26-4.
Input channel and gain selections.
MUX4..0
Single ended input
00000
ADC0
00001
ADC1
00010
ADC2
00011
ADC3
00100
ADC4
00101
ADC5
00110
ADC6
00111
ADC7
Positive differential input
Negative differential input
Gain
N/A
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Table 26-4.
MUX4..0
Input channel and gain selections. (Continued)
Single ended input
Positive differential input
Negative differential input
Gain
ADC0
10×
ADC0
200×
01000
(ADC0 / ADC0 / 10x)
01001
ADC1
01010
(ADC0 / ADC0 / 200x)
01011
ADC1
01100
(Reserved - ADC2 / ADC2 / 10x)
01101
ADC3
01110
(ADC2 / ADC2 / 200x)
01111
ADC2
10×
ADC3
ADC2
200×
10000
ADC0
ADC1
1×
10001
(ADC1 / ADC1 / 1x)
ADC2
ADC1
1×
10011
ADC3
ADC1
1×
10100
ADC4
ADC1
1×
10101
ADC5
ADC1
1×
10110
ADC6
ADC1
1×
10111
ADC7
ADC1
1×
11000
ADC0
ADC2
1×
11001
ADC1
ADC2
1×
11010
(ADC2 / ADC2 / 1x)
11011
ADC3
ADC2
1×
11100
ADC4
ADC2
1×
11101
ADC5
ADC2
1×
10010
N/A
26.9.2
11110
1.1V (VBand Gap)
11111
0V (GND)
N/A
ADCSRA – ADC Control and Status Register A
Bit
7
6
5
4
3
2
1
0
ADEN
ADSC
ADATE
ADIF
ADIE
ADPS2
ADPS1
ADPS0
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
ADCSRA
• Bit 7 – ADEN: ADC Enable
Writing this bit to one enables the ADC. By writing it to zero, the ADC is turned off. Turning the
ADC off while a conversion is in progress, will terminate this conversion.
• Bit 6 – ADSC: ADC Start Conversion
In Single Conversion mode, write this bit to one to start each conversion. In Free Running mode,
write this bit to one to start the first conversion. The first conversion after ADSC has been written
after the ADC has been enabled, or if ADSC is written at the same time as the ADC is enabled,
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will take 25 ADC clock cycles instead of the normal 13. This first conversion performs initialization of the ADC.
ADSC will read as one as long as a conversion is in progress. When the conversion is complete,
it returns to zero. Writing zero to this bit has no effect.
• Bit 5 – ADATE: ADC Auto Trigger Enable
When this bit is written to one, Auto Triggering of the ADC is enabled. The ADC will start a conversion on a positive edge of the selected trigger signal. The trigger source is selected by setting
the ADC Trigger Select bits, ADTS in ADCSRB.
• Bit 4 – ADIF: ADC Interrupt Flag
This bit is set when an ADC conversion completes and the Data Registers are updated. The
ADC Conversion Complete Interrupt is executed if the ADIE bit and the I-bit in SREG are set.
ADIF is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, ADIF is cleared by writing a logical one to the flag. Beware that if doing a Read-ModifyWrite on ADCSRA, a pending interrupt can be disabled. This also applies if the SBI and CBI
instructions are used.
• Bit 3 – ADIE: ADC Interrupt Enable
When this bit is written to one and the I-bit in SREG is set, the ADC Conversion Complete Interrupt is activated.
• Bits 2:0 – ADPS2:0: ADC Prescaler Select Bits
These bits determine the division factor between the XTAL frequency and the input clock to the
ADC.
Table 26-5.
26.9.3
26.9.3.1
ADC prescaler selections.
ADPS2
ADPS1
ADPS0
Division factor
0
0
0
2
0
0
1
2
0
1
0
4
0
1
1
8
1
0
0
16
1
0
1
32
1
1
0
64
1
1
1
128
ADCL and ADCH – The ADC data register
ADLAR = 0
Bit
15
14
13
12
11
10
9
8
–
–
–
–
–
–
ADC9
ADC8
ADCH
ADC7
ADC6
ADC5
ADC4
ADC3
ADC2
ADC1
ADC0
ADCL
Bit
7
6
5
4
3
2
1
0
Read/write
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Initial value
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26.9.3.2
ADLAR = 1
Bit
Bit
Read/write
Initial value
15
14
13
12
11
10
9
8
ADC9
ADC8
ADC7
ADC6
ADC5
ADC4
ADC3
ADC2
ADCH
ADC1
ADC0
–
–
–
–
–
–
ADCL
7
6
5
4
3
2
1
0
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
When an ADC conversion is complete, the result is found in these two registers. If differential
channels are used, the result is presented in two’s complement form.
When ADCL is read, the ADC Data Register is not updated until ADCH is read. Consequently, if
the result is left adjusted and no more than 8-bit precision (7 bit + sign bit for differential input
channels) is required, it is sufficient to read ADCH. Otherwise, ADCL must be read first, then
ADCH.
The ADLAR bit in ADMUX, and the MUXn bits in ADMUX affect the way the result is read from
the registers. If ADLAR is set, the result is left adjusted. If ADLAR is cleared (default), the result
is right adjusted.
• ADC9:0: ADC Conversion Result
These bits represent the result from the conversion, as detailed in “ADC conversion result” on
page 318.
26.9.4
ADCSRB – ADC Control and Status Register B
Bit
7
6
5
4
3
2
1
0
ADHSM
ACME
–
–
–
ADTS2
ADTS1
ADTS0
Read/write
R/W
R/W
R
R
R
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
ADCSRB
• Bit 7 – ADHSM: ADC High Speed Mode
Writing this bit to one enables the ADC High Speed mode. This mode enables higher conversion
rate at the expense of higher power consumption.
• Bit 2:0 – ADTS2:0: ADC Auto Trigger Source
If ADATE in ADCSRA is written to one, the value of these bits selects which source will trigger
an ADC conversion. If ADATE is cleared, the ADTS2:0 settings will have no effect. A conversion
will be triggered by the rising edge of the selected interrupt flag. Note that switching from a trigger source that is cleared to a trigger source that is set, will generate a positive edge on the
trigger signal. If ADEN in ADCSRA is set, this will start a conversion. Switching to Free Running
mode (ADTS[2:0]=0) will not cause a trigger event, even if the ADC Interrupt Flag is set.
Table 26-6.
ADC auto trigger source selections.
ADTS2
ADTS1
ADTS0
Trigger source
0
0
0
Free running mode
0
0
1
Analog comparator
0
1
0
External interrupt request 0
0
1
1
Timer/Counter0 compare match
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Table 26-6.
26.9.5
ADC auto trigger source selections. (Continued)
ADTS2
ADTS1
ADTS0
Trigger source
1
0
0
Timer/Counter0 overflow
1
0
1
Timer/Counter1 compare match B
1
1
0
Timer/Counter1 overflow
1
1
1
Timer/Counter1 capture event
DIDR0 – Digital Input Disable Register 0
Bit
7
6
5
4
3
2
1
0
ADC7D
ADC6D
ADC5D
ADC4D
ADC3D
ADC2D
ADC1D
ADC0D
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
DIDR0
• Bit 7:0 – ADC7D..ADC0D: ADC7:0 Digital Input Disable
When this bit is written logic one, the digital input buffer on the corresponding ADC pin is disabled. The corresponding PIN Register bit will always read as zero when this bit is set. When an
analog signal is applied to the ADC7..0 pin and the digital input from this pin is not needed, this
bit should be written logic one to reduce power consumption in the digital input buffer.
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27. JTAG interface and on-chip debug system
27.0.1
Features
• JTAG (IEEE std. 1149.1 compliant) interface
• Boundary-scan capabilities according to the IEEE std. 1149.1 (JTAG) standard
• Debugger access to:
– All internal peripheral units
– Internal and external RAM
– The internal register file
– Program counter
– EEPROM and flash memories
• Extensive on-chip debug support for break conditions, including
– AVR break instruction
– Break on change of program memory flow
– Single step break
– Program memory break points on single address or address range
– Data memory break points on single address or address range
• Programming of flash, EEPROM, fuses, and lock bits through the JTAG interface
• On-chip debugging supported by Atmel AVR Studio®
27.1
Overview
The AVR IEEE std. 1149.1 compliant JTAG interface can be used for
• Testing PCBs by using the JTAG Boundary-scan capability
• Programming the non-volatile memories, Fuses and Lock bits
• On-chip debugging
A brief description is given in the following sections. Detailed descriptions for Programming via
the JTAG interface, and using the Boundary-scan Chain can be found in the sections “Programming via the JTAG interface” on page 377 and “IEEE 1149.1 (JTAG) boundary-scan” on page
333, respectively. The On-chip Debug support is considered being private JTAG instructions,
and distributed within Atmel and to selected third party vendors only.
Figure 27-1 on page 328 shows a block diagram of the JTAG interface and the On-chip Debug
system. The TAP Controller is a state machine controlled by the TCK and TMS signals. The TAP
Controller selects either the JTAG Instruction Register or one of several Data Registers as the
scan chain (Shift Register) between the TDI – input and TDO – output. The Instruction Register
holds JTAG instructions controlling the behavior of a Data Register.
The ID-Register, Bypass Register, and the Boundary-scan Chain are the Data Registers used
for board-level testing. The JTAG Programming Interface (actually consisting of several physical
and virtual Data Registers) is used for serial programming via the JTAG interface. The Internal
Scan Chain and Break Point Scan Chain are used for On-chip debugging only.
27.2
TAP – Test Access Port
The JTAG interface is accessed through four of the AVR’s pins. In JTAG terminology, these pins
constitute the Test Access Port – TAP. These pins are:
• TMS: Test mode select. This pin is used for navigating through the TAP-controller state
machine
• TCK: Test Clock. JTAG operation is synchronous to TCK
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• TDI: Test Data In. Serial input data to be shifted in to the Instruction Register or Data Register
(Scan Chains)
• TDO: Test Data Out. Serial output data from Instruction Register or Data Register
The IEEE std. 1149.1 also specifies an optional TAP signal; TRST – Test ReSeT – which is not
provided.
When the JTAGEN Fuse is unprogrammed, these four TAP pins are normal port pins, and the
TAP controller is in reset. When programmed, the input TAP signals are internally pulled high
and the JTAG is enabled for Boundary-scan and programming. The device is shipped with this
fuse programmed.
For the On-chip Debug system, in addition to the JTAG interface pins, the RESET pin is monitored by the debugger to be able to detect external reset sources. The debugger can also pull
the RESET pin low to reset the whole system, assuming only open collectors on the reset line
are used in the application.
Figure 27-1. Block diagram.
I/O PORT 0
DEVICE BOUNDARY
BOUNDARY SCAN CHAIN
TDI
TDO
TCK
TMS
JTAG PROGRAMMING
INTERFACE
TAP
CONTROLLER
AVR CPU
INSTRUCTION
REGISTER
FLASH
MEMORY
ID
REGISTER
M
U
X
Address
Data
BREAKPOINT
UNIT
BYPASS
REGISTER
INTERNAL
SCAN
CHAIN
PC
Instruction
FLOW CONTROL
UNIT
DIGITAL
PERIPHERAL
UNITS
ANALOG
PERIPHERIAL
UNITS
Analog inputs
BREAKPOINT
SCAN CHAIN
ADDRESS
DECODER
JTAG / AVR CORE
COMMUNICATION
INTERFACE
OCD STATUS
AND CONTROL
Control & clock lines
I/O PORT n
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Figure 27-2. TAP controller state diagram.
1
Test-logic-reset
0
0
Run-test/idle
1
Select-DR scan
1
Select-IR scan
0
1
0
1
Capture-DR
Capture-IR
0
0
0
Shift-DR
1
1
Exit1-DR
0
0
Pause-DR
0
Pause-IR
1
1
0
Exit2-DR
Exit2-IR
1
1
Update-DR
27.3
1
Exit1-IR
0
1
0
Shift-IR
1
0
1
Update-IR
0
1
0
TAP Controller
The TAP Controller is a 16-state finite state machine that controls the operation of the Boundaryscan circuitry, JTAG programming circuitry, or On-chip Debug system. The state transitions
depicted in Figure 27-2 depend on the signal present on TMS (shown adjacent to each state
transition) at the time of the rising edge at TCK. The initial state after a Power-on Reset is TestLogic-Reset.
As a definition in this document, the LSB is shifted in and out first for all Shift Registers.
Assuming Run-Test/Idle is the present state, a typical scenario for using the JTAG interface is:
• At the TMS input, apply the sequence 1, 1, 0, 0 at the rising edges of TCK to enter the Shift
Instruction Register – Shift-IR state. While in this state, shift the four bits of the JTAG
instructions into the JTAG Instruction Register from the TDI input at the rising edge of TCK.
The TMS input must be held low during input of the three LSBs in order to remain in the ShiftIR state. The MSB of the instruction is shifted in when this state is left by setting TMS high.
While the instruction is shifted in from the TDI pin, the captured IR-state 0x01 is shifted out on
the TDO pin. The JTAG Instruction selects a particular Data Register as path between TDI
and TDO and controls the circuitry surrounding the selected Data Register
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7593L–AVR–09/12
• Apply the TMS sequence 1, 1, 0 to re-enter the Run-Test/Idle state. The instruction is latched
onto the parallel output from the Shift Register path in the Update-IR state. The Exit-IR,
Pause-IR, and Exit2-IR states are only used for navigating the state machine
• At the TMS input, apply the sequence 1, 0, 0 at the rising edges of TCK to enter the Shift
Data Register – Shift-DR state. While in this state, upload the selected Data Register
(selected by the present JTAG instruction in the JTAG Instruction Register) from the TDI input
at the rising edge of TCK. In order to remain in the Shift-DR state, the TMS input must be
held low during input of all bits except the MSB. The MSB of the data is shifted in when this
state is left by setting TMS high. While the Data Register is shifted in from the TDI pin, the
parallel inputs to the Data Register captured in the Capture-DR state is shifted out on the
TDO pin
• Apply the TMS sequence 1, 1, 0 to re-enter the Run-Test/Idle state. If the selected Data
Register has a latched parallel-output, the latching takes place in the Update-DR state. The
Exit-DR, Pause-DR, and Exit2-DR states are only used for navigating the state machine
As shown in the state diagram, the Run-Test/Idle state need not be entered between selecting
JTAG instruction and using Data Registers, and some JTAG instructions may select certain
functions to be performed in the Run-Test/Idle, making it unsuitable as an Idle state.
Note:
Independent of the initial state of the TAP Controller, the Test-Logic-Reset state can always be
entered by holding TMS high for five TCK clock periods.
For detailed information on the JTAG specification, refer to the literature listed in “Bibliography”
on page 332.
27.4
Using the Boundary-scan chain
A complete description of the Boundary-scan capabilities are given in the section “IEEE 1149.1
(JTAG) boundary-scan” on page 333.
27.5
Using the on-chip debug system
As shown in Figure 27-1 on page 328, the hardware support for on-chip debugging consists
mainly of
• A scan chain on the interface between the internal AVR CPU and the internal peripheral units
• Break Point unit
• Communication interface between the CPU and JTAG system
All read or modify/write operations needed for implementing the Debugger are done by applying
AVR instructions via the internal AVR CPU Scan Chain. The CPU sends the result to an I/O
memory mapped location which is part of the communication interface between the CPU and the
JTAG system.
The Break Point Unit implements Break on Change of Program Flow, Single Step Break, two
Program Memory Break Points, and two combined Break Points. Together, the four Break
Points can be configured as either:
• Four single program memory break points
• Three single program memory break point + one single data memory break point
• Two single program memory break points + two single data memory break points
• Two single program memory break points + one program memory break point with mask
(“range Break Point”)
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AT90USB64/128
• Two single program memory break points + one data memory break point with mask (“range
Break Point”)
A debugger, like the Atmel AVR Studio, may however use one or more of these resources for its
internal purpose, leaving less flexibility to the end-user.
A list of the On-chip Debug specific JTAG instructions is given in “On-chip debug specific JTAG
instructions” on page 331.
The JTAGEN Fuse must be programmed to enable the JTAG Test Access Port. In addition, the
OCDEN Fuse must be programmed and no Lock bits must be set for the On-chip debug system
to work. As a security feature, the On-chip debug system is disabled when either of the LB1 or
LB2 Lock bits are set. Otherwise, the On-chip debug system would have provided a back-door
into a secured device.
The AVR Studio enables the user to fully control execution of programs on an AVR device with
On-chip Debug capability, AVR In-Circuit Emulator, or the built-in AVR Instruction Set Simulator.
AVR Studio supports source level execution of Assembly programs assembled with Atmel Corporation’s AVR Assembler and C programs compiled with third party vendors’ compilers.
AVR Studio runs under Microsoft® Windows® 95/98/2000 and Microsoft Windows NT.
For a full description of the Atmel AVR Studio, please refer to the AVR Studio User Guide. Only
highlights are presented in this document.
All necessary execution commands are available in AVR Studio, both on source level and on
disassembly level. The user can execute the program, single step through the code either by
tracing into or stepping over functions, step out of functions, place the cursor on a statement and
execute until the statement is reached, stop the execution, and reset the execution target. In
addition, the user can have an unlimited number of code Break Points (using the BREAK
instruction) and up to two data memory Break Points, alternatively combined as a mask (range)
Break Point.
27.6
On-chip debug specific JTAG instructions
The On-chip debug support is considered being private JTAG instructions, and distributed within
ATMEL and to selected third party vendors only. Instruction opcodes are listed for reference.
27.6.1
PRIVATE0; 0x8
Private JTAG instruction for accessing On-chip debug system.
27.6.2
PRIVATE1; 0x9
Private JTAG instruction for accessing On-chip debug system.
27.6.3
PRIVATE2; 0xA
Private JTAG instruction for accessing On-chip debug system.
27.6.4
PRIVATE3; 0xB
Private JTAG instruction for accessing On-chip debug system.
331
7593L–AVR–09/12
27.7
27.7.1
On-chip Debug related Register in I/O memory
OCDR – On-chip Debug Register
Bit
7
6
5
4
3
2
1
0
MSB/IDRD
LSB
Read/write
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
OCDR
The OCDR Register provides a communication channel from the running program in the microcontroller to the debugger. The CPU can transfer a byte to the debugger by writing to this
location. At the same time, an internal flag; I/O Debug Register Dirty – IDRD – is set to indicate
to the debugger that the register has been written. When the CPU reads the OCDR Register the
seven LSB will be from the OCDR Register, while the MSB is the IDRD bit. The debugger clears
the IDRD bit when it has read the information.
In some AVR devices, this register is shared with a standard I/O location. In this case, the OCDR
Register can only be accessed if the OCDEN Fuse is programmed, and the debugger enables
access to the OCDR Register. In all other cases, the standard I/O location is accessed.
Refer to the debugger documentation for further information on how to use this register.
27.8
Using the JTAG programming capabilities
Programming of AVR parts via JTAG is performed via the 4-pin JTAG port, TCK, TMS, TDI, and
TDO. These are the only pins that need to be controlled/observed to perform JTAG programming (in addition to power pins). It is not required to apply 12V externally. The JTAGEN Fuse
must be programmed and the JTD bit in the MCUCR Register must be cleared to enable the
JTAG Test Access Port.
The JTAG programming capability supports:
• Flash programming and verifying
• EEPROM programming and verifying
• Fuse programming and verifying
• Lock bit programming and verifying
The Lock bit security is exactly as in parallel programming mode. If the Lock bits LB1 or LB2 are
programmed, the OCDEN Fuse cannot be programmed unless first doing a chip erase. This is a
security feature that ensures no back-door exists for reading out the content of a secured
device.
The details on programming through the JTAG interface and programming specific JTAG
instructions are given in the section “Programming via the JTAG interface” on page 377.
27.9
Bibliography
For more information about general Boundary-scan, the following literature can be consulted:
• IEEE: IEEE Std. 1149.1-1990. IEEE Standard Test Access Port and Boundary-scan
Architecture, IEEE, 1993.
• Colin Maunder: The Board Designers Guide to Testable Logic Circuits, Addison-Wesley,
1992.
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AT90USB64/128
28. IEEE 1149.1 (JTAG) boundary-scan
28.1
Features
•
•
•
•
•
28.2
JTAG (IEEE std. 1149.1 compliant) interface
Boundary-scan capabilities according to the JTAG standard
Full scan of all port functions as well as analog circuitry having off-chip connections
Supports the optional IDCODE instruction
Additional public AVR_RESET instruction to reset the AVR
System overview
The Boundary-scan chain has the capability of driving and observing the logic levels on the digital I/O pins, as well as the boundary between digital and analog logic for analog circuitry having
off-chip connections. At system level, all ICs having JTAG capabilities are connected serially by
the TDI/TDO signals to form a long Shift Register. An external controller sets up the devices to
drive values at their output pins, and observe the input values received from other devices. The
controller compares the received data with the expected result. In this way, Boundary-scan provides a mechanism for testing interconnections and integrity of components on Printed Circuits
Boards by using the four TAP signals only.
The four IEEE 1149.1 defined mandatory JTAG instructions IDCODE, BYPASS, SAMPLE/PRELOAD, and EXTEST, as well as the AVR specific public JTAG instruction AVR_RESET can be
used for testing the Printed Circuit Board. Initial scanning of the Data Register path will show the
ID-Code of the device, since IDCODE is the default JTAG instruction. It may be desirable to
have the AVR device in reset during test mode. If not reset, inputs to the device may be determined by the scan operations, and the internal software may be in an undetermined state when
exiting the test mode. Entering reset, the outputs of any port pin will instantly enter the high
impedance state, making the HIGHZ instruction redundant. If needed, the BYPASS instruction
can be issued to make the shortest possible scan chain through the device. The device can be
set in the reset state either by pulling the external RESET pin low, or issuing the AVR_RESET
instruction with appropriate setting of the Reset Data Register.
The EXTEST instruction is used for sampling external pins and loading output pins with data.
The data from the output latch will be driven out on the pins as soon as the EXTEST instruction
is loaded into the JTAG IR-Register. Therefore, the SAMPLE/PRELOAD should also be used for
setting initial values to the scan ring, to avoid damaging the board when issuing the EXTEST
instruction for the first time. SAMPLE/PRELOAD can also be used for taking a snapshot of the
external pins during normal operation of the part.
The JTAGEN Fuse must be programmed and the JTD bit in the I/O Register MCUCR must be
cleared to enable the JTAG Test Access Port.
When using the JTAG interface for Boundary-scan, using a JTAG TCK clock frequency higher
than the internal chip frequency is possible. The chip clock is not required to run.
28.3
Data registers
The Data Registers relevant for Boundary-scan operations are:
• Bypass Register
• Device Identification Register
• Reset Register
• Boundary-scan Chain
333
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28.3.1
Bypass register
The Bypass register consists of a single Shift register stage. When the Bypass register is
selected as path between TDI and TDO, the register is reset to 0 when leaving the Capture-DR
controller state. The Bypass register can be used to shorten the scan chain on a system when
the other devices are to be tested.
28.3.2
Device Identification register
Figure 28-1 shows the structure of the Device Identification register.
Figure 28-1. The Format of the Device Identification register.
LSB
MSB
28.3.2.1
Bit
31
Device ID
Version
Part number
Manufacturer ID
1
4 bits
16 bits
11 bits
1-bit
28
27
12
11
1
0
Version
Version is a 4-bit number identifying the revision of the component. The JTAG version number
follows the revision of the device. Revision A is 0x0, revision B is 0x1 and so on.
28.3.2.2
Part number
The part number is a 16-bit code identifying the component. The JTAG Part Number for Atmel
AT90USB64/128 is listed in Table 28-1.
Table 28-1.
AVR JTAG part number.
Part number
JTAG part number (hex)
AVR USB
28.3.2.3
Manufacturer ID
The Manufacturer ID is a 11-bit code identifying the manufacturer. The JTAG manufacturer ID
for ATMEL is listed in Table 28-2.
Table 28-2.
Manufacturer
ATMEL
28.3.3
0x9782
Manufacturer ID.
JTAG manufacturer ID (hex)
0x01F
Reset register
The Reset Register is a test Data Register used to reset the part. Since the AVR tri-states Port
Pins when reset, the Reset Register can also replace the function of the un-implemented
optional JTAG instruction HIGHZ.
A high value in the Reset Register corresponds to pulling the external Reset low. The part is
reset as long as there is a high value present in the Reset Register. Depending on the fuse settings for the clock options, the part will remain reset for a reset time-out period (refer to “Clock
sources” on page 41) after releasing the Reset Register. The output from this Data Register is
not latched, so the reset will take place immediately, as shown in Figure 28-2 on page 335.
334
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AT90USB64/128
Figure 28-2. Reset register.
To
TDO
From other internal and
external reset sources
From
TDI
D
Q
Internal reset
ClockDR · AVR_RESET
28.3.4
Boundary-scan Chain
The Boundary-scan Chain has the capability of driving and observing the logic levels on the digital I/O pins, as well as the boundary between digital and analog logic for analog circuitry having
off-chip connections.
See “Boundary-scan chain” on page 337 for a complete description.
28.4
Boundary-scan specific JTAG instructions
The Instruction Register is 4-bit wide, supporting up to 16 instructions. Listed below are the
JTAG instructions useful for Boundary-scan operation. Note that the optional HIGHZ instruction
is not implemented, but all outputs with tri-state capability can be set in high-impedant state by
using the AVR_RESET instruction, since the initial state for all port pins is tri-state.
As a definition in this datasheet, the LSB is shifted in and out first for all Shift Registers.
The OPCODE for each instruction is shown behind the instruction name in hex format. The text
describes which Data Register is selected as path between TDI and TDO for each instruction.
28.4.1
EXTEST; 0x0
Mandatory JTAG instruction for selecting the Boundary-scan Chain as Data Register for testing
circuitry external to the AVR package. For port-pins, Pull-up Disable, Output Control, Output
Data, and Input Data are all accessible in the scan chain. For Analog circuits having off-chip
connections, the interface between the analog and the digital logic is in the scan chain. The contents of the latched outputs of the Boundary-scan chain is driven out as soon as the JTAG IRRegister is loaded with the EXTEST instruction.
The active states are:
• Capture-DR: Data on the external pins are sampled into the Boundary-scan Chain
• Shift-DR: The Internal Scan Chain is shifted by the TCK input
• Update-DR: Data from the scan chain is applied to output pins
28.4.2
IDCODE; 0x1
Optional JTAG instruction selecting the 32-bit ID-Register as Data Register. The ID-Register
consists of a version number, a device number and the manufacturer code chosen by JEDEC.
This is the default instruction after power-up.
335
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The active states are:
• Capture-DR: Data in the IDCODE Register is sampled into the Boundary-scan Chain
• Shift-DR: The IDCODE scan chain is shifted by the TCK input
28.4.3
SAMPLE_PRELOAD; 0x2
Mandatory JTAG instruction for pre-loading the output latches and taking a snap-shot of the
input/output pins without affecting the system operation. However, the output latches are not
connected to the pins. The Boundary-scan Chain is selected as Data Register.
The active states are:
• Capture-DR: Data on the external pins are sampled into the Boundary-scan Chain
• Shift-DR: The Boundary-scan Chain is shifted by the TCK input
• Update-DR: Data from the Boundary-scan chain is applied to the output latches. However,
the output latches are not connected to the pins
28.4.4
AVR_RESET; 0xC
The AVR specific public JTAG instruction for forcing the AVR device into the Reset mode or
releasing the JTAG reset source. The TAP controller is not reset by this instruction. The one bit
Reset Register is selected as Data Register. Note that the reset will be active as long as there is
a logic “one” in the Reset Chain. The output from this chain is not latched.
The active states are:
• Shift-DR: The Reset Register is shifted by the TCK input
28.4.5
BYPASS; 0xF
Mandatory JTAG instruction selecting the Bypass Register for Data Register.
The active states are:
• Capture-DR: Loads a logic “0” into the Bypass Register
• Shift-DR: The Bypass Register cell between TDI and TDO is shifted
28.5
28.5.1
Boundary-scan Related Register in I/O memory
MCUCR – MCU Control Register
The MCU Control Register contains control bits for general MCU functions.
Bit
7
6
5
4
3
2
1
JTD
–
–
PUD
–
–
IVSEL
0
IVCE
Read/write
R/W
R
R
R/W
R
R
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
MCUCR
• Bits 7 – JTD: JTAG Interface Disable
When this bit is zero, the JTAG interface is enabled if the JTAGEN Fuse is programmed. If this
bit is one, the JTAG interface is disabled. In order to avoid unintentional disabling or enabling of
the JTAG interface, a timed sequence must be followed when changing this bit: The application
software must write this bit to the desired value twice within four cycles to change its value. Note
that this bit must not be altered when using the On-chip Debug system.
336
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AT90USB64/128
28.5.2
MCUSR – MCU Status Register
The MCU Status Register provides information on which reset source caused an MCU reset.
Bit
7
6
5
4
3
2
1
0
–
–
–
JTRF
WDRF
BORF
EXTRF
PORF
Read/write
R
R
R
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
See bit description
MCUSR
• Bit 4 – JTRF: JTAG Reset Flag
This bit is set if a reset is being caused by a logic one in the JTAG Reset Register selected by
the JTAG instruction AVR_RESET. This bit is reset by a Power-on Reset, or by writing a logic
zero to the flag.
28.6
Boundary-scan chain
The Boundary-scan chain has the capability of driving and observing the logic levels on the digital I/O pins, as well as the boundary between digital and analog logic for analog circuitry having
off-chip connection.
28.6.1
Scanning the digital port pins
Figure 28-3 on page 338 shows the Boundary-scan Cell for a bi-directional port pin. The pull-up
function is disabled during Boundary-scan when the JTAG IC contains EXTEST or
SAMPLE_PRELOAD. The cell consists of a bi-directional pin cell that combines the three signals Output Control - OCxn, Output Data - ODxn, and Input Data - IDxn, into only a two-stage
Shift Register. The port and pin indexes are not used in the following description
The Boundary-scan logic is not included in the figures in the datasheet. Figure 28-4 on page 339
shows a simple digital port pin as described in the section “I/O-ports” on page 71. The Boundaryscan details from Figure 28-3 on page 338 replaces the dashed box in Figure 28-4 on page 339.
When no alternate port function is present, the Input Data - ID - corresponds to the PINxn Register value (but ID has no synchronizer), Output Data corresponds to the PORT Register, Output
Control corresponds to the Data Direction - DD Register, and the Pull-up Enable - PUExn - corresponds to logic expression PUD · DDxn · PORTxn.
Digital alternate port functions are connected outside the dotted box in Figure 28-4 on page 339
to make the scan chain read the actual pin value. For analog function, there is a direct connection from the external pin to the analog circuit. There is no scan chain on the interface between
the digital and the analog circuitry, but some digital control signal to analog circuitry are turned
off to avoid driving contention on the pads.
When JTAG IR contains EXTEST or SAMPLE_PRELOAD the clock is not sent out on the port
pins even if the CKOUT fuse is programmed. Even though the clock is output when the JTAG IR
contains SAMPLE_PRELOAD, the clock is not sampled by the boundary scan.
337
7593L–AVR–09/12
Figure 28-3. Boundary-scan cell for bi-directional port pin with pull-up function.
To next cell
ShiftDR
EXTEST
Pull-up enable (PUE)
Vcc
0
1
Output control (OC)
FF1
LD1
0
D
Q
D
Q
0
1
1
G
0
1
FF0
LD0
0
D
Q
D
1
Q
0
1
Port Pin (PXn)
Output data (OD)
G
Input data (ID)
From last cell
338
ClockDR
UpdateDR
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 28-4. General port pin schematic diagram.
See Boundary-scan
description for details!
PUExn
PUD
Q
D
DDxn
Q CLR
RESET
OCxn
WDx
Q
Pxn
ODxn
D
PORTxn
Q CLR
WRx
IDxn
DATA BUS
RDx
RESET
RRx
SLEEP
SYNCHRONIZER
D
D
Q
RPx
Q
PINxn
L
Q
Q
CLK I/O
PUD:
PUExn:
OCxn:
ODxn:
IDxn:
SLEEP:
28.6.2
PULLUP DISABLE
PULLUP ENABLE for pin Pxn
OUTPUT CONTROL for pin Pxn
OUTPUT DATA to pin Pxn
INPUT DATA from pin Pxn
SLEEP CONTROL
WDx:
RDx:
WRx:
RRx:
RPx:
CLK I/O :
WRITE DDRx
READ DDRx
WRITE PORTx
READ PORTx REGISTER
READ PORTx PIN
I/O CLOCK
Scanning the RESET pin
The RESET pin accepts 5V active low logic for standard reset operation, and 12V active high
logic for High Voltage Parallel programming. An observe-only cell as shown in Figure 28-5 is
inserted for the 5V reset signal.
Figure 28-5. Observe-only cell.
To
next
cell
ShiftDR
From system pin
To system logic
FF1
0
D
Q
1
From
previous
cell
ClockDR
339
7593L–AVR–09/12
28.7
Atmel AT90USB64/128 Boundary-scan order
Table 28-3 shows the Scan order between TDI and TDO when the Boundary-scan chain is
selected as data path. Bit 0 is the LSB; the first bit scanned in, and the first bit scanned out. The
scan order follows the pin-out order as far as possible. Therefore, the bits of Port A and Port Fis
scanned in the opposite bit order of the other ports. Exceptions from the rules are the Scan
chains for the analog circuits, which constitute the most significant bits of the scan chain regardless of which physical pin they are connected to. In Figure 28-3 on page 338, PXn. Data
corresponds to FF0, PXn. Control corresponds to FF1, PXn. Bit 4, 5, 6 and 7 of Port F is not in
the scan chain, since these pins constitute the TAP pins when the JTAG is enabled. The USB
pads are not included in the boundary-scan.
Table 28-3.
AT90USB64/128 Boundary-scan order.
Bit number
Signal name
88
PE6.Data
87
PE6.Control
86
PE7.Data
85
PE7.Control
84
PE3.Data
83
PE3.Control
82
PB0.Data
81
PB0.Control
80
PB1.Data
79
PB1.Control
78
PB2.Data
77
PB2.Control
76
PB3.Data
75
PB3.Control
74
PB4.Data
73
PB4.Control
72
PB5.Data
71
PB5.Control
70
PB6.Data
69
PB6.Control
68
PB7.Data
67
PB7.Control
66
PE4.Data
65
PE4.Control
64
PE5.Data
63
PE5.Control
62
RSTT
Module
Port E
Port B
PORTE
340
Reset Logic (observe only)
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 28-3.
AT90USB64/128 Boundary-scan order. (Continued)
Bit number
Signal name
61
PD0.Data
60
PD0.Control
59
PD1.Data
58
PD1.Control
57
PD2.Data
56
PD2.Control
55
PD3.Data
54
PD3.Control
53
PD4.Data
52
PD4.Control
51
PD5.Data
50
PD5.Control
49
PD6.Data
48
PD6.Control
47
PD7.Data
46
PD7.Control
45
PE0.Data
44
PE0.Control
43
PE1.Data
42
PE1.Control
41
PC0.Data
40
PC0.Control
39
PC1.Data
38
PC1.Control
37
PC2.Data
36
PC2.Control
35
PC3.Data
34
PC3.Control
33
PC4.Data
32
PC4.Control
31
PC5.Data
30
PC5.Control
29
PC6.Data
28
PC6.Control
27
PC7.Data
26
PC7.Control
Module
Port D
Port E
Port C
341
7593L–AVR–09/12
Table 28-3.
AT90USB64/128 Boundary-scan order. (Continued)
Bit number
Signal name
25
PE2.Data
24
PE2.Control
23
PA7.Data
22
PA7.Control
21
PA6.Data
20
PA6.Control
19
PA5.Data
18
PA5.Control
17
PA4.Data
16
PA4.Control
15
PA3.Data
14
PA3.Control
13
PA2.Data
12
PA2.Control
11
PA1.Data
10
PA1.Control
9
PA0.Data
8
PA0.Control
7
PF3.Data
6
PF3.Control
5
PF2.Data
4
PF2.Control
3
PF1.Data
2
PF1.Control
1
PF0.Data
0
PF0.Control
Module
Port E
Port A
Port F
28.8
Boundary-scan description language files
Boundary-scan Description Language (BSDL) files describe Boundary-scan capable devices in
a standard format used by automated test-generation software. The order and function of bits in
the Boundary-scan Data Register are included in this description. BSDL files are available for
Atmel AT90USB64/128.
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AT90USB64/128
29. Boot Loader support – read-while-write self-programming
The Boot Loader Support provides a real Read-While-Write Self-Programming mechanism for
downloading and uploading program code by the MCU itself. This feature allows flexible application software updates controlled by the MCU using a Flash-resident Boot Loader program. The
Boot Loader program can use any available data interface and associated protocol to read code
and write (program) that code into the Flash memory, or read the code from the program memory. The program code within the Boot Loader section has the capability to write into the entire
Flash, including the Boot Loader memory. The Boot Loader can thus even modify itself, and it
can also erase itself from the code if the feature is not needed anymore. The size of the Boot
Loader memory is configurable with fuses and the Boot Loader has two separate sets of Boot
Lock bits which can be set independently. This gives the user a unique flexibility to select different levels of protection. General information on SPM and ELPM is provided in See “AVR CPU
core” on page 11.
29.1
Boot Loader features
•
•
•
•
•
•
•
Read-while-write self-programming
Flexible boot memory size
High security (separate boot lock bits for a flexible protection)
Separate fuse to select reset vector
Optimized page (1) size
Code efficient algorithm
Efficient read-modify-write support
Note:
29.2
1. A page is a section in the Flash consisting of several bytes (see Table 30-11 on page 364)
used during programming. The page organization does not affect normal operation.
Application and Boot Loader flash sections
The Flash memory is organized in two main sections, the Application section and the Boot
Loader section (see Figure 29-2 on page 346). The size of the different sections is configured by
the BOOTSZ Fuses as shown in Table 29-8 on page 357 and Figure 29-2 on page 346. These
two sections can have different level of protection since they have different sets of Lock bits.
29.2.1
Application section
The Application section is the section of the Flash that is used for storing the application code.
The protection level for the Application section can be selected by the application Boot Lock bits
(Boot Lock bits 0), see Table 29-2 on page 347. The Application section can never store any
Boot Loader code since the SPM instruction is disabled when executed from the Application
section.
29.2.2
BLS – Boot Loader section
While the Application section is used for storing the application code, the The Boot Loader software must be located in the BLS since the SPM instruction can initiate a programming when
executing from the BLS only. The SPM instruction can access the entire Flash, including the
BLS itself. The protection level for the Boot Loader section can be selected by the Boot Loader
Lock bits (Boot Lock bits 1), see Table 29-3 on page 347.
29.3
Read-while-write and no read-while-write flash sections
Whether the CPU supports Read-While-Write or if the CPU is halted during a Boot Loader software update is dependent on which address that is being programmed. In addition to the two
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sections that are configurable by the BOOTSZ Fuses as described above, the Flash is also
divided into two fixed sections, the Read-While-Write (RWW) section and the No Read-WhileWrite (NRWW) section. The limit between the RWW- and NRWW sections is given in Table 291 and Figure 29-1 on page 345. The main difference between the two sections is:
• When erasing or writing a page located inside the RWW section, the NRWW section can be
read during the operation
• When erasing or writing a page located inside the NRWW section, the CPU is halted during
the entire operation
Note that the user software can never read any code that is located inside the RWW section during a Boot Loader software operation. The syntax “Read-While-Write section” refers to which
section that is being programmed (erased or written), not which section that actually is being
read during a Boot Loader software update.
29.3.1
RWW – Read-While-Write section
If a Boot Loader software update is programming a page inside the RWW section, it is possible
to read code from the Flash, but only code that is located in the NRWW section. During an ongoing programming, the software must ensure that the RWW section never is being read. If the
user software is trying to read code that is located inside the RWW section (i.e., by load program
memory, call, or jump instructions or an interrupt) during programming, the software might end
up in an unknown state. To avoid this, the interrupts should either be disabled or moved to the
Boot Loader section. The Boot Loader section is always located in the NRWW section. The
RWW Section Busy bit (RWWSB) in the Store Program Memory Control and Status Register
(SPMCSR) will be read as logical one as long as the RWW section is blocked for reading. After
a programming is completed, the RWWSB must be cleared by software before reading code
located in the RWW section. See “SPMCSR – Store Program Memory Control and Status Register” on page 349. for details on how to clear RWWSB.
29.3.2
NRWW – No Read-While-Write section
The code located in the NRWW section can be read when the Boot Loader software is updating
a page in the RWW section. When the Boot Loader code updates the NRWW section, the CPU
is halted during the entire Page Erase or Page Write operation.
Table 29-1.
344
Read-While-Write features.
Which section does the Zpointer address during the
programming?
Which section can
be read during
programming?
Is the CPU
halted?
Read-While-Write
supported?
RWW section
NRWW section
No
Yes
NRWW section
None
Yes
No
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Figure 29-1. Read-While-Write vs. no Read-While-Write.
Read-While-Write
(RWW) section
Z-pointer
Addresses RWW
section
Z-pointer
addresses NRWW
section
No Read-While-Write
(NRWW) section
CPU is halted
during the operation
Code located in
NRWW section.
Can be read during
the operation
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Figure 29-2. Memory sections.
Program memory
BOOTSZ = '10'
Program memory
BOOTSZ = '11'
0x0000
No Read-While-Write section
Read-While-Write section
Application flash section
End RWW
Start NRWW
Application flash section
Boot loader flash section
End application
Start boot loader
Flashend
No Read-While-Write section
Read-While-Write section
0x0000
Program memory
BOOTSZ = '01'
Application flash section
End RWW
Start NRWW
Application flash section
End application
Start boot loader
Boot loader flash section
Flashend
Program memory
BOOTSZ = '00'
0x0000
No Read-While-Write section
Note:
29.4
Read-While-Write section
Application flash section
End RWW
Start NRWW
Application flash section
End application
Start boot loader
Boot loader flash section
Flashend
No Read-While-Write section
Read-While-Write section
0x0000
Application flash section
End RWW, end application
Start NRWW, start boot loader
Boot loader flash section
Flashend
1. The parameters in the figure above are given in Table 29-8 on page 357.
Boot Loader lock bits
If no Boot Loader capability is needed, the entire Flash is available for application code. The
Boot Loader has two separate sets of Boot Lock bits which can be set independently. This gives
the user a unique flexibility to select different levels of protection.
The user can select:
• To protect the entire Flash from a software update by the MCU
• To protect only the Boot Loader Flash section from a software update by the MCU
• To protect only the Application Flash section from a software update by the MCU
• Allow software update in the entire Flash
See Table 29-2 on page 347 and Table 29-3 on page 347 for further details. The Boot Lock bits
can be set by software and in Serial or in Parallel Programming mode. They can only be cleared
by a Chip Erase command only. The general Write Lock (Lock Bit mode 2) does not control the
programming of the Flash memory by SPM instruction. Similarly, the general Read/Write Lock
(Lock Bit mode 1) does not control reading nor writing by (E)LPM/SPM, if it is attempted.
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Table 29-2.
BLB0 Mode
BLB02
BLB01
1
1
1
No restrictions for SPM or (E)LPM accessing the
Application section.
2
1
0
SPM is not allowed to write to the Application section.
0
SPM is not allowed to write to the Application section, and
(E)LPM executing from the Boot Loader section is not
allowed to read from the Application section. If Interrupt
Vectors are placed in the Boot Loader section, interrupts
are disabled while executing from the Application section.
1
(E)LPM executing from the Boot Loader section is not
allowed to read from the Application section. If Interrupt
Vectors are placed in the Boot Loader section, interrupts
are disabled while executing from the Application section.
3
0
4
0
Protection
1. “1” means unprogrammed, “0” means programmed.
Note:
Table 29-3.
Boot Lock Bit1 protection modes (boot loader section) (1).
BLB1 Mode
BLB12
BLB11
1
1
1
No restrictions for SPM or (E)LPM accessing the Boot
Loader section.
2
1
0
SPM is not allowed to write to the Boot Loader section.
0
SPM is not allowed to write to the Boot Loader section,
and (E)LPM executing from the Application section is not
allowed to read from the Boot Loader section. If Interrupt
Vectors are placed in the Application section, interrupts
are disabled while executing from the Boot Loader section.
1
(E)LPM executing from the Application section is not
allowed to read from the Boot Loader section. If Interrupt
Vectors are placed in the Application section, interrupts
are disabled while executing from the Boot Loader section.
3
4
Note:
29.5
Boot Lock Bit0 protection modes (application section) (1).
0
0
Protection
1. “1” means unprogrammed, “0” means programmed.
Entering the Boot Loader program
The boot loader can be executed with three different conditions:
29.5.1
Regular application conditions.
A jump or call from the application program. This may be initiated by a trigger such as a command received via USART, SPI or USB.
29.5.2
Boot Reset fuse
The Boot Reset Fuse (BOOTRST) can be programmed so that the Reset Vector is pointing to
the Boot Flash start address after a reset. In this case, the Boot Loader is started after a reset.
After the application code is loaded, the program can start executing the application code. Note
that the fuses cannot be changed by the MCU itself. This means that once the Boot Reset Fuse
is programmed, the Reset Vector will always point to the Boot Loader Reset and the fuse can
only be changed through the serial or parallel programming interface.
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Table 29-4.
BOOTRST
Note:
29.5.3
Boot reset fuse (1).
Reset address
1
Reset Vector = Application reset (address 0x0000)
0
Reset Vector = Boot loader reset (see Table 29-8 on page 357)
1. “1” means unprogrammed, “0” means programmed.
External hardware conditions
The Hardware Boot Enable Fuse (HWBE) can be programmed (see Table 29-5) so that upon
special hardware conditions under reset, the boot loader execution is forced after reset.
Table 29-5.
HWBE
Note:
Hardware boot enable fuse (1).
Reset address
1
ALE/HWB pin can not be used to force boot loader execution after reset
0
ALE/HWB pin is used during reset to force boot loader execution after reset
1. “1” means unprogrammed, “0” means programmed.
When the HWBE fuse is enable the ALE/HWB pin is configured as input during reset and sampled during reset rising edge. When ALE/HWB pin is ‘0’ during reset rising edge, the reset vector
will be set as the Boot Loader Reset address and the Boot Loader will be executed (see Figure
29-3).
Figure 29-3. Boot process description.
RESET
tSHRH
tHHRH
ALE/HWB
HWBE ?
Ext. hardware
conditions ?
BOOTRST ?
Reset vector = Application reset
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29.5.4
SPMCSR – Store Program Memory Control and Status Register
The Store Program Memory Control and Status Register contains the control bits needed to control the Boot Loader operations.
Bit
7
6
5
4
3
2
1
SPMIE
RWWSB
SIGRD
RWWSRE
BLBSET
PGWRT
PGERS
0
SPMEN
Read/write
R/W
R
R/W
R/W
R/W
R/W
R/W
R/W
Initial value
0
0
0
0
0
0
0
0
SPMCSR
• Bit 7 – SPMIE: SPM Interrupt Enable
When the SPMIE bit is written to one, and the I-bit in the Status Register is set (one), the SPM
ready interrupt will be enabled. The SPM ready Interrupt will be executed as long as the SPMEN
bit in the SPMCSR Register is cleared.
• Bit 6 – RWWSB: Read-While-Write Section Busy
When a Self-Programming (Page Erase or Page Write) operation to the RWW section is initiated, the RWWSB will be set (one) by hardware. When the RWWSB bit is set, the RWW section
cannot be accessed. The RWWSB bit will be cleared if the RWWSRE bit is written to one after a
Self-Programming operation is completed. Alternatively the RWWSB bit will automatically be
cleared if a page load operation is initiated.
• Bit 5 – SIGRD: Signature Row Read
If this bit is written to one at the same time as SPMEN, the next LPM instruction within three
clock cycles will read a byte from the signature row into the destination register. see “Reading
the Signature Row from software” on page 354 for details. An SPM instruction within four cycles
after SIGRD and SPMEN are set will have no effect. This operation is reserved for future use
and should not be used.
• Bit 4 – RWWSRE: Read-While-Write Section Read Enable
When programming (Page Erase or Page Write) to the RWW section, the RWW section is
blocked for reading (the RWWSB will be set by hardware). To re-enable the RWW section, the
user software must wait until the programming is completed (SPMEN will be cleared). Then, if
the RWWSRE bit is written to one at the same time as SPMEN, the next SPM instruction within
four clock cycles re-enables the RWW section. The RWW section cannot be re-enabled while
the Flash is busy with a Page Erase or a Page Write (SPMEN is set). If the RWWSRE bit is written while the Flash is being loaded, the Flash load operation will abort and the data loaded will
be lost.
• Bit 3 – BLBSET: Boot Lock Bit Set
If this bit is written to one at the same time as SPMEN, the next SPM instruction within four clock
cycles sets Boot Lock bits, according to the data in R0. The data in R1 and the address in the Zpointer are ignored. The BLBSET bit will automatically be cleared upon completion of the Lock
bit set, or if no SPM instruction is executed within four clock cycles.
An (E)LPM instruction within three cycles after BLBSET and SPMEN are set in the SPMCSR
Register, will read either the Lock bits or the Fuse bits (depending on Z0 in the Z-pointer) into the
destination register. See “Reading the Fuse and Lock bits from software” on page 353 for
details.
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• Bit 2 – PGWRT: Page Write
If this bit is written to one at the same time as SPMEN, the next SPM instruction within four clock
cycles executes Page Write, with the data stored in the temporary buffer. The page address is
taken from the high part of the Z-pointer. The data in R1 and R0 are ignored. The PGWRT bit
will auto-clear upon completion of a Page Write, or if no SPM instruction is executed within four
clock cycles. The CPU is halted during the entire Page Write operation if the NRWW section is
addressed.
• Bit 1 – PGERS: Page Erase
If this bit is written to one at the same time as SPMEN, the next SPM instruction within four clock
cycles executes Page Erase. The page address is taken from the high part of the Z-pointer. The
data in R1 and R0 are ignored. The PGERS bit will auto-clear upon completion of a Page Erase,
or if no SPM instruction is executed within four clock cycles. The CPU is halted during the entire
Page Write operation if the NRWW section is addressed.
• Bit 0 – SPMEN: Store Program Memory Enable
This bit enables the SPM instruction for the next four clock cycles. If written to one together with
either RWWSRE, BLBSET, PGWRT’ or PGERS, the following SPM instruction will have a special meaning, see description above. If only SPMEN is written, the following SPM instruction will
store the value in R1:R0 in the temporary page buffer addressed by the Z-pointer. The LSB of
the Z-pointer is ignored. The SPMEN bit will auto-clear upon completion of an SPM instruction,
or if no SPM instruction is executed within four clock cycles. During Page Erase and Page Write,
the SPMEN bit remains high until the operation is completed.
Writing any other combination than “10001”, “01001”, “00101”, “00011” or “00001” in the lower
five bits will have no effect.
Note:
29.6
Only one SPM instruction should be active at any time.
Addressing the flash during self-programming
The Z-pointer is used to address the SPM commands. The Z pointer consists of the Z-registers
ZL and ZH in the register file, and RAMPZ in the I/O space. The number of bits actually used is
implementation dependent. Note that the RAMPZ register is only implemented when the program space is larger than 64kBytes.
Bit
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
RAMPZ
RAMPZ7
RAMPZ6
RAMPZ5
RAMPZ4
RAMPZ3
RAMPZ2
RAMPZ1
RAMPZ0
ZH (R31)
Z15
Z14
Z13
Z12
Z11
Z10
Z9
Z8
ZL (R30)
Z7
Z6
Z5
Z4
Z3
Z2
Z1
Z0
7
6
5
4
3
2
1
0
Since the Flash is organized in pages (see Table 30-11 on page 364), the Program Counter can
be treated as having two different sections. One section, consisting of the least significant bits, is
addressing the words within a page, while the most significant bits are addressing the pages.
This is shown in Figure 29-4 on page 351. Note that the Page Erase and Page Write operations
are addressed independently. Therefore it is of major importance that the Boot Loader software
addresses the same page in both the Page Erase and Page Write operation. Once a programming operation is initiated, the address is latched and the Z-pointer can be used for other
operations.
The (E)LPM instruction use the Z-pointer to store the address. Since this instruction addresses
the Flash byte-by-byte, also bit Z0 of the Z-pointer is used.
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Figure 29-4. Addressing the flash during SPM (1).
BIT
23
ZPCMSB
ZPAGEMSB
1 0
0
PCMSB
PROGRAM COUNTER
Z - POINTER
PAGEMSB
PCPAGE
PCWORD
PAGE ADDRESS
WITHIN THE FLASH
WORD ADDRESS
WITHIN A PAGE
PROGRAM MEMORY
PAGE
PAGE
INSTRUCTION WORD
PCWORD[PAGEMSB:0]:
00
01
02
PAGEEND
Note:
29.7
1. The different variables used in Figure 29-4 are listed in Table 29-10 on page 358.
Self-programming the flash
The program memory is updated in a page by page fashion. Before programming a page with
the data stored in the temporary page buffer, the page must be erased. The temporary page buffer is filled one word at a time using SPM and the buffer can be filled either before the Page
Erase command or between a Page Erase and a Page Write operation:
Alternative 1, fill the buffer before a Page Erase
• Fill temporary page buffer
• Perform a Page Erase
• Perform a Page Write
Alternative 2, fill the buffer after Page Erase
• Perform a Page Erase
• Fill temporary page buffer
• Perform a Page Write
If only a part of the page needs to be changed, the rest of the page must be stored (for example
in the temporary page buffer) before the erase, and then be rewritten. When using alternative 1,
the Boot Loader provides an effective Read-Modify-Write feature which allows the user software
to first read the page, do the necessary changes, and then write back the modified data. If alternative 2 is used, it is not possible to read the old data while loading since the page is already
erased. The temporary page buffer can be accessed in a random sequence. It is essential that
the page address used in both the Page Erase and Page Write operation is addressing the same
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page. See “Simple Assembly Code example for a Boot Loader” on page 355 for an assembly
code example.
29.7.1
Performing page erase by SPM
To execute Page Erase, set up the address in the Z-pointer, write “X0000011” to SPMCSR and
execute SPM within four clock cycles after writing SPMCSR. The data in R1 and R0 is ignored.
The page address must be written to PCPAGE in the Z-register. Other bits in the Z-pointer will
be ignored during this operation.
• Page Erase to the RWW section: The NRWW section can be read during the Page Erase
• Page Erase to the NRWW section: The CPU is halted during the operation
29.7.2
Filling the Temporary Buffer (page loading)
To write an instruction word, set up the address in the Z-pointer and data in R1:R0, write
“00000001” to SPMCSR and execute SPM within four clock cycles after writing SPMCSR. The
content of PCWORD in the Z-register is used to address the data in the temporary buffer. The
temporary buffer will auto-erase after a Page Write operation or by writing the RWWSRE bit in
SPMCSR. It is also erased after a system reset. Note that it is not possible to write more than
one time to each address without erasing the temporary buffer.
If the EEPROM is written in the middle of an SPM Page Load operation, all data loaded will be
lost.
29.7.3
Performing a Page Write
To execute Page Write, set up the address in the Z-pointer, write “X0000101” to SPMCSR and
execute SPM within four clock cycles after writing SPMCSR. The data in R1 and R0 is ignored.
The page address must be written to PCPAGE. Other bits in the Z-pointer must be written to
zero during this operation.
• Page Write to the RWW section: The NRWW section can be read during the Page Write
• Page Write to the NRWW section: The CPU is halted during the operation
29.7.4
Using the SPM interrupt
If the SPM interrupt is enabled, the SPM interrupt will generate a constant interrupt when the
SPMEN bit in SPMCSR is cleared. This means that the interrupt can be used instead of polling
the SPMCSR Register in software. When using the SPM interrupt, the Interrupt Vectors should
be moved to the BLS section to avoid that an interrupt is accessing the RWW section when it is
blocked for reading. How to move the interrupts is described in “Interrupts” on page 68.
29.7.5
Consideration while updating BLS
Special care must be taken if the user allows the Boot Loader section to be updated by leaving
Boot Lock bit11 unprogrammed. An accidental write to the Boot Loader itself can corrupt the
entire Boot Loader, and further software updates might be impossible. If it is not necessary to
change the Boot Loader software itself, it is recommended to program the Boot Lock bit11 to
protect the Boot Loader software from any internal software changes.
29.7.6
Prevent reading the RWW section during self-programming
During Self-Programming (either Page Erase or Page Write), the RWW section is always
blocked for reading. The user software itself must prevent that this section is addressed during
the self programming operation. The RWWSB in the SPMCSR will be set as long as the RWW
section is busy. During Self-Programming the Interrupt Vector table should be moved to the BLS
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as described in “Interrupts” on page 68, or the interrupts must be disabled. Before addressing
the RWW section after the programming is completed, the user software must clear the
RWWSB by writing the RWWSRE. See “Simple Assembly Code example for a Boot Loader” on
page 355 for an example.
29.7.7
Setting the Boot Loader Lock bits by SPM
To set the Boot Loader Lock bits, write the desired data to R0, write “X0001001” to SPMCSR
and execute SPM within four clock cycles after writing SPMCSR. The only accessible Lock bits
are the Boot Lock bits that may prevent the Application and Boot Loader section from any software update by the MCU.
Bit
7
6
5
4
3
2
1
0
R0
1
1
BLB12
BLB11
BLB02
BLB01
1
1
See Table 29-2 on page 347 and Table 29-3 on page 347 for how the different settings of the
Boot Loader bits affect the Flash access.
If bits 5..2 in R0 are cleared (zero), the corresponding Boot Lock bit will be programmed if an
SPM instruction is executed within four cycles after BLBSET and SPMEN are set in SPMCSR.
The Z-pointer is don’t care during this operation, but for future compatibility it is recommended to
load the Z-pointer with 0x0001 (same as used for reading the lOck bits). For future compatibility it
is also recommended to set bits 7, 6, 1, and 0 in R0 to “1” when writing the Lock bits. When programming the Lock bits the entire Flash can be read during the operation.
29.7.8
EEPROM Write prevents writing to SPMCSR
Note that an EEPROM write operation will block all software programming to Flash. Reading the
Fuses and Lock bits from software will also be prevented during the EEPROM write operation. It
is recommended that the user checks the status bit (EEPE) in the EECR Register and verifies
that the bit is cleared before writing to the SPMCSR Register.
29.7.9
Reading the Fuse and Lock bits from software
It is possible to read both the Fuse and Lock bits from software. To read the Lock bits, load the
Z-pointer with 0x0001 and set the BLBSET and SPMEN bits in SPMCSR. When an (E)LPM
instruction is executed within three CPU cycles after the BLBSET and SPMEN bits are set in
SPMCSR, the value of the Lock bits will be loaded in the destination register. The BLBSET and
SPMEN bits will auto-clear upon completion of reading the Lock bits or if no (E)LPM instruction
is executed within three CPU cycles or no SPM instruction is executed within four CPU cycles.
When BLBSET and SPMEN are cleared, (E)LPM will work as described in the Instruction set
Manual.
Bit
7
6
5
4
3
2
1
0
Rd
–
–
BLB12
BLB11
BLB02
BLB01
LB2
LB1
The algorithm for reading the Fuse Low byte is similar to the one described above for reading
the Lock bits. To read the Fuse Low byte, load the Z-pointer with 0x0000 and set the BLBSET
and SPMEN bits in SPMCSR. When an (E)LPM instruction is executed within three cycles after
the BLBSET and SPMEN bits are set in the SPMCSR, the value of the Fuse Low byte (FLB) will
be loaded in the destination register as shown below. Refer to Table 30-5 on page 361 for a
detailed description and mapping of the Fuse Low byte.
Bit
7
6
5
4
3
2
1
0
Rd
FLB7
FLB6
FLB5
FLB4
FLB3
FLB2
FLB1
FLB0
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Similarly, when reading the Fuse High byte, load 0x0003 in the Z-pointer. When an (E)LPM
instruction is executed within three cycles after the BLBSET and SPMEN bits are set in the
SPMCSR, the value of the Fuse High byte (FHB) will be loaded in the destination register as
shown below. Refer to Table 30-4 on page 361 for detailed description and mapping of the Fuse
High byte.
Bit
7
6
5
4
3
2
1
0
Rd
FHB7
FHB6
FHB5
FHB4
FHB3
FHB2
FHB1
FHB0
When reading the Extended Fuse byte, load 0x0002 in the Z-pointer. When an (E)LPM instruction is executed within three cycles after the BLBSET and SPMEN bits are set in the SPMCSR,
the value of the Extended Fuse byte (EFB) will be loaded in the destination register as shown
below. Refer to Table 30-3 on page 360 for detailed description and mapping of the Extended
Fuse byte.
Bit
7
6
5
4
3
2
1
0
Rd
–
–
–
–
–
EFB2
EFB1
EFB0
Fuse and Lock bits that are programmed, will be read as zero. Fuse and Lock bits that are
unprogrammed, will be read as one.
29.7.10
Reading the Signature Row from software
To read the Signature Row from software, load the Z-pointer with the signature byte address
given in Table 29-6 on page 354 and set the SIGRD and SPMEN bits in SPMCSR. When an
LPM instruction is executed within three CPU cycles after the SIGRD and SPMEN bits are set in
SPMCSR, the signature byte value will be loaded in the destination register. The SIGRD and
SPMEN bits will auto-clear upon completion of reading the Signature Row Lock bits or if no LPM
instruction is executed within three CPU cycles. When SIGRD and SPMEN are cleared, LPM will
work as described in the Instruction set Manual.
AT90USB64/128 includes a unique 10-bytes serial number located in the signature row. This
unique serial number can be used as a USB serial number in the device enumeration process.
The pointer addresses to access this unique serial number are given in Table 29-6 on page 354.
Table 29-6.
Signature byte
Z-pointer address
Device Signature Byte 1
0x0000
Device Signature Byte 2
0x0002
Device Signature Byte 3
0x0004
RC Oscillator Calibration Byte
0x0001
Unique Serial Number
From 0x000E to 0x0018
Note:
29.7.11
Signature Row addressing.
All other addresses are reserved for future use.
Preventing flash corruption
During periods of low VCC, the Flash program can be corrupted because the supply voltage is
too low for the CPU and the Flash to operate properly. These issues are the same as for board
level systems using the Flash, and the same design solutions should be applied.
A Flash program corruption can be caused by two situations when the voltage is too low. First, a
regular write sequence to the Flash requires a minimum voltage to operate correctly. Secondly,
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the CPU itself can execute instructions incorrectly, if the supply voltage for executing instructions
is too low.
Flash corruption can easily be avoided by following these design recommendations (one is
sufficient):
1. If there is no need for a Boot Loader update in the system, program the Boot Loader
Lock bits to prevent any Boot Loader software updates.
2. Keep the AVR RESET active (low) during periods of insufficient power supply voltage.
This can be done by enabling the internal Brown-out Detector (BOD) if the operating
voltage matches the detection level. If not, an external low VCC reset protection circuit
can be used. If a reset occurs while a write operation is in progress, the write operation
will be completed provided that the power supply voltage is sufficient.
3. Keep the AVR core in Power-down sleep mode during periods of low VCC. This will prevent the CPU from attempting to decode and execute instructions, effectively protecting
the SPMCSR Register and thus the Flash from unintentional writes.
29.7.12
Programming time for flash when using SPM
The calibrated RC Oscillator is used to time Flash accesses. Table 29-7 shows the typical programming time for Flash accesses from the CPU.
Table 29-7.
29.7.13
SPM programming time.
Symbol
Minimum programming time
Maximum programming time
Flash write (Page Erase, Page
Write, and write Lock bits by SPM)
3.7ms
4.5ms
Simple Assembly Code example for a Boot Loader
;- the routine writes one page of data from RAM to Flash
; the first data location in RAM is pointed to by the Y-pointer
; the first data location in Flash is pointed to by the Z-pointer
;- error handling is not included
;- the routine must be placed inside the Boot space
; (at least the Do_spm sub routine). Only code inside NRWW section can
; be read during Self-Programming (Page Erase and Page Write).
;- registers used: r0, r1, temp1 (r16), temp2 (r17), looplo (r24),
; loophi (r25), spmcsrval (r20)
; storing and restoring of registers is not included in the routine
; register usage can be optimized at the expense of code size
;- it is assumed that either the interrupt table is moved to the Boot
; loader section or that the interrupts are disabled.
.equ PAGESIZEB = PAGESIZE*2
.org SMALLBOOTSTART
;PAGESIZEB is page size in BYTES, not words
Write_page:
; Page Erase
ldi spmcsrval, (1<<PGERS) | (1<<SPMEN)
call Do_spm
; re-enable the RWW section
ldi spmcsrval, (1<<RWWSRE) | (1<<SPMEN)
call Do_spm
; transfer data from RAM to Flash page buffer
ldi looplo, low(PAGESIZEB)
;init loop variable
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7593L–AVR–09/12
ldi
loophi, high(PAGESIZEB)
Wrloop:
ld
r0, Y+
ld
r1, Y+
ldi spmcsrval, (1<<SPMEN)
call Do_spm
adiw ZH:ZL, 2
sbiw loophi:looplo, 2
brne Wrloop
;not required for PAGESIZEB<=256
;use subi for PAGESIZEB<=256
; execute Page Write
subi ZL, low(PAGESIZEB)
;restore pointer
sbci ZH, high(PAGESIZEB)
;not required for PAGESIZEB<=256
ldi spmcsrval, (1<<PGWRT) | (1<<SPMEN)
call Do_spm
; re-enable the RWW section
ldi spmcsrval, (1<<RWWSRE) | (1<<SPMEN)
call Do_spm
; read back and check, optional
ldi looplo, low(PAGESIZEB)
;init loop variable
ldi loophi, high(PAGESIZEB) ;not required for PAGESIZEB<=256
subi YL, low(PAGESIZEB)
;restore pointer
sbci YH, high(PAGESIZEB)
Rdloop:
lpm r0, Z+
ld
r1, Y+
cpse r0, r1
jmp Error
sbiw loophi:looplo, 1
brne Rdloop
;use subi for PAGESIZEB<=256
; return to RWW section
; verify that RWW section is safe to read
Return:
in
temp1, SPMCSR
sbrs temp1, RWWSB
; If RWWSB is set, the RWW section is not ready yet
ret
; re-enable the RWW section
ldi spmcsrval, (1<<RWWSRE) | (1<<SPMEN)
call Do_spm
rjmp Return
Do_spm:
; check for previous SPM complete
Wait_spm:
in
temp1, SPMCSR
sbrc temp1, SPMEN
rjmp Wait_spm
; input: spmcsrval determines SPM action
; disable interrupts if enabled, store status
in
temp2, SREG
cli
; check that no EEPROM write access is present
356
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Wait_ee:
sbic EECR, EEWE
rjmp Wait_ee
; SPM timed sequence
out SPMCSR, spmcsrval
spm
; restore SREG (to enable interrupts if originally enabled)
out SREG, temp2
ret
Atmel AT90USB64/128 Boot Loader parameters
In Table 29-8 through Table 29-10 on page 358, the parameters used in the description of the
self-programming are given.
(start Boot
Loader section)
Boot
reset address
1
512 words
4
0x0000 - 0x7DFF
0x7E00 - 0x7FFF
0x7DFF
0x7E00
1
0
1024 words
8
0x0000 - 0x7BFF
0x7C00 - 0x7FFF
0x7BFF
0x7C00
0
1
2048 words
16
0x0000 - 0x77FF
0x7800 - 0x7FFF
0x77FF
0x7800
0
0
4096 words
32
0x0000 - 0x6FFF
0x7000 - 0x7FFF
0x6FFF
0x7000
1
1
512 words
4
0x0000 - 0xFDFF
0xFE00 - 0xFFFF
0xFDFF
0xFE00
1
0
1024 words
8
0x0000 - 0xFBFF
0xFC00 - 0xFFFF
0xFBFF
0xFC00
0
1
2048 words
16
0x0000 - 0xF7FF
0xF800 - 0xFFFF
0xF7FF
0xF800
0
0
4096 words
32
0x0000 - 0xEFFF
0xF000 - 0xFFFF
0xEFFF
0xF000
Note:
Pages
End
application
section
BOOTSZ0
Boot Loader
flash section
BOOTSZ1
1
Device
AT90USB64
Application
flash section
Boot size configuration (word addresses) (1).
AT90USB128
Table 29-8.
Boot size
29.7.14
1. The different BOOTSZ fuse configurations are shown in Figure 29-2 on page 346.
Table 29-9.
Device
Read-While-Write limit (word addresses) (1).
Section
Pages
Address
Read-While-Write section (RWW)
224
0x0000 - 0x6FFF
No Read-While-Write section (NRWW)
32
0x7000 - 0x7FFF
Read-While-Write section (RWW)
480
0x0000 - 0xEFFF
No Read-While-Write section (NRWW)
32
0xF000 - 0xFFFF
AT90USB64
AT90USB28
Note:
1. For details about these two section, see “NRWW – No Read-While-Write section” on page 344
and “RWW – Read-While-Write section” on page 344.
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Table 29-10.
Explanation of different variables used in Figure 29-4 on page 351 and the mapping to the Z-pointer.
Corresponding
Z-value
Variable
Description (1)
PCMSB
16
Most significant bit in the Program Counter. (The
Program Counter is 17 bits PC[16:0])
PAGEMSB
6
Most significant bit which is used to address the
words within one page (128 words in a page requires
seven bits PC [6:0]).
ZPCMSB
Z17
Bit in Z-pointer that is mapped to PCMSB. Because
Z0 is not used, the ZPCMSB equals PCMSB + 1.
ZPAGEMSB
Z7
Bit in Z-pointer that is mapped to PCMSB. Because
Z0 is not used, the ZPAGEMSB equals PAGEMSB +
1.
PCPAGE
PC[16:7]
Z17:Z8
Program Counter page address: Page select, for
Page Erase and Page Write
PCWORD
PC[6:0]
Z7:Z1
Program Counter word address: Word select, for
filling temporary buffer (must be zero during Page
Write operation)
PCMSB
15
Most significant bit in the program counter. (The
program counter is 16 bits PC[15:0])
PAGEMSB
6
Most significant bit which is used to address the
words within one page (128 words in a page requires
7 bits PC [6:0]).
ZPCMSB
Z16
Bit in Z-register that is mapped to PCMSB. Because
Z0 is not used, the ZPCMSB equals PCMSB + 1.
ZPAGEMSB
Z7
Bit in Z-register that is mapped to PAGEMSB.
Because Z0 is not used, the ZPAGEMSB equals
PAGEMSB + 1.
PCPAGE
PC[15:7]
Z16:Z7
Program counter page address: Page select, for
Page Erase and Page Write.
PCWORD
PC[6:0]
Z7:Z1
Program counter word address: Word select, for
filling temporary buffer (must be zero during PAGE
WRITE operation).
Note:
1. Z0: should be zero for all SPM commands, byte select for the (E)LPM instruction.
See “Addressing the flash during self-programming” on page 350 for details about the use of Zpointer during Self-Programming.
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AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
30. Memory programming
30.1
Program and data memory lock bits
The Atmel AT90USB64/128 provides six Lock bits, which can be left unprogrammed (“1”) or can
be programmed (“0”) to obtain the additional features listed in Table 30-2. The Lock bits can only
be erased to “1” with the Chip Erase command.
Table 30-1.
Lock Bit byte (1).
Lock bit byte
Bit no.
Description
Default value
7
–
1 (unprogrammed)
6
–
1 (unprogrammed)
BLB12
5
Boot Lock bit
1 (unprogrammed)
BLB11
4
Boot Lock bit
0 (programmed)
BLB02
3
Boot Lock bit
1 (unprogrammed)
BLB01
2
Boot Lock bit
1 (unprogrammed)
LB2
1
Lock bit
0 (programmed)
LB1
0
Lock bit
0 (programmed)
1. “1” means unprogrammed, “0” means programmed.
Note:
Table 30-2.
Lock bit protection modes (1)(2).
Memory lock bits
Protection type
LB mode
LB2
LB1
1
1
1
No memory lock features enabled.
0
Further programming of the Flash and EEPROM is
disabled in Parallel and Serial Programming mode. The
Fuse bits are locked in both Serial and Parallel
Programming mode. (1)
Further programming and verification of the Flash and
EEPROM is disabled in Parallel and Serial Programming
mode. The Boot Lock bits and Fuse bits are locked in both
Serial and Parallel Programming mode. (1)
2
1
3
0
0
BLB0 mode
BLB02
BLB01
1
1
1
No restrictions for SPM or (E)LPM accessing the
Application section.
2
1
0
SPM is not allowed to write to the Application section.
0
SPM is not allowed to write to the Application section, and
(E)LPM executing from the Boot Loader section is not
allowed to read from the Application section. If Interrupt
Vectors are placed in the Boot Loader section, interrupts
are disabled while executing from the Application section.
1
(E)LPM executing from the Boot Loader section is not
allowed to read from the Application section. If Interrupt
Vectors are placed in the Boot Loader section, interrupts
are disabled while executing from the Application section.
3
4
0
0
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Lock bit protection modes (1)(2). (Continued)
Table 30-2.
Memory lock bits
Protection type
BLB1 Mode
BLB12
BLB11
1
1
1
No restrictions for SPM or (E)LPM accessing the Boot
Loader section.
2
1
0
SPM is not allowed to write to the Boot Loader section.
0
SPM is not allowed to write to the Boot Loader section,
and (E)LPM executing from the Application section is not
allowed to read from the Boot Loader section. If Interrupt
Vectors are placed in the Application section, interrupts
are disabled while executing from the Boot Loader section.
1
(E)LPM executing from the Application section is not
allowed to read from the Boot Loader section. If Interrupt
Vectors are placed in the Application section, interrupts
are disabled while executing from the Boot Loader section.
3
0
4
Notes:
0
1. Program the Fuse bits and Boot Lock bits before programming the LB1 and LB2.
2. “1” means unprogrammed, “0” means programmed.
30.2
Fuse bits
The Atmel AT90USB64/128 has four Fuse bytes. Table 30-3 - Table 30-5 on page 361 describe
briefly the functionality of all the fuses and how they are mapped into the Fuse bytes. Note that
the fuses are read as logical zero, “0”, if they are programmed.
Table 30-3.
Extended Fuse Byte (0xF3).
Fuse low byte
Bit no.
Description
Default value
–
7
–
1
–
6
–
1
–
5
–
1
–
4
–
1
HWBE
3
Hardware Boot Enable
0 (programmed)
BODLEVEL2
(1)
2
Brown-out Detector trigger level
0 (programmed)
BODLEVEL1
(1)
1
Brown-out Detector trigger level
1 (unprogrammed)
BODLEVEL0 (1)
0
Brown-out Detector trigger level
1 (unprogrammed)
Note:
360
1. See Table 9-2 on page 60 for BODLEVEL Fuse decoding.
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 30-4.
Fuse High Byte (AT90USB128: 0x99 - AT90USB64: 0x9B).
Fuse high byte
Bit no.
Description
Default value
7
Enable OCD
1 (unprogrammed, OCD disabled)
JTAGEN
6
Enable JTAG
0 (programmed, JTAG enabled)
SPIEN (1)
5
Enable Serial Program and Data
Downloading
0 (programmed, SPI prog. enabled)
WDTON (3)
4
Watchdog Timer always on
1 (unprogrammed)
EESAVE
3
EEPROM memory is preserved
through the Chip Erase
1 (unprogrammed, EEPROM not
preserved)
BOOTSZ1
2
Select Boot Size (see Table 30-6
on page 363 for details)
0 (programmed) (2)
BOOTSZ0
1
Select Boot Size (see Table 30-6
on page 363 for details)
0 (programmed) (2) (AT90USB128)
1 (unprogrammed) (2) (AT90USB64)
BOOTRST
0
Select Reset Vector
1 (unprogrammed)
OCDEN
Note:
(4)
1. The SPIEN Fuse is not accessible in serial programming mode.
2. See Table 29-8 on page 357 for details.
3. See “WDTCSR – Watchdog Timer Control Register” on page 65 for details.
4. Never ship a product with the OCDEN Fuse programmed regardless of the setting of Lock bits
and JTAGEN Fuse. A programmed OCDEN Fuse enables some parts of the clock system to
be running in all sleep modes. This may increase the power consumption.
Table 30-5.
Fuse low byte (0x5E).
Fuse low byte
Description
Default value
7
Divide clock by 8
0 (programmed)
CKOUT (3)
6
Clock output
1 (unprogrammed)
SUT1
5
Select start-up time
0 (programmed) (1)
SUT0
4
Select start-up time
1 (unprogrammed) (1)
CKSEL3
3
Select Clock source
1 (unprogrammed) (2)
CKSEL2
2
Select Clock source
1 (unprogrammed) (2)
CKSEL1
1
Select Clock source
1 (unprogrammed) (2)
CKSEL0
0
Select Clock source
0 (programmed) (2)
CKDIV8
Note:
(4)
Bit no.
1. The default value of SUT1..0 results in maximum start-up time for the default clock source
(258K CK + 4.1ms). See Table 9-1 on page 58 for details.
2. The default setting of CKSEL3..0 results in External Crystal Oscillator @ 8MHz. See Table 7-1
on page 41 for details.
3. The CKOUT Fuse allow the system clock to be output on PORTC7. See “Clock output buffer”
on page 47 for details.
4. See “System clock prescaler” on page 47 for details.
The status of the Fuse bits is not affected by Chip Erase. Note that the Fuse bits are locked if
Lock bit1 (LB1) is programmed. Program the Fuse bits before programming the Lock bits.
30.2.1
Latching of fuses
The fuse values are latched when the device enters programming mode and changes of the
fuse values will have no effect until the part leaves Programming mode. This does not apply to
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7593L–AVR–09/12
the EESAVE Fuse which will take effect once it is programmed. The fuses are also latched on
Power-up in Normal mode.
30.3
Signature bytes
All Atmel microcontrollers have a three-byte signature code which identifies the device. This
code can be read in both serial and parallel mode, also when the device is locked. The three
bytes reside in a separate address space.
Atmel AT90USB128x Signature Bytes:
1. 0x000: 0x1E (indicates manufactured by Atmel).
2. 0x001: 0x97 (indicates 128KB Flash memory).
3. 0x002: 0x82 (indicates AT90USB128x device).
Atmel AT90USB64x Signature Bytes:
1. 0x000: 0x1E (indicates manufactured by Atmel).
2. 0x001: 0x96 (indicates 64KB Flash memory).
3. 0x002: 0x82 (indicates AT90USB64x device).
30.4
Calibration byte
The AT90USB64/128 has a byte calibration value for the internal RC Oscillator. This byte
resides in the high byte of address 0x000 in the signature address space. During reset, this byte
is automatically written into the OSCCAL Register to ensure correct frequency of the calibrated
RC Oscillator.
30.5
Parallel programming parameters, pin mapping, and commands
This section describes how to parallel program and verify Flash Program memory, EEPROM
Data memory, Memory Lock bits, and Fuse bits in the AT90USB64/128. Pulses are assumed to
be at least 250ns unless otherwise noted.
30.5.1
Signal names
In this section, some pins of the AT90USB64/128 are referenced by signal names describing
their functionality during parallel programming, see Figure 30-1 on page 363 and Table 30-6 on
page 363. Pins not described in the following table are referenced by pin names.
The XA1/XA0 pins determine the action executed when the XTAL1 pin is given a positive pulse.
The bit coding is shown in Table 30-9 on page 364.
When pulsing WR or OE, the command loaded determines the action executed. The different
commands are shown in Table 30-10 on page 364.
362
AT90USB64/128
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AT90USB64/128
Figure 30-1. Parallel programming (1).
+5V
RDY/BSY
PD1
OE
PD2
WR
PD3
BS1
PD4
XA0
PD5
XA1
PD6
PAGEL
PD7
+12V
VCC
+5V
AVCC
DATA
PB7 - PB0
RESET
BS2
PA0
XTAL1
GND
Note:
1. Unused pins should be left floating.
Table 30-6.
Pin name mapping.
Signal name in
programming mode
Pin name
I/O
Function
RDY/BSY
PD1
O
0: Device is busy programming
1: Device is ready for new command
OE
PD2
I
Output Enable (active low)
WR
PD3
I
Write Pulse (active low)
BS1
PD4
I
Byte Select 1
XA0
PD5
I
XTAL Action Bit 0
XA1
PD6
I
XTAL Action Bit 1
PAGEL
PD7
I
Program Memory and EEPROM data Page Load
BS2
PA0
I
Byte Select 2
DATA
PB7-0
I/O
Table 30-7.
Bi-directional Data bus (Output when OE is low)
BS2 and BS1 encoding.
BS2
BS1
Flash/EEPROM
address
Flash data
loading/reading
Fuse
programming
Reading fuse and
lock bits
0
0
Low Byte
Low Byte
Low Byte
Fuse Low Byte
0
1
High Byte
High Byte
High Byte
Lock-bits
1
0
Extended High
Byte
Reserved
Extended Byte
Extended Fuse
Byte
1
1
Reserved
Reserved
Reserved
Fuse High Byte
363
7593L–AVR–09/12
Table 30-8.
Pin values used to enter programming mode.
Pin
Symbol
Value
PAGEL
Prog_enable[3]
0
XA1
Prog_enable[2]
0
XA0
Prog_enable[1]
0
BS1
Prog_enable[0]
0
Table 30-9.
XA1 and XA0 enoding.
XA1
XA0
Action when XTAL1 is pulsed
0
0
Load Flash or EEPROM Address (High or low address byte
determined by BS2 and BS1).
0
1
Load Data (High or Low data byte for Flash determined by BS1).
1
0
Load Command
1
1
No Action, Idle
Table 30-10. Command byte bit encoding.
Command byte
Command executed
1000 0000
Chip Erase
0100 0000
Write Fuse bits
0010 0000
Write Lock bits
0001 0000
Write Flash
0001 0001
Write EEPROM
0000 1000
Read Signature Bytes and Calibration byte
0000 0100
Read Fuse and Lock bits
0000 0010
Read Flash
0000 0011
Read EEPROM
Table 30-11. No. of words in a page and no. of pages in the flash.
Page Size
PCWORD
No. of
pages
PCPAGE
PCMSB
16K words (32kBytes)
64 words
PC[6:0]
256
PC[13:7]
13
32K words (64kBytes)
128 words
PC[6:0]
256
PC[14:7]
14
64K words (128kBytes)
128 words
PC[6:0]
512
PC[15:7]
15
Flash size
364
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 30-12. No. of words in a page and no. of pages in the EEPROM.
30.6
30.6.1
EEPROM size
Page size
PCWORD
No. of
pages
PCPAGE
EEAMSB
1kBytes
4 bytes
EEA[2:0]
256
EEA[9:3]
9
2kBytes
8 bytes
EEA[2:0]
256
EEA[10:3]
10
4kBytes
8 bytes
EEA[2:0]
512
EEA[11:3]
11
Parallel programming
Enter programming mode
The following algorithm puts the device in parallel programming mode:
1. Apply 4.5 - 5.5V between VCC and GND.
2. Set RESET to “0” and toggle XTAL1 at least six times.
3. Set the Prog_enable pins listed in Table 30-8 on page 364 to “0000” and wait at least
100ns.
4. Apply 11.5 - 12.5V to RESET. Any activity on Prog_enable pins within 100ns after +12V
has been applied to RESET, will cause the device to fail entering programming mode.
5. Wait at least 50µs before sending a new command.
30.6.2
Considerations for efficient programming
The loaded command and address are retained in the device during programming. For efficient
programming, the following should be considered.
• The command needs only be loaded once when writing or reading multiple memory locations
• Skip writing the data value 0xFF, that is the contents of the entire EEPROM (unless the
EESAVE Fuse is programmed) and Flash after a Chip Erase
• Address high byte needs only be loaded before programming or reading a new 256 word
window in Flash or 256 byte EEPROM. This consideration also applies to Signature bytes
reading
30.6.3
Chip erase
The Chip Erase will erase the Flash and EEPROM (1) memories plus Lock bits. The Lock bits are
not reset until the program memory has been completely erased. The Fuse bits are not
changed. A Chip Erase must be performed before the Flash and/or EEPROM are
reprogrammed.
Note:
1. The EEPRPOM memory is preserved during Chip Erase if the EESAVE Fuse is programmed.
Load Command “Chip Erase”
1. Set XA1, XA0 to “10”. This enables command loading.
2. Set BS1 to “0”.
3. Set DATA to “1000 0000”. This is the command for Chip Erase.
4. Give XTAL1 a positive pulse. This loads the command.
5. Give WR a negative pulse. This starts the Chip Erase. RDY/BSY goes low.
6. Wait until RDY/BSY goes high before loading a new command.
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7593L–AVR–09/12
30.6.4
Programming the Flash
The Flash is organized in pages, see Table 30-11 on page 364. When programming the Flash,
the program data is latched into a page buffer. This allows one page of program data to be programmed simultaneously. The following procedure describes how to program the entire Flash
memory:
A. Load Command “Write Flash”
1. Set XA1, XA0 to “10”. This enables command loading.
2. Set BS1 to “0”.
3. Set DATA to “0001 0000”. This is the command for Write Flash.
4. Give XTAL1 a positive pulse. This loads the command.
B. Load Address Low byte (Address bits 7..0)
1. Set XA1, XA0 to “00”. This enables address loading.
2. Set BS2, BS1 to “00”. This selects the address low byte.
3. Set DATA = Address low byte (0x00 - 0xFF).
4. Give XTAL1 a positive pulse. This loads the address low byte.
C. Load Data Low Byte
1. Set XA1, XA0 to “01”. This enables data loading.
2. Set DATA = Data low byte (0x00 - 0xFF).
3. Give XTAL1 a positive pulse. This loads the data byte.
D. Load Data High Byte
1. Set BS1 to “1”. This selects high data byte.
2. Set XA1, XA0 to “01”. This enables data loading.
3. Set DATA = Data high byte (0x00 - 0xFF).
4. Give XTAL1 a positive pulse. This loads the data byte.
E. Latch Data
1. Set BS1 to “1”. This selects high data byte.
2. Give PAGEL a positive pulse. This latches the data bytes. (See Figure 30-3 on page
368 for signal waveforms)
F. Repeat B through E until the entire buffer is filled or until all data within the page is loaded.
While the lower bits in the address are mapped to words within the page, the higher bits address
the pages within the FLASH. This is illustrated in Figure 30-2 on page 367. Note that if less than
eight bits are required to address words in the page (pagesize < 256), the most significant bit(s)
in the address low byte are used to address the page when performing a Page Write.
G. Load Address High byte (Address bits15..8)
1. Set XA1, XA0 to “00”. This enables address loading.
2. Set BS2, BS1 to “01”. This selects the address high byte.
3. Set DATA = Address high byte (0x00 - 0xFF).
4. Give XTAL1 a positive pulse. This loads the address high byte.
H. Load Address Extended High byte (Address bits 23..16)
1. Set XA1, XA0 to “00”. This enables address loading.
2. Set BS2, BS1 to “10”. This selects the address extended high byte.
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7593L–AVR–09/12
AT90USB64/128
3. Set DATA = Address extended high byte (0x00 - 0xFF).
4. Give XTAL1 a positive pulse. This loads the address high byte.
I. Program Page
1. Set BS2, BS1 to “00”
2. Give WR a negative pulse. This starts programming of the entire page of data.
RDY/BSY goes low.
3. Wait until RDY/BSY goes high (see Figure 30-3 on page 368 for signal waveforms).
J. Repeat B through I until the entire Flash is programmed or until all data has been
programmed.
K. End Page Programming
1. 1. Set XA1, XA0 to “10”. This enables command loading.
2. Set DATA to “0000 0000”. This is the command for No Operation.
3. Give XTAL1 a positive pulse. This loads the command, and the internal write signals
are reset.
Figure 30-2. Addressing the Flash which is organized in pages (1).
PCMSB
PROGRAM
COUNTER
PAGEMSB
PCPAGE
PAGE ADDRESS
WITHIN THE FLASH
PROGRAM MEMORY
PAGE
PCWORD
WORD ADDRESS
WITHIN A PAGE
PAGE
INSTRUCTION WORD
PCWORD[PAGEMSB:0]:
00
01
02
PAGEEND
Note:
1. PCPAGE and PCWORD are listed in Table 30-11 on page 364.
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Figure 30-3. Programming the Flash waveforms (1).
F
DATA
A
B
C
D
E
0x10
ADDR. LOW
DATA LOW
DATA HIGH
XX
B
ADDR. LOW
C
D
DATA LOW
DATA HIGH
E
XX
G
H
ADDR. HIGH ADDR. EXT.H
I
XX
XA1
XA0
BS1
BS2
XTAL1
WR
RDY/BSY
RESET +12V
OE
PAGEL
Note:
30.6.5
1. “XX” is don’t care. The letters refer to the programming description above.
Programming the EEPROM
The EEPROM is organized in pages, see Table 30-12 on page 365. When programming the
EEPROM, the program data is latched into a page buffer. This allows one page of data to be
programmed simultaneously. The programming algorithm for the EEPROM data memory is as
follows (refer to “Programming the Flash” on page 366 for details on Command, Address and
Data loading):
1. A: Load Command “0001 0001”.
2. G: Load Address High Byte (0x00 - 0xFF).
3. B: Load Address Low Byte (0x00 - 0xFF).
4. C: Load Data (0x00 - 0xFF).
5. E: Latch data (give PAGEL a positive pulse).
K: Repeat 3 through 5 until the entire buffer is filled.
L: Program EEPROM page
1. Set BS2, BS1 to “00”.
2. Give WR a negative pulse. This starts programming of the EEPROM page. RDY/BSY
goes low.
3. Wait until to RDY/BSY goes high before programming the next page (see Figure 30-4
on page 369 for signal waveforms).
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Figure 30-4. Programming the EEPROM waveforms.
K
DATA
A
G
0x11
ADDR. HIGH
B
ADDR. LOW
C
E
DATA
XX
B
ADDR. LOW
C
DATA
E
L
XX
XA1
XA0
BS1
XTAL1
WR
RDY/BSY
RESET +12V
OE
PAGEL
BS2
30.6.6
Reading the Flash
The algorithm for reading the Flash memory is as follows (refer to “Programming the Flash” on
page 366 for details on Command and Address loading):
1. A: Load Command “0000 0010”.
2. H: Load Address Extended Byte (0x00- 0xFF).
3. G: Load Address High Byte (0x00 - 0xFF).
4. B: Load Address Low Byte (0x00 - 0xFF).
5. Set OE to “0”, and BS1 to “0”. The Flash word low byte can now be read at DATA.
6. Set BS to “1”. The Flash word high byte can now be read at DATA.
7. Set OE to “1”.
30.6.7
Reading the EEPROM
The algorithm for reading the EEPROM memory is as follows (refer to “Programming the Flash”
on page 366 for details on Command and Address loading):
1. A: Load Command “0000 0011”.
2. G: Load Address High Byte (0x00 - 0xFF).
3. B: Load Address Low Byte (0x00 - 0xFF).
4. Set OE to “0”, and BS1 to “0”. The EEPROM Data byte can now be read at DATA.
5. Set OE to “1”.
30.6.8
Programming the Fuse Low bits
The algorithm for programming the Fuse Low bits is as follows (refer to “Programming the Flash”
on page 366 for details on Command and Data loading):
1. A: Load Command “0100 0000”.
2. C: Load Data Low Byte. Bit n = “0” programs and bit n = “1” erases the Fuse bit.
3. Give WR a negative pulse and wait for RDY/BSY to go high.
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30.6.9
Programming the Fuse High bits
The algorithm for programming the Fuse High bits is as follows (refer to “Programming the
Flash” on page 366 for details on Command and Data loading):
1. A: Load Command “0100 0000”.
2. C: Load Data Low Byte. Bit n = “0” programs and bit n = “1” erases the Fuse bit.
3. Set BS2, BS1 to “01”. This selects high data byte.
4. Give WR a negative pulse and wait for RDY/BSY to go high.
5. Set BS2, BS1 to “00”. This selects low data byte.
30.6.10
Programming the Extended Fuse bits
The algorithm for programming the Extended Fuse bits is as follows (refer to “Programming the
Flash” on page 366 for details on Command and Data loading):
1. 1. A: Load Command “0100 0000”.
2. 2. C: Load Data Low Byte. Bit n = “0” programs and bit n = “1” erases the Fuse bit.
3. 3. Set BS2, BS1 to “10”. This selects extended data byte.
4. 4. Give WR a negative pulse and wait for RDY/BSY to go high.
5. 5. Set BS2, BS1 to “00”. This selects low data byte.
Figure 30-5. Programming the FUSES waveforms.
Write fuse low byte
DATA
A
C
0x40
DATA
XX
Write fuse high byte
A
C
0x40
DATA
XX
Write extended fuse byte
A
C
0x40
DATA
XX
XA1
XA0
BS1
BS2
XTAL1
WR
RDY/BSY
RESET +12V
OE
PAGEL
30.6.11
Programming the Lock bits
The algorithm for programming the Lock bits is as follows (refer to “Programming the Flash” on
page 366 for details on Command and Data loading):
1. A: Load Command “0010 0000”.
2. C: Load Data Low Byte. Bit n = “0” programs the Lock bit. If LB mode 3 is programmed
(LB1 and LB2 is programmed), it is not possible to program the Boot Lock bits by any
External Programming mode.
3. Give WR a negative pulse and wait for RDY/BSY to go high.
The Lock bits can only be cleared by executing Chip Erase.
370
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AT90USB64/128
30.6.12
Reading the Fuse and Lock bits
The algorithm for reading the Fuse and Lock bits is as follows (refer to “Programming the Flash”
on page 366 for details on Command loading):
1. A: Load Command “0000 0100”.
2. Set OE to “0”, and BS2, BS1 to “00”. The status of the Fuse Low bits can now be read
at DATA (“0” means programmed).
3. Set OE to “0”, and BS2, BS1 to “11”. The status of the Fuse High bits can now be read
at DATA (“0” means programmed).
4. Set OE to “0”, and BS2, BS1 to “10”. The status of the Extended Fuse bits can now be
read at DATA (“0” means programmed).
5. Set OE to “0”, and BS2, BS1 to “01”. The status of the Lock bits can now be read at
DATA (“0” means programmed).
6. Set OE to “1”.
Figure 30-6. Mapping between BS1, BS2 and the Fuse and Lock Bits during read.
0
Fuse low byte
0
Extended fuse byte
1
DATA
BS2
0
Lock bits
1
Fuse high byte
1
BS1
BS2
30.6.13
Reading the Signature bytes
The algorithm for reading the Signature bytes is as follows (refer to “Programming the Flash” on
page 366 for details on Command and Address loading):
1. A: Load Command “0000 1000”.
2. B: Load Address Low Byte (0x00 - 0x02).
3. Set OE to “0”, and BS to “0”. The selected Signature byte can now be read at DATA.
4. Set OE to “1”.
30.6.14
Reading the Calibration byte
The algorithm for reading the Calibration byte is as follows (refer to “Programming the Flash” on
page 366 for details on Command and Address loading):
1. A: Load Command “0000 1000”.
2. B: Load Address Low Byte, 0x00.
3. Set OE to “0”, and BS1 to “1”. The Calibration byte can now be read at DATA.
4. Set OE to “1”.
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30.6.15
Parallel programming characteristics
Figure 30-7. Parallel programming timing, including some general timing requirements.
tXLWL
tXHXL
XTAL1
tDVXH
tXLDX
Data & control
(DATA, XA0/1, BS1, BS2)
tPLBX t BVWL
tBVPH
PAGEL
tWLBX
tPHPL
tWLWH
WR
tPLWL
WLRL
RDY/BSY
tWLRH
Figure 30-8. Parallel programming timing, loading sequence with timing requirements (1).
LOAD ADDRESS
(LOW BYTE)
LOAD DATA LOAD DATA
(HIGH BYTE)
LOAD DATA
(LOW BYTE)
tXLPH
t XLXH
LOAD ADDRESS
(LOW BYTE)
tPLXH
XTAL1
BS1
PAGEL
DATA
ADDR0 (Low byte)
DATA (Low byte)
DATA (High byte)
ADDR1 (Low byte)
XA0
XA1
Note:
1. The timing requirements shown in Figure 30-7 (that is, tDVXH, tXHXL, and tXLDX) also apply to
loading operation.
Figure 30-9. Parallel programming timing, reading sequence (within the same page) with timing requirements (1).
LOAD ADDRESS
(LOW BYTE)
READ DATA
(LOW BYTE)
READ DATA
(HIGH BYTE)
LOAD ADDRESS
(LOW BYTE)
tXLOL
XTAL1
tBVDV
BS1
tOLDV
OE
DATA
tOHDZ
ADDR0 (Low byte)
DATA (Low byte)
DATA (High byte)
ADDR1 (Low byte)
XA0
XA1
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Note:
1. The timing requirements shown in Figure 30-7 (that is, tDVXH, tXHXL, and tXLDX) also apply to
reading operation.
Table 30-13. Parallel programming characteristics, VCC = 5V ±10%.
Symbol
Parameter
Min.
VPP
Programming Enable Voltage
11.5
IPP
Programming Enable Current
tDVXH
Data and Control Valid before XTAL1 High
67
tXLXH
XTAL1 Low to XTAL1 High
200
tXHXL
XTAL1 Pulse Width High
150
tXLDX
Data and Control Hold after XTAL1 Low
67
tXLWL
XTAL1 Low to WR Low
0
tXLPH
XTAL1 Low to PAGEL high
0
tPLXH
PAGEL low to XTAL1 high
150
tBVPH
BS1 Valid before PAGEL High
67
tPHPL
PAGEL Pulse Width High
150
tPLBX
BS1 Hold after PAGEL Low
67
tWLBX
BS2/1 Hold after WR Low
67
tPLWL
PAGEL Low to WR Low
67
tBVWL
BS2/1 Valid to WR Low
67
tWLWH
WR Pulse Width Low
150
tWLRL
WR Low to RDY/BSY Low
Max.
Units
12.5
V
250
μA
ns
WR Low to RDY/BSY High
tWLRH
(1)
(2)
0
1
3.7
4.5
7.5
9
μs
ms
tWLRH_CE
WR Low to RDY/BSY High for Chip Erase
tXLOL
XTAL1 Low to OE Low
0
tBVDV
BS1 Valid to DATA valid
0
tOLDV
OE Low to DATA Valid
250
tOHDZ
OE High to DATA Tri-stated
250
Notes:
30.7
Typ.
250
ns
1.
tWLRH is valid for the Write Flash, Write EEPROM, Write Fuse bits and Write Lock bits
commands.
2.
tWLRH_CE is valid for the Chip Erase command.
Serial downloading
Both the Flash and EEPROM memory arrays can be programmed using a serial programming
bus while RESET is pulled to GND. The serial programming interface consists of pins SCK, PDI
(input) and PDO (output). After RESET is set low, the Programming Enable instruction needs to
be executed first before program/erase operations can be executed. NOTE, in Table 30-14 on
page 374, the pin mapping for serial programming is listed. Not all packages use the SPI pins
dedicated for the internal Serial Peripheral Interface - SPI.
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30.8
Serial programming pin mapping
Table 30-14. Pin mapping serial programming.
Symbol
Pins (TQFP-64)
I/O
Description
PDI
PB2
I
Serial Data in
PDO
PB3
O
Serial Data out
SCK
PB1
I
Serial Clock
Figure 30-10. Serial programming and verify (1).
+1.8 - 5.5V
VCC
+1.8 - 5.5V(2)
PDI
AVCC
PDO
SCK
XTAL1
RESET
GND
Notes:
1. If the device is clocked by the internal Oscillator, it is no need to connect a clock source to the
XTAL1 pin.
2. VCC - 0.3V < AVCC < VCC + 0.3V, however, AVCC should always be within 1.8 - 5.5V.
When programming the EEPROM, an auto-erase cycle is built into the self-timed programming
operation (in the Serial mode ONLY) and there is no need to first execute the Chip Erase
instruction. The Chip Erase operation turns the content of every memory location in both the
Program and EEPROM arrays into 0xFF.
Depending on CKSEL Fuses, a valid clock must be present. The minimum low and high periods
for the serial clock (SCK) input are defined as follows:
Low: > 2 CPU clock cycles for fck < 12MHz, 3 CPU clock cycles for fck >= 12MHz
High: > 2 CPU clock cycles for fck < 12MHz, 3 CPU clock cycles for fck >= 12MHz
30.8.1
Serial programming algorithm
When writing serial data to the Atmel AT90USB64/128, data is clocked on the rising edge of
SCK. When reading data from the AT90USB64/128, data is clocked on the falling edge of SCK.
See Figure 30-11 on page 375 for timing details.
To program and verify the AT90USB64/128 in the serial programming mode, the following
sequence is recommended (See four byte instruction formats in Table 30-16 on page 376):
1. Power-up sequence:
Apply power between VCC and GND while RESET and SCK are set to “0”. In some systems, the programmer can not guarantee that SCK is held low during power-up. In this
case, RESET must be given a positive pulse of at least two CPU clock cycles duration
after SCK has been set to “0”.
2. Wait for at least 20ms and enable serial programming by sending the Programming
Enable serial instruction to pin PDI.
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3. The serial programming instructions will not work if the communication is out of synchronization. When in sync. the second byte (0x53), will echo back when issuing the
third byte of the Programming Enable instruction. Whether the echo is correct or not, all
four bytes of the instruction must be transmitted. If the 0x53 did not echo back, give
RESET a positive pulse and issue a new Programming Enable command.
4. The Flash is programmed one page at a time. The memory page is loaded one byte at
a time by supplying the 7 LSB of the address and data together with the Load Program
Memory Page instruction. To ensure correct loading of the page, the data low byte must
be loaded before data high byte is applied for a given address. The Program Memory
Page is stored by loading the Write Program Memory Page instruction with the address
lines 15..8. Before issuing this command, make sure the instruction Load Extended
Address Byte has been used to define the MSB of the address. The extended address
byte is stored until the command is re-issued, i.e., the command needs only be issued
for the first page, and when crossing the 64KWord boundary. If polling (RDY/BSY) is not
used, the user must wait at least tWD_FLASH before issuing the next page. (See Table 3015.) Accessing the serial programming interface before the Flash write operation completes can result in incorrect programming.
5. The EEPROM array is programmed one byte at a time by supplying the address and
data together with the appropriate Write instruction. An EEPROM memory location is
first automatically erased before new data is written. If polling is not used, the user must
wait at least tWD_EEPROM before issuing the next byte. (See Table 30-15.) In a chip
erased device, no 0xFFs in the data file(s) need to be programmed.
6. Any memory location can be verified by using the Read instruction which returns the
content at the selected address at serial output PDO. When reading the Flash memory,
use the instruction Load Extended Address Byte to define the upper address byte,
which is not included in the Read Program Memory instruction. The extended address
byte is stored until the command is re-issued, that is, the command needs only be
issued for the first page, and when crossing the 64KWord boundary.
7. At the end of the programming session, RESET can be set high to commence normal
operation.
8. Power-off sequence (if needed):
Set RESET to “1”.
Turn VCC power off.
Table 30-15. Minimum wait delay before writing the next Flash or EEPROM location.
Symbol
Minimum wait delay
tWD_FLASH
4.5ms
tWD_EEPROM
9.0ms
tWD_ERASE
9.0ms
Figure 30-11. Serial programming waveforms.
SERIAL DATA INPUT
(MOSI)
MSB
LSB
SERIAL DATA OUTPUT
(MISO)
MSB
LSB
SERIAL CLOCK INPUT
(SCK)
SAMPLE
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Table 30-16. Serial programming instruction set.
Instruction format
Instruction
Programming Enable
Chip Erase
Byte 1
Byte 2
Byte 3
Byte 4
1010 1100
0101 0011
xxxx xxxx
xxxx xxxx
Enable Serial Programming after
RESET goes low.
1010 1100
100x xxxx
xxxx xxxx
xxxx xxxx
Chip Erase EEPROM and Flash.
0100 1101
0000 0000
cccc cccc
xxxx xxxx
Defines Extended Address Byte for
Read Program Memory and Write
Program Memory Page.
0010 H000
aaaa aaaa
bbbb bbbb
oooo oooo
Read H (high or low) data o from
Program memory at word address
c:a:b.
0100 H000
xxxx xxxx
xxbb bbbb
iiii iiii
Write H (high or low) data i to Program
Memory page at word address b. Data
low byte must be loaded before Data
high byte is applied within the same
address.
0100 1100
aaaa aaaa
bbxx xxxx
xxxx xxxx
Write Program Memory Page at
address c:a:b.
1010 0000
0000 aaaa
bbbb bbbb
oooo oooo
Read data o from EEPROM memory at
address a:b.
1100 0000
0000 aaaa
bbbb bbbb
iiii iiii
Write data i to EEPROM memory at
address a:b.
1100 0001
0000 0000
0000 00bb
iiii iiii
Load data i to EEPROM memory page
buffer. After data is loaded, program
EEPROM page.
1100 0010
0000 aaaa
bbbb bb00
xxxx xxxx
0101 1000
0000 0000
xxxx xxxx
xxoo oooo
Read Lock bits. “0” = programmed, “1”
= unprogrammed. See Table 30-1 on
page 359 for details.
1010 1100
111x xxxx
xxxx xxxx
11ii iiii
Write Lock bits. Set bits = “0” to
program Lock bits. See Table 30-1 on
page 359 for details.
0011 0000
000x xxxx
xxxx xxbb
oooo oooo
Read Signature Byte o at address b.
1010 1100
1010 0000
xxxx xxxx
iiii iiii
Set bits = “0” to program, “1” to
unprogram.
1010 1100
1010 1000
xxxx xxxx
iiii iiii
Set bits = “0” to program, “1” to
unprogram.
1010 1100
1010 0100
xxxx xxxx
iiii iiii
Set bits = “0” to program, “1” to
unprogram. See Table 30-3 on page
360 for details.
0101 0000
0000 0000
xxxx xxxx
oooo oooo
Read Fuse bits. “0” = programmed, “1”
= unprogrammed.
0101 1000
0000 1000
xxxx xxxx
oooo oooo
Read Fuse High bits. “0” = programmed, “1” = unprogrammed.
Load Extended Address Byte
Read Program Memory
Load Program Memory Page
Write Program Memory Page
Read EEPROM Memory
Write EEPROM Memory
Load EEPROM Memory
Page (page access)
Write EEPROM Memory
Page (page access)
Read Lock bits
Write Lock bits
Read Signature Byte
Write Fuse bits
Write Fuse High bits
Write Extended Fuse Bits
Read Fuse bits
Read Fuse High bits
376
Operation
Write EEPROM page at address a:b.
AT90USB64/128
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AT90USB64/128
Table 30-16. Serial programming instruction set. (Continued)
Instruction format
Instruction
Byte 1
Byte 2
Byte 3
Byte 4
0101 0000
0000 1000
xxxx xxxx
oooo oooo
Read Extended Fuse bits. “0” = programmed, “1” = unprogrammed. See
Table 30-3 on page 360 for details.
0011 1000
000x xxxx
0000 0000
oooo oooo
Read Calibration Byte
1111 0000
0000 0000
xxxx xxxx
xxxx xxxo
If o = “1”, a programming operation is
still busy. Wait until this bit returns to
“0” before applying another command.
Read Extended Fuse Bits
Read Calibration Byte
Poll RDY/BSY
Note:
30.8.2
30.9
Operation
a = address high bits, b = address low bits, c = address extended bits, H = 0 - Low byte, 1 - High Byte, o = data out, i = data in,
x = don’t care.
Serial programming characteristics
For characteristics of the Serial Programming module see “SPI timing characteristics” on page
395.
Programming via the JTAG interface
Programming through the JTAG interface requires control of the four JTAG specific pins: TCK,
TMS, TDI, and TDO. Control of the reset and clock pins is not required.
To be able to use the JTAG interface, the JTAGEN Fuse must be programmed. The device is
default shipped with the fuse programmed. In addition, the JTD bit in MCUCR must be cleared.
Alternatively, if the JTD bit is set, the external reset can be forced low. Then, the JTD bit will be
cleared after two chip clocks, and the JTAG pins are available for programming. This provides a
means of using the JTAG pins as normal port pins in Running mode while still allowing In-System Programming via the JTAG interface. Note that this technique can not be used when using
the JTAG pins for Boundary-scan or On-chip Debug. In these cases the JTAG pins must be dedicated for this purpose.
During programming the clock frequency of the TCK Input must be less than the maximum frequency of the chip. The System Clock Prescaler can not be used to divide the TCK Clock Input
into a sufficiently low frequency.
As a definition in this datasheet, the LSB is shifted in and out first of all Shift Registers.
30.9.1
Programming specific JTAG instructions
The Instruction Register is 4-bit wide, supporting up to 16 instructions. The JTAG instructions
useful for programming are listed below.
The OPCODE for each instruction is shown behind the instruction name in hex format. The text
describes which Data Register is selected as path between TDI and TDO for each instruction.
The Run-Test/Idle state of the TAP controller is used to generate internal clocks. It can also be
used as an idle state between JTAG sequences. The state machine sequence for changing the
instruction word is shown in Figure 30-12 on page 378.
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Figure 30-12. State machine sequence for changing the instruction word.
1
Test-logic-reset
0
0
Run-test/idle
1
Select-DR scan
1
Select-IR scan
0
1
0
1
Capture-DR
Capture-IR
0
0
0
Shift-DR
1
1
Exit1-DR
0
0
Pause-DR
0
Pause-IR
1
1
0
Exit2-DR
Exit2-IR
1
1
Update-DR
30.9.2
1
Exit1-IR
0
1
0
Shift-IR
1
0
1
Update-IR
0
1
0
AVR_RESET (0xC)
The AVR specific public JTAG instruction for setting the AVR device in the Reset mode or taking
the device out from the Reset mode. The TAP controller is not reset by this instruction. The one
bit Reset Register is selected as Data Register. Note that the reset will be active as long as there
is a logic “one” in the Reset Chain. The output from this chain is not latched.
The active states are:
• Shift-DR: The Reset Register is shifted by the TCK input
30.9.3
PROG_ENABLE (0x4)
The AVR specific public JTAG instruction for enabling programming via the JTAG port. The 16bit Programming Enable Register is selected as Data Register. The active states are the
following:
• Shift-DR: The programming enable signature is shifted into the Data Register
• Update-DR: The programming enable signature is compared to the correct value, and
Programming mode is entered if the signature is valid
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30.9.4
PROG_COMMANDS (0x5)
The AVR specific public JTAG instruction for entering programming commands via the JTAG
port. The 15-bit Programming Command Register is selected as Data Register. The active
states are the following:
• Capture-DR: The result of the previous command is loaded into the Data Register
• Shift-DR: The Data Register is shifted by the TCK input, shifting out the result of the previous
command and shifting in the new command
• Update-DR: The programming command is applied to the Flash inputs
• Run-Test/Idle: One clock cycle is generated, executing the applied command
30.9.5
PROG_PAGELOAD (0x6)
The AVR specific public JTAG instruction to directly load the Flash data page via the JTAG port.
An 8-bit Flash Data Byte Register is selected as the Data Register. This is physically the eight
LSBs of the Programming Command Register. The active states are the following:
• Shift-DR: The Flash Data Byte Register is shifted by the TCK input
• Update-DR: The content of the Flash Data Byte Register is copied into a temporary register.
A write sequence is initiated that within 11 TCK cycles loads the content of the temporary
register into the Flash page buffer. The AVR automatically alternates between writing the low
and the high byte for each new Update-DR state, starting with the low byte for the first
Update-DR encountered after entering the PROG_PAGELOAD command. The Program
Counter is pre-incriminated before writing the low byte, except for the first written byte. This
ensures that the first data is written to the address set up by PROG_COMMANDS, and
loading the last location in the page buffer does not make the program counter increment into
the next page
30.9.6
PROG_PAGEREAD (0x7)
The AVR specific public JTAG instruction to directly capture the Flash content via the JTAG port.
An 8-bit Flash Data Byte Register is selected as the Data Register. This is physically the 8 LSBs
of the Programming Command Register. The active states are the following:
• Capture-DR: The content of the selected Flash byte is captured into the Flash Data Byte
Register. The AVR automatically alternates between reading the low and the high byte for
each new Capture-DR state, starting with the low byte for the first Capture-DR encountered
after entering the PROG_PAGEREAD command. The Program Counter is post-incremented
after reading each high byte, including the first read byte. This ensures that the first data is
captured from the first address set up by PROG_COMMANDS, and reading the last location
in the page makes the program counter increment into the next page
• Shift-DR: The Flash Data Byte Register is shifted by the TCK input
30.9.7
Data Registers
The Data Registers are selected by the JTAG instruction registers described in section “Programming specific JTAG instructions” on page 377. The Data Registers relevant for
programming operations are:
• Reset Register
• Programming Enable Register
• Programming Command Register
• Flash Data Byte Register
379
7593L–AVR–09/12
30.9.8
Reset Register
The Reset Register is a Test Data Register used to reset the part during programming. It is
required to reset the part before entering Programming mode.
A high value in the Reset Register corresponds to pulling the external reset low. The part is reset
as long as there is a high value present in the Reset Register. Depending on the Fuse settings
for the clock options, the part will remain reset for a Reset Time-out period (refer to “Clock
sources” on page 41) after releasing the Reset Register. The output from this Data Register is
not latched, so the reset will take place immediately, as shown in Figure 9-1 on page 58.
30.9.9
Programming Enable Register
The Programming Enable Register is a 16-bit register. The contents of this register is compared
to the programming enable signature, binary code 0b1010_0011_0111_0000. When the contents of the register is equal to the programming enable signature, programming via the JTAG
port is enabled. The register is reset to 0 on Power-on Reset, and should always be reset when
leaving Programming mode.
Figure 30-13. Programming enable register.
TDI
D
A
T
A
0xA370
=
D
Q
Programming enable
ClockDR & PROG_ENABLE
TDO
30.9.10
380
Programming Command Register
The Programming Command Register is a 15-bit register. This register is used to serially shift in
programming commands, and to serially shift out the result of the previous command, if any. The
JTAG Programming Instruction Set is shown in Table 30-17 on page 382. The state sequence
when shifting in the programming commands is illustrated in Figure 30-15 on page 385.
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 30-14. Programming Command register.
TDI
S
T
R
O
B
E
S
A
D
D
R
E
S
S
/
D
A
T
A
Flash
EEPROM
fuses
lock bits
TDO
381
7593L–AVR–09/12
Table 30-17. JTAG programming instruction set.
a = address high bits, b = address low bits, c = address extended bits, H = 0 - Low byte, 1 - High Byte, o = data out, i =
data in, x = don’t care.
Instruction
TDI sequence
TDO sequence
1a. Chip Erase
0100011_10000000
0110001_10000000
0110011_10000000
0110011_10000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
1b. Poll for Chip Erase Complete
0110011_10000000
xxxxxox_xxxxxxxx
2a. Enter Flash Write
0100011_00010000
xxxxxxx_xxxxxxxx
2b. Load Address Extended High Byte
0001011_cccccccc
xxxxxxx_xxxxxxxx
2c. Load Address High Byte
0000111_aaaaaaaa
xxxxxxx_xxxxxxxx
2d. Load Address Low Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
2e. Load Data Low Byte
0010011_iiiiiiii
xxxxxxx_xxxxxxxx
2f. Load Data High Byte
0010111_iiiiiiii
xxxxxxx_xxxxxxxx
2g. Latch Data
0110111_00000000
1110111_00000000
0110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
2h. Write Flash Page
0110111_00000000
0110101_00000000
0110111_00000000
0110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
2i. Poll for Page Write Complete
0110111_00000000
xxxxxox_xxxxxxxx
(2)
3a. Enter Flash Read
0100011_00000010
xxxxxxx_xxxxxxxx
3b. Load Address Extended High Byte
0001011_cccccccc
xxxxxxx_xxxxxxxx
3c. Load Address High Byte
0000111_aaaaaaaa
xxxxxxx_xxxxxxxx
3d. Load Address Low Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
3e. Read Data Low and High Byte
0110010_00000000
0110110_00000000
0110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
xxxxxxx_oooooooo
4a. Enter EEPROM Write
0100011_00010001
xxxxxxx_xxxxxxxx
4b. Load Address High Byte
0000111_aaaaaaaa
xxxxxxx_xxxxxxxx
4c. Load Address Low Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
4d. Load Data Byte
0010011_iiiiiiii
xxxxxxx_xxxxxxxx
4e. Latch Data
0110111_00000000
1110111_00000000
0110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
4f. Write EEPROM Page
0110011_00000000
0110001_00000000
0110011_00000000
0110011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
382
Notes
(2)
(10)
(10)
Low byte
High byte
(10)
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 30-17. JTAG programming instruction set. (Continued)
a = address high bits, b = address low bits, c = address extended bits, H = 0 - Low byte, 1 - High Byte, o = data out, i =
data in, x = don’t care.
Instruction
TDI sequence
TDO sequence
Notes
4g. Poll for Page Write Complete
0110011_00000000
xxxxxox_xxxxxxxx
(2)
5a. Enter EEPROM Read
0100011_00000011
xxxxxxx_xxxxxxxx
5b. Load Address High Byte
0000111_aaaaaaaa
xxxxxxx_xxxxxxxx
5c. Load Address Low Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
5d. Read Data Byte
0110011_bbbbbbbb
0110010_00000000
0110011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
6a. Enter Fuse Write
0100011_01000000
xxxxxxx_xxxxxxxx
6b. Load Data Low Byte (6)
0010011_iiiiiiii
xxxxxxx_xxxxxxxx
(3)
6c. Write Fuse Extended Byte
0111011_00000000
0111001_00000000
0111011_00000000
0111011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
6d. Poll for Fuse Write Complete
0110111_00000000
xxxxxox_xxxxxxxx
(2)
0010011_iiiiiiii
xxxxxxx_xxxxxxxx
(3)
6f. Write Fuse High Byte
0110111_00000000
0110101_00000000
0110111_00000000
0110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
6g. Poll for Fuse Write Complete
0110111_00000000
xxxxxox_xxxxxxxx
(2)
6h. Load Data Low Byte (7)
0010011_iiiiiiii
xxxxxxx_xxxxxxxx
(3)
6i. Write Fuse Low Byte
0110011_00000000
0110001_00000000
0110011_00000000
0110011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
6j. Poll for Fuse Write Complete
0110011_00000000
xxxxxox_xxxxxxxx
(2)
7a. Enter Lock Bit Write
0100011_00100000
xxxxxxx_xxxxxxxx
7b. Load Data Byte (9)
0010011_11iiiiii
xxxxxxx_xxxxxxxx
(4)
7c. Write Lock Bits
0110011_00000000
0110001_00000000
0110011_00000000
0110011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
7d. Poll for Lock Bit Write complete
0110011_00000000
xxxxxox_xxxxxxxx
(2)
8a. Enter Fuse/Lock Bit Read
0100011_00000100
xxxxxxx_xxxxxxxx
8b. Read Extended Fuse Byte (6)
0111010_00000000
0111011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
8c. Read Fuse High Byte (7)
0111110_00000000
0111111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
6e. Load Data Low Byte
(7)
(10)
383
7593L–AVR–09/12
Table 30-17. JTAG programming instruction set. (Continued)
a = address high bits, b = address low bits, c = address extended bits, H = 0 - Low byte, 1 - High Byte, o = data out, i =
data in, x = don’t care.
Instruction
TDI sequence
TDO sequence
8d. Read Fuse Low Byte (8)
0110010_00000000
0110011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
8e. Read Lock Bits (9)
0110110_00000000
0110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxoooooo
(5)
8f. Read Fuses and Lock Bits
0111010_00000000
0111110_00000000
0110010_00000000
0110110_00000000
0110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
xxxxxxx_oooooooo
xxxxxxx_oooooooo
xxxxxxx_oooooooo
(5)
Fuse Ext. byte
Fuse High byte
Fuse Low byte
Lock bits
9a. Enter Signature Byte Read
0100011_00001000
xxxxxxx_xxxxxxxx
9b. Load Address Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
9c. Read Signature Byte
0110010_00000000
0110011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
10a. Enter Calibration Byte Read
0100011_00001000
xxxxxxx_xxxxxxxx
10b. Load Address Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
10c. Read Calibration Byte
0110110_00000000
0110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
11a. Load No Operation Command
0100011_00000000
0110011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
Notes:
Notes
1. This command sequence is not required if the seven MSB are correctly set by the previous command sequence (which is
normally the case).
2. Repeat until o = “1”.
3. Set bits to “0” to program the corresponding Fuse, “1” to un-program the Fuse.
4. Set bits to “0” to program the corresponding Lock bit, “1” to leave the Lock bit unchanged.
5. “0” = programmed, “1” = un-programmed.
6. The bit mapping for Fuses Extended byte is listed in Table 30-3 on page 360.
7. The bit mapping for Fuses High byte is listed in Table 30-4 on page 361.
8. The bit mapping for Fuses Low byte is listed in Table 30-5 on page 361.
9. The bit mapping for Lock bits byte is listed in Table 30-1 on page 359.
10. Address bits exceeding PCMSB and EEAMSB (Table 30-11 on page 364 and Table 30-12 on page 365) are don’t care.
11. All TDI and TDO sequences are represented by binary digits (0b...).
384
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 30-15. State machine sequence for changing/reading the data word.
1
Test-logic-reset
0
0
Run-test/idle
1
Select-DR scan
1
Select-IR scan
0
0
1
1
Capture-DR
Capture-IR
0
0
Shift-DR
Shift-IR
0
1
1
0
Pause-DR
0
0
Pause-IR
1
1
0
Exit2-DR
Exit2-IR
1
1
Update-DR
30.9.11
1
Exit1-IR
0
1
0
1
Exit1-DR
0
1
Update-IR
0
1
0
Flash Data Byte Register
The Flash Data Byte Register provides an efficient way to load the entire Flash page buffer
before executing Page Write, or to read out/verify the content of the Flash. A state machine sets
up the control signals to the Flash and senses the strobe signals from the Flash, thus only the
data words need to be shifted in/out.
The Flash Data Byte Register actually consists of the 8-bit scan chain and a 8-bit temporary register. During page load, the Update-DR state copies the content of the scan chain over to the
temporary register and initiates a write sequence that within 11 TCK cycles loads the content of
the temporary register into the Flash page buffer. The AVR automatically alternates between
writing the low and the high byte for each new Update-DR state, starting with the low byte for the
first Update-DR encountered after entering the PROG_PAGELOAD command. The Program
Counter is pre-incremented before writing the low byte, except for the first written byte. This
ensures that the first data is written to the address set up by PROG_COMMANDS, and loading
the last location in the page buffer does not make the Program Counter increment into the next
page.
During Page Read, the content of the selected Flash byte is captured into the Flash Data Byte
Register during the Capture-DR state. The AVR automatically alternates between reading the
low and the high byte for each new Capture-DR state, starting with the low byte for the first Cap-
385
7593L–AVR–09/12
ture-DR encountered after entering the PROG_PAGEREAD command. The Program Counter is
post-incremented after reading each high byte, including the first read byte. This ensures that
the first data is captured from the first address set up by PROG_COMMANDS, and reading the
last location in the page makes the program counter increment into the next page.
Figure 30-16. Flash Data Byte Register.
STROBES
TDI
State
machine
ADDRESS
Flash
EEPROM
fuses
lock bits
D
A
T
A
TDO
The state machine controlling the Flash Data Byte Register is clocked by TCK. During normal
operation in which eight bits are shifted for each Flash byte, the clock cycles needed to navigate
through the TAP controller automatically feeds the state machine for the Flash Data Byte Register with sufficient number of clock pulses to complete its operation transparently for the user.
However, if too few bits are shifted between each Update-DR state during page load, the TAP
controller should stay in the Run-Test/Idle state for some TCK cycles to ensure that there are at
least 11 TCK cycles between each Update-DR state.
30.9.12
Programming algorithm
All references below of type “1a”, “1b”, and so on, refer to Table 30-17 on page 382.
30.9.13
Entering Programming mode
1. Enter JTAG instruction AVR_RESET and shift 1 in the Reset Register.
2. Enter instruction PROG_ENABLE and shift 0b1010_0011_0111_0000 in the Programming Enable Register.
30.9.14
Leaving Programming mode
1. Enter JTAG instruction PROG_COMMANDS.
2. Disable all programming instructions by using no operation instruction 11a.
3. Enter instruction PROG_ENABLE and shift 0b0000_0000_0000_0000 in the programming Enable Register.
4. Enter JTAG instruction AVR_RESET and shift 0 in the Reset Register.
386
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
30.9.15
Performing Chip Erase
1. Enter JTAG instruction PROG_COMMANDS.
2. Start Chip Erase using programming instruction 1a.
3. Poll for Chip Erase complete using programming instruction 1b, or wait for tWLRH_CE
(refer to Table 30-13 on page 373).
30.9.16
Programming the Flash
Before programming the Flash a Chip Erase must be performed, see “Performing Chip Erase”
on page 387.
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable Flash write using programming instruction 2a.
3. Load address Extended High byte using programming instruction 2b.
4. Load address High byte using programming instruction 2c.
5. Load address Low byte using programming instruction 2d.
6. Load data using programming instructions 2e, 2f and 2g.
7. Repeat steps 5 and 6 for all instruction words in the page.
8. Write the page using programming instruction 2h.
9. Poll for Flash write complete using programming instruction 2i, or wait for tWLRH (refer to
Table 30-13 on page 373).
10. Repeat steps 3 to 9 until all data have been programmed.
A more efficient data transfer can be achieved using the PROG_PAGELOAD instruction:
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable Flash write using programming instruction 2a.
3. Load the page address using programming instructions 2b, 2c and 2d. PCWORD (refer
to Table 30-11 on page 364) is used to address within one page and must be written as
0.
4. Enter JTAG instruction PROG_PAGELOAD.
5. Load the entire page by shifting in all instruction words in the page byte-by-byte, starting with the LSB of the first instruction in the page and ending with the MSB of the last
instruction in the page. Use Update-DR to copy the contents of the Flash Data Byte
Register into the Flash page location and to auto-increment the Program Counter
before each new word.
6. Enter JTAG instruction PROG_COMMANDS.
7. Write the page using programming instruction 2h.
8. Poll for Flash write complete using programming instruction 2i, or wait for tWLRH (refer to
Table 30-13 on page 373).
9. Repeat steps 3 to 8 until all data have been programmed.
30.9.17
Reading the Flash
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable Flash read using programming instruction 3a.
3. Load address using programming instructions 3b, 3c and 3d.
4. Read data using programming instruction 3e.
5. Repeat steps 3 and 4 until all data have been read.
A more efficient data transfer can be achieved using the PROG_PAGEREAD instruction:
387
7593L–AVR–09/12
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable Flash read using programming instruction 3a.
3. Load the page address using programming instructions 3b, 3c and 3d. PCWORD (refer
to Table 30-11 on page 364) is used to address within one page and must be written as
0.
4. Enter JTAG instruction PROG_PAGEREAD.
5. Read the entire page (or Flash) by shifting out all instruction words in the page (or
Flash), starting with the LSB of the first instruction in the page (Flash) and ending with
the MSB of the last instruction in the page (Flash). The Capture-DR state both captures
the data from the Flash, and also auto-increments the program counter after each word
is read. Note that Capture-DR comes before the shift-DR state. Hence, the first byte
which is shifted out contains valid data.
6. Enter JTAG instruction PROG_COMMANDS.
7. Repeat steps 3 to 6 until all data have been read.
30.9.18
Programming the EEPROM
Before programming the EEPROM a Chip Erase must be performed, see “Performing Chip
Erase” on page 387.
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable EEPROM write using programming instruction 4a.
3. Load address High byte using programming instruction 4b.
4. Load address Low byte using programming instruction 4c.
5. Load data using programming instructions 4d and 4e.
6. Repeat steps 4 and 5 for all data bytes in the page.
7. Write the data using programming instruction 4f.
8. Poll for EEPROM write complete using programming instruction 4g, or wait for tWLRH
(refer to Table 30-13 on page 373).
9. Repeat steps 3 to 8 until all data have been programmed.
Note that the PROG_PAGELOAD instruction can not be used when programming the EEPROM.
30.9.19
Reading the EEPROM
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable EEPROM read using programming instruction 5a.
3. Load address using programming instructions 5b and 5c.
4. Read data using programming instruction 5d.
5. Repeat steps 3 and 4 until all data have been read.
Note that the PROG_PAGEREAD instruction can not be used when reading the EEPROM.
30.9.20
Programming the Fuses
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable Fuse write using programming instruction 6a.
3. Load data high byte using programming instructions 6b. A bit value of “0” will program
the corresponding fuse, a “1” will un-program the fuse.
4. Write Fuse High byte using programming instruction 6c.
5. Poll for Fuse write complete using programming instruction 6d, or wait for tWLRH (refer to
Table 30-13 on page 373).
388
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
6. Load data low byte using programming instructions 6e. A “0” will program the fuse, a “1”
will unprogram the fuse.
7. Write Fuse low byte using programming instruction 6f.
8. Poll for Fuse write complete using programming instruction 6g, or wait for tWLRH (refer to
Table 30-13 on page 373).
30.9.21
Programming the Lock Bits
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable Lock bit write using programming instruction 7a.
3. Load data using programming instructions 7b. A bit value of “0” will program the corresponding lock bit, a “1” will leave the lock bit unchanged.
4. Write Lock bits using programming instruction 7c.
5. Poll for Lock bit write complete using programming instruction 7d, or wait for tWLRH (refer
to Table 30-13 on page 373).
30.9.22
Reading the Fuses and Lock Bits
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable Fuse/Lock bit read using programming instruction 8a.
3. To read all Fuses and Lock bits, use programming instruction 8e.
To only read Fuse High byte, use programming instruction 8b.
To only read Fuse Low byte, use programming instruction 8c.
To only read Lock bits, use programming instruction 8d.
30.9.23
Reading the Signature Bytes
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable Signature byte read using programming instruction 9a.
3. Load address 0x00 using programming instruction 9b.
4. Read first signature byte using programming instruction 9c.
5. Repeat steps 3 and 4 with address 0x01 and address 0x02 to read the second and third
signature bytes, respectively.
30.9.24
Reading the Calibration Byte
1. Enter JTAG instruction PROG_COMMANDS.
2. Enable Calibration byte read using programming instruction 10a.
3. Load address 0x00 using programming instruction 10b.
4. Read the calibration byte using programming instruction 10c.
389
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31. Electrical characteristics for Atmel AT90USB64/128
31.1
Absolute maximum ratings*
Operating temperature..................................... -40°C to +85°C
*NOTICE:
Storage temperature...................................... -65°C to +150°C
Voltage on any pin except RESET and VBUS
with respect to ground (7) .............................-0.5V to VCC+0.5V
Voltage on RESET with respect to ground ......-0.5V to +13.0V
Stresses beyond those listed under “Absolute
maximum ratings” may cause permanent damage to the device. This is a stress rating only and
functional operation of the device at these or
other conditions beyond those indicated in the
operational sections of this specification is not
implied. Exposure to absolute maximum rating
conditions for extended periods may affect
device reliability.
Voltage on VBUS with respect to ground...........-0.5V to +6.0V
Maximum operating voltage............................................ +6.0V
DC current per I/O pin.................................................. 40.0mA
DC current VCC and GND pins .................................. 200.0mA
31.2
DC characteristics
TA = -40°C to 85°C, VCC = 2.7V to 5.5V (unless otherwise noted).
Min. (5)
Typ.
Max. (5)
Symbol
Parameter
Condition
VIL
Input Low Voltage,Except
XTAL1 and Reset pin
VCC = 2.7V - 5.5V
-0.5
0.2VCC (1)
VIL1
Input Low Voltage,
XTAL1 pin
VCC = 2.7V - 5.5V
-0.5
0.1VCC (1)
VIL2
Input Low Voltage,
RESET pin
VCC = 2.7V - 5.5V
-0.5
0.1VCC (1)
VIH
Input High Voltage,
Except XTAL1 and
RESET pins
VCC = 2.7V - 5.5V
0.6VCC (2)
VCC + 0.5
VIH1
Input High Voltage,
XTAL1 pin
VCC = 2.7V - 5.5V
0.7VCC (2)
VCC + 0.5
VIH2
Input High Voltage,
RESET pin
VCC = 2.7V - 5.5V
0.9VCC (2)
VCC + 0.5
VOL
Output Low Voltage (3)
IOL = 10mA, VCC = 5V
IOL = 5mA, VCC = 3V
VOH
Output High Voltage (4)
IOH = -20mA, VCC = 5V
IOH = -10mA, VCC = 3V
IIL
Input Leakage
Current I/O Pin
VCC = 5.5V, pin low
(absolute value)
IIH
Input Leakage
Current I/O Pin
VCC = 5.5V, pin high
(absolute value)
RRST
Reset Pull-up Resistor
30
60
RPU
I/O Pin Pull-up Resistor
20
50
Units
V
0.3
0.2
4.2
2.3
0.7
0.5
4.5
2.6
1
µA
390
1
kΩ
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
TA = -40°C to 85°C, VCC = 2.7V to 5.5V (unless otherwise noted). (Continued)
Symbol
ICC
Icc
Parameter
Power Supply Current
Typ.
Max. (5)
Active 4MHz, VCC = 3V
(AT90USB64/128)
2.5
5
Active 8MHz, VCC = 3V
(AT90USB64/128)
5
10
Active 8MHz, VCC = 5V
(AT90USB64/128)
10
18
Active 16MHz, VCC = 5V
(AT90USB64/128)
19
30
WDT enabled, BOD
enabled, VCC = 3V, 25°C
30
WDT enabled, BOD
disabled, VCC = 3V, 25°C
10
WDT disabled, BOD
disabled, VCC = 3V, 25°C
2
10
Condition
(6)
Power-down mode
Min. (5)
Units
mA
µA
VACIO
Analog Comparator
Input Offset Voltage
VCC = 5V
Vin = VCC/2
IACLK
Analog Comparator
Input Leakage Current
VCC = 5V
Vin = VCC/2
tACID
Analog Comparator
Propagation Delay
VCC = 2.7V
VCC = 4.0V
750
500
Iq
USB Regulator Quiescent
Current
UVCC >3.6V, I = 0mA
10
30
µA
Vusb
USB Regulator Output
Voltage (Ucap)
UVCC >3.6V, I = 40mA (8)
3.3
3.5
V
Note:
-50
3.0
40
mV
50
nA
ns
1. "Max" means the highest value where the pin is guaranteed to be read as low
2. "Min" means the lowest value where the pin is guaranteed to be read as high
3. Although each I/O port can sink more than the test conditions (20mA at VCC = 5V, 10mA at VCC = 3V) under steady state
conditions (non-transient), the following must be observed:
Atmel AT90USB64/128:
1.)The sum of all IOL, for ports A0-A7, G2, C4-C7 should not exceed 100mA.
2.)The sum of all IOL, for ports C0-C3, G0-G1, D0-D7 should not exceed 100mA.
3.)The sum of all IOL, for ports G3-G5, B0-B7, E0-E7 should not exceed 100mA.
4.)The sum of all IOL, for ports F0-F7 should not exceed 100mA.
If IOL exceeds the test condition, VOL may exceed the related specification. Pins are not guaranteed to sink current greater
than the listed test condition.
4. Although each I/O port can source more than the test conditions (20mA at VCC = 5V, 10mA at VCC = 3V) under steady state
conditions (non-transient), the following must be observed:
AT90USB64/128:
1)The sum of all IOH, for ports A0-A7, G2, C4-C7 should not exceed 100mA.
2)The sum of all IOH, for ports C0-C3, G0-G1, D0-D7 should not exceed 100mA.
3)The sum of all IOH, for ports G3-G5, B0-B7, E0-E7 should not exceed 100mA.
4)The sum of all IOH, for ports F0-F7 should not exceed 100mA.
5. All DC Characteristics contained in this datasheet are based on simulation and characterization of other AVR microcontrollers manufactured in the same process technology. These values are preliminary values representing design targets, and
will be updated after characterization of actual silicon
6. Values with “PRR1 – Power Reduction Register 1” disabled (0x00).
391
7593L–AVR–09/12
7. As specified on the USB Electrical chapter of USB Specifications 2.0, the D+/D- pads can withstand voltages down to -1V
applied through a 39Ω resistor
8. USB Peripheral consumes up to 50mA from the regulator or UVCC pin when USB is used at full-load
31.3
External clock drive waveforms
Figure 31-1. External clock drive waveforms.
V IH1
V IL1
31.4
External clock drive
Table 31-1.
VCC=1.8-5.5V
VCC=2.7-5.5V
VCC=4.5-5.5V
Symbol
Parameter
Min.
Max.
Min.
Max.
Min.
Max.
Units
1/tCLCL
Oscillator
Frequency
0
2
0
8
0
16
MHz
tCLCL
Clock Period
500
125
62.5
tCHCX
High Time
200
50
25
tCLCX
Low Time
200
50
25
tCLCH
Rise Time
2.0
1.6
0.5
tCHCL
Fall Time
2.0
1.6
0.5
ΔtCLCL
Change in period
from one clock
cycle to the next
2
2
2
Note:
31.5
External clock drive.
ns
μs
%
All DC characteristics contained in this datasheet are based on simulation and characterization of
other AVR microcontrollers manufactured in the same process technology. These values are preliminary values representing design targets, and will be updated after characterization of actual
silicon.
Maximum speed vs. VCC
Maximum frequency is depending on VCC. As shown in Figure 31-2 on page 393, the maximum
frequency vs. VCC curve is linear between 2.7V < VCC < 5.5V.
392
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 31-2. Maximum frequency vs. VCC, Atmel AT90USB64/128.
16MHz
8MHz
31.6
2-wire serial interface characteristics
Table 31-2 describes the requirements for devices connected to the 2-wire Serial Bus. The AT90USB64/128 2-wire Serial
Interface meets or exceeds these requirements under the noted conditions.
Timing symbols refer to Figure 31-3 on page 394.
Table 31-2.
2-wire serial bus requirements.
Symbol
Parameter
VIL
VIH
(1)
(1)
Ii
Ci
-0.5
0.3 VCC
Input High-voltage
0.7 VCC
Output Low-voltage
tr
tSP
Input Low-voltage
(1)
(1)
tof
Max
Hysteresis of Schmitt Trigger Inputs
Vhys
VOL
Min
(1)
fSCL
Rp
0.05 VCC
3mA sink current
Rise Time for both SDA and SCL
Output Fall Time from VIHmin to VILmax
10pF < Cb < 400pF (3)
0.1VCC < Vi < 0.9VCC
VCC + 0.5
Units
V
–
0.4
(3)(2)
300
20 + 0.1Cb (3)(2)
250
0
50
ns
(2)
-10
10
µA
–
10
pF
fCK (4) > max(16fSCL, 250kHz) (5)
0
400
kHz
fSCL ≤ 100kHz
V CC – 0.4V
---------------------------3mA
1000ns
------------------Cb
fSCL > 100kHz
V CC – 0.4V
---------------------------3mA
300ns
---------------Cb
Capacitance for each I/O Pin
SCL Clock Frequency
(2)
0
20 + 0.1Cb
Spikes Suppressed by Input Filter
Input Current each I/O Pin
(1)
Condition
Value of Pull-up resistor
Ω
393
7593L–AVR–09/12
Table 31-2.
2-wire serial bus requirements. (Continued)
Symbol
Parameter
tHD;STA
Hold Time (repeated) START Condition
tLOW
Low Period of the SCL Clock
tHIGH
High period of the SCL clock
tSU;STA
Set-up time for a repeated START
condition
tHD;DAT
Data hold time
tSU;DAT
Data setup time
tSU;STO
Setup time for STOP condition
tBUF
Bus free time between a STOP and
START condition
Notes:
Condition
Min
Max
fSCL ≤ 100kHz
4.0
–
fSCL > 100kHz
0.6
–
(6)
4.7
–
fSCL > 100kHz (7)
1.3
–
fSCL ≤ 100kHz
4.0
–
fSCL > 100kHz
0.6
–
fSCL ≤ 100kHz
4.7
–
fSCL > 100kHz
0.6
–
fSCL ≤ 100kHz
0
3.45
fSCL > 100kHz
0
0.9
fSCL ≤ 100kHz
250
–
fSCL > 100kHz
100
–
fSCL ≤ 100kHz
4.0
–
fSCL > 100kHz
0.6
–
fSCL ≤ 100kHz
4.7
–
fSCL > 100kHz
1.3
–
fSCL ≤ 100kHz
Units
µs
ns
µs
1. In Atmel AT90USB64/128, this parameter is characterized and not 100% tested.
2. Required only for fSCL >100kHz.
3. Cb = capacitance of one bus line in pF.
4. fCK = CPU clock frequency
5. This requirement applies to all AT90USB64/128 2-wire Serial Interface operation. Other devices connected to the 2-wire
Serial Bus need only obey the general fSCL requirement.
6. The actual low period generated by the AT90USB64/128 2-wire Serial Interface is (1/fSCL - 2/fCK), thus fCK must be greater
than 6MHz for the low time requirement to be strictly met at fSCL = 100kHz.
7. The actual low period generated by the AT90USB64/128 2-wire Serial Interface is (1/fSCL - 2/fCK), thus the low time requirement will not be strictly met for fSCL > 308kHz when fCK = 8MHz. Still, AT90USB64/128 devices connected to the bus may
communicate at full speed (400kHz) with other AT90USB64/128 devices, as well as any other device with a proper tLOW
acceptance margin.
Figure 31-3. 2-wire serial bus timing.
tof
tHIGH
tLOW
tr
tLOW
SCL
tSU;STA
SDA
tHD;STA
tHD;DAT
tSU;DAT
tSU;STO
tBUF
394
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
31.7
SPI timing characteristics
See Figure 31-4 and Figure 31-5 on page 396 for details.
Table 31-3.
SPI timing parameters.
Description
Mode
1
SCK period
Master
See Table 18-4 on
page 174
2
SCK high/low
Master
50% duty cycle
3
Rise/Fall time
Master
3.6
4
Setup
Master
10
5
Hold
Master
10
6
Out to SCK
Master
0.5 × tsck
7
SCK to out
Master
10
8
SCK to out high
Master
10
9
SS low to out
Slave
15
10
SCK period
Slave
4 × tck
Slave
2 × tck
11
SCK high/low
(1)
Min.
12
Rise/Fall time
Slave
13
Setup
Slave
10
14
Hold
Slave
tck
15
SCK to out
Slave
16
SCK to SS high
Slave
17
SS high to tri-state
Slave
18
SS low to SCK
Slave
Note:
Typ.
Max.
ns
1.6
µs
15
ns
20
10
20
1. In SPI Programming mode the minimum SCK high/low period is:
- 2 tCLCL for fCK <12MHz
- 3 tCLCL for fCK >12MHz
Figure 31-4. SPI interface timing requirements (master mode).
SS
6
1
SCK
(CPOL = 0)
2
2
SCK
(CPOL = 1)
4
MISO
(Data input)
5
3
MSB
...
LSB
8
7
MOSI
(Data output)
MSB
...
LSB
395
7593L–AVR–09/12
Figure 31-5. SPI interface timing requirements (slave mode).
SS
10
9
16
SCK
(CPOL = 0)
11
11
SCK
(CPOL = 1)
13
MOSI
(Data input)
14
12
MSB
...
LSB
17
15
MISO
(Data output)
31.8
MSB
...
LSB
X
Hardware boot entrance timing characteristics
Figure 31-6. Hardware boot timing requirements.
RESET
tSHRH
tHHRH
ALE/HWB
Table 31-4.
396
Hardware boot timings.
Symbol
Parameter
tSHRH
HWB low Setup before Reset High
tHHRH
HWB low Hold after Reset High
Min.
Max.
0
StartUpTime (SUT)
+
Time Out Delay (TOUT)
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
31.9
ADC characteristics
Table 31-5.
Symbol
ADC characteristics.
Parameter
Resolution
Condition
Min.
Typ.
Single Ended Conversion
10
Differential Conversion
Gain = 1× or 10×
8
Differential Conversion
Gain = 200×
7
Single Ended Conversion
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
Max.
Units
Bits
1.5
Single Ended Conversion
VREF = 4V, VCC = 4V,
ADC clock = 1MHz
Absolute accuracy (Including
INL, DNL, quantization error,
gain and offset error)
Single Ended Conversion
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
Noise Reduction Mode
1.5
Single Ended Conversion
VREF = 4V, VCC = 4V,
ADC clock = 1MHz
Noise Reduction Mode
Absolute accuracy
Gain = 1×, 10×, 200×
VREF = 4V, VCC = 5V
ADC Clock = 50 - 200kHz
1
Integral Non-Linearity (INL)
Single Ended Conversion
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
0.5
1
Integral Non-Linearity (INL)
(Accuracy after calibration for
offset and gain error)
Gain = 1×, 10×, 200×
VREF = 4V, VCC = 5V
ADC Clock = 50 - 200kHz
0.5
1
Differential Non-Linearity (DNL)
Single Ended Conversion
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
0.3
1
LSB
Single Ended Conversion
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
-2
0
+2
Gain = 1×, 10×, 200×
-2
0
+2
Single Ended Conversion
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
-2
1
+2
Gain = 1×, 10×, 200×
VREF = 4V, VCC = 5V
ADC Clock = 50 - 200kHz
-1
0
+1
Conversion Time
Free Running Conversion
65
260
µs
Clock Frequency
Single Ended Conversion
50
1000
kHz
Gain Error
Offset Error
397
7593L–AVR–09/12
Table 31-5.
Symbol
ADC characteristics. (Continued)
Parameter
AVCC
Analog Supply Voltage
VREF
Reference Voltage
VIN
Condition
Min.
Typ.
Max.
VCC - 0.3
VCC + 0.3
Single Ended Conversion
2.0
AVCC
Differential Conversion
2.0
AVCC - 0.5
Single ended channels
0
VREF
Differential Conversion
0
AVCC
Input Voltage
Single Ended Channels
Units
V
38,5
Input Bandwidth
kHz
Differential Channels
4
VINT1
Internal Voltage Reference
1.1V
1.0
1.1
1.2
VINT2
Internal Voltage Reference
2.56V
2.4
2.56
2.8
RREF
Reference Input Resistance
32
kΩ
RAIN
Analog Input Resistance
100
MΩ
398
V
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
31.10 External data memory timing
Table 31-6.
External data memory characteristics, 4.5 - 5.5 Volts, no wait-state.
8MHz oscillator
Min.
Max.
Variable oscillator
Symbol
Parameter
0
1/tCLCL
Oscillator Frequency
1
tLHLL
ALE Pulse Width
115
1.0tCLCL-10
2
tAVLL
Address Valid A to ALE Low
57.5
0.5tCLCL-5 (1)
3a
tLLAX_ST
Address Hold After ALE Low,
write access
5
5
3b
tLLAX_LD
Address Hold after ALE Low,
read access
5
5
4
tAVLLC
Address Valid C to ALE Low
57.5
0.5tCLCL-5 (1)
5
tAVRL
Address Valid to RD Low
115
1.0tCLCL-10
6
tAVWL
Address Valid to WR Low
115
1.0tCLCL-10
7
tLLWL
ALE Low to WR Low
47.5
67.5
0.5tCLCL-15 (2)
0.5tCLCL+5 (2)
8
tLLRL
ALE Low to RD Low
47.5
67.5
0.5tCLCL-15 (2)
0.5tCLCL+5 (2)
9
tDVRH
Data Setup to RD High
10
tRLDV
Read Low to Data Valid
11
tRHDX
Data Hold After RD High
12
tRLRH
13
40
Min.
Max.
Unit
0.0
16
MHz
40
75
1.0tCLCL-50
0
0
RD Pulse Width
115
1.0tCLCL-10
tDVWL
Data Setup to WR Low
42.5
0.5tCLCL-20 (1)
14
tWHDX
Data Hold After WR High
115
1.0tCLCL-10
15
tDVWH
Data Valid to WR High
125
1.0tCLCL
16
tWLWH
WR Pulse Width
115
1.0tCLCL-10
Notes:
ns
1. This assumes 50% clock duty cycle. The half period is actually the high time of the external clock, XTAL1.
2. This assumes 50% clock duty cycle. The half period is actually the low time of the external clock, XTAL1.
Table 31-7.
External data memory characteristics, 4.5 - 5.5 Volts, 1 cycle wait-state.
8MHz oscillator
Min.
Max.
Variable oscillator
Symbol
Parameter
Min.
Max.
Unit
0
1/tCLCL
Oscillator Frequency
0.0
16
MHz
10
tRLDV
Read Low to Data Valid
12
tRLRH
RD Pulse Width
240
2.0tCLCL-10
15
tDVWH
Data Valid to WR High
240
2.0tCLCL
16
tWLWH
WR Pulse Width
240
2.0tCLCL-10
200
2.0tCLCL-50
ns
399
7593L–AVR–09/12
Table 31-8.
External data memory characteristics, 4.5 - 5.5 Volts, SRWn1 = 1, SRWn0 = 0.
4MHz oscillator
Symbol
Parameter
0
1/tCLCL
Oscillator Frequency
10
tRLDV
Read Low to Data Valid
12
tRLRH
RD Pulse Width
365
3.0tCLCL-10
15
tDVWH
Data Valid to WR High
375
3.0tCLCL
16
tWLWH
WR Pulse Width
365
3.0tCLCL-10
Table 31-9.
Min.
Max.
Variable oscillator
Min.
Max.
Unit
0.0
16
MHz
325
3.0tCLCL-50
ns
External data memory characteristics, 4.5 - 5.5 Volts, SRWn1 = 1, SRWn0 = 1.
4MHz oscillator
Min.
Max.
Variable oscillator
Symbol
Parameter
Min.
Max.
Unit
0
1/tCLCL
Oscillator Frequency
0.0
16
MHz
10
tRLDV
Read Low to Data Valid
12
tRLRH
RD Pulse Width
365
3.0tCLCL-10
14
tWHDX
Data Hold After WR High
240
2.0tCLCL-10
15
tDVWH
Data Valid to WR High
375
3.0tCLCL
16
tWLWH
WR Pulse Width
365
3.0tCLCL-10
325
3.0tCLCL-50
ns
Table 31-10. External data memory characteristics, 2.7 - 5.5 Volts, no wait-state.
4MHz oscillator
Symbol
Parameter
0
1/tCLCL
Oscillator Frequency
1
tLHLL
ALE Pulse Width
235
tCLCL-15
2
tAVLL
Address Valid A to ALE Low
115
0.5tCLCL-10 (1)
3a
tLLAX_ST
Address Hold After ALE Low,
write access
5
5
3b
tLLAX_LD
Address Hold after ALE Low,
read access
5
5
4
tAVLLC
Address Valid C to ALE Low
115
0.5tCLCL-10 (1)
5
tAVRL
Address Valid to RD Low
235
1.0tCLCL-15
6
tAVWL
Address Valid to WR Low
235
1.0tCLCL-15
7
tLLWL
ALE Low to WR Low
115
130
0.5tCLCL-10 (2)
0.5tCLCL+5 (2)
8
tLLRL
ALE Low to RD Low
115
130
0.5tCLCL-10 (2)
0.5tCLCL+5 (2)
9
tDVRH
Data Setup to RD High
45
10
tRLDV
Read Low to Data Valid
11
tRHDX
Data Hold After RD High
400
Min.
Max.
Variable oscillator
Min.
Max.
Unit
0.0
8
MHz
45
190
0
ns
1.0tCLCL-60
0
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Table 31-10. External data memory characteristics, 2.7 - 5.5 Volts, no wait-state. (Continued)
4MHz oscillator
Symbol
Parameter
Min.
12
tRLRH
RD Pulse Width
235
1.0tCLCL-15
13
tDVWL
Data Setup to WR Low
105
0.5tCLCL-20 (1)
14
tWHDX
Data Hold After WR High
235
1.0tCLCL-15
15
tDVWH
Data Valid to WR High
250
1.0tCLCL
16
tWLWH
WR Pulse Width
235
1.0tCLCL-15
Notes:
Max.
Variable oscillator
Min.
Max.
Unit
ns
1. This assumes 50% clock duty cycle. The half period is actually the high time of the external clock, XTAL1.
2. This assumes 50% clock duty cycle. The half period is actually the low time of the external clock, XTAL1.
Table 31-11. External data memory characteristics, 2.7 - 5.5 Volts, SRWn1 = 0, SRWn0 = 1.
4MHz oscillator
Min.
Max.
Variable oscillator
Symbol
Parameter
Min.
Max.
Unit
0
1/tCLCL
Oscillator Frequency
0.0
8
MHz
10
tRLDV
Read Low to Data Valid
12
tRLRH
RD Pulse Width
485
2.0tCLCL-15
15
tDVWH
Data Valid to WR High
500
2.0tCLCL
16
tWLWH
WR Pulse Width
485
2.0tCLCL-15
440
2.0tCLCL-60
ns
Table 31-12. External data memory characteristics, 2.7 - 5.5 Volts, SRWn1 = 1, SRWn0 = 0.
4MHz oscillator
Min.
Max.
Variable oscillator
Symbol
Parameter
Min.
Max.
Unit
0
1/tCLCL
Oscillator Frequency
0.0
8
MHz
10
tRLDV
Read Low to Data Valid
12
tRLRH
RD Pulse Width
735
3.0tCLCL-15
15
tDVWH
Data Valid to WR High
750
3.0tCLCL
16
tWLWH
WR Pulse Width
735
3.0tCLCL-15
690
3.0tCLCL-60
ns
Table 31-13. External data memory characteristics, 2.7 - 5.5 Volts, SRWn1 = 1, SRWn0 = 1.
4MHz oscillator
Min.
Max.
Variable oscillator
Symbol
Parameter
Min.
Max.
Unit
0
1/tCLCL
Oscillator Frequency
0.0
8
MHz
10
tRLDV
Read Low to Data Valid
12
tRLRH
RD Pulse Width
735
3.0tCLCL-15
14
tWHDX
Data Hold After WR High
485
2.0tCLCL-15
15
tDVWH
Data Valid to WR High
750
3.0tCLCL
16
tWLWH
WR Pulse Width
735
3.0tCLCL-15
690
3.0tCLCL-60
ns
401
7593L–AVR–09/12
Figure 31-7. External memory timing (SRWn1 = 0, SRWn0 = 0.
T1
T2
T3
T4
System clock (CLK CPU )
1
ALE
4
A15:8
7
Prev. addr.
Address
15
DA7:0
Prev. data
3a
Address
13
XX
Data
14
16
6
Write
2
WR
9
3b
DA7:0 (XMBK = 0)
11
Data
5
Read
Address
10
8
12
RD
Figure 31-8. External memory timing (SRWn1 = 0, SRWn0 = 1).
T1
T2
T3
T4
T5
System clock (CLK CPU )
1
ALE
4
A15:8
7
Prev. addr.
Address
15
DA7:0
Prev. data
13
3a
Address
Data
XX
14
16
6
Write
2
WR
9
3b
Address
11
Data
5
Read
DA7:0 (XMBK = 0)
10
8
12
RD
402
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 31-9. External memory timing (SRWn1 = 1, SRWn0 = 0).
T1
T2
T3
T5
T4
T6
System clock (CLK CPU )
1
ALE
4
A15:8
7
Address
Prev. addr.
15
Prev. data
Address
XX
Data
14
16
6
Write
DA7:0
13
3a
2
WR
9
3b
DA7:0 (XMBK = 0)
Address
11
5
Read
Data
10
8
12
RD
Figure 31-10. External memory timing (SRWn1 = 1, SRWn0 = 1).
T1
T2
T3
T4
T6
T5
T7
System clock (CLK CPU )
1
ALE
4
A15:8
7
Address
Prev. addr.
15
DA7:0
Prev. data
3a
Address
13
XX
Data
14
16
6
Write
2
WR
9
3b
Address
11
Data
5
Read
DA7:0 (XMBK = 0)
10
8
12
RD
The ALE pulse in the last period (T4-T7) is only present if the next instruction accesses the RAM (internal
or external).
403
7593L–AVR–09/12
32. Atmel AT90USB64/128 typical characteristics
The following charts show typical behavior. These figures are not tested during manufacturing.
All current consumption measurements are performed with all I/O pins configured as inputs and
with internal pull-ups enabled. A sine wave generator with rail-to-rail output is used as clock
source.
All Active- and Idle current consumption measurements are done with all bits in the PRR registers set and thus, the corresponding I/O modules are turned off. Also the Analog Comparator is
disabled during these measurements.
The power consumption in Power-down mode is independent of clock selection.
The current consumption is a function of several factors such as: operating voltage, operating
frequency, loading of I/O pins, switching rate of I/O pins, code executed and ambient temperature. The dominating factors are operating voltage and frequency.
The current drawn from capacitive loaded pins may be estimated (for one pin) as CL×VCC×f
where CL = load capacitance, VCC = operating voltage and f = average switching frequency of I/O
pin.
The parts are characterized at frequencies higher than test limits. Parts are not guaranteed to
function properly at frequencies higher than the ordering code indicates.
The difference between current consumption in Power-down mode with Watchdog Timer
enabled and Power-down mode with Watchdog Timer disabled represents the differential current drawn by the Watchdog Timer.
404
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
32.1
Input voltage levels
Figure 32-1. Input low voltage vs. VCC, all I/Os excluding DP/DM, XTAL1 and reset.
1.75
Thre s hold (V)
1.50
1.25
85
1.00
-40
25
0.75
0.50
2.5
3.0
3.5
4.0
4.5
5.0
5.5
V CC (V)
Figure 32-2. Input high voltage vs. VCC, all I/Os excluding DP/DM, XTAL1 and reset.
1.75
Thre s hold (V)
1.50
1.25
85
1.00
-40
25
0.75
0.50
2.5
3.0
3.5
4.0
4.5
5.0
5.5
V CC (V)
405
7593L–AVR–09/12
32.2
Output voltage levels
Figure 32-3. Output low voltage vs. output current, all I/Os excluding DP/DM, VCC = 3V.
1.2
1.0
V OL (V)
0.8
85
25
0.6
-40
0.4
0.2
0
0
5
10
15
20
IOL (mA)
Figure 32-4. Output low voltage vs. output current, all I/Os excluding DP/DM, VCC = 5V.
0.7
0.6
V OL (V)
0.5
85
0.4
25
0.3
-40
0.2
0.1
0
0
5
10
15
20
IOL (mA)
406
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 32-5. Output high voltage vs. output current, all I/Os excluding DP/DM, VCC = 3V.
3.0
2.8
V OH (V)
2.6
85
25
2.4
-40
2.2
2.0
1.8
0
5
10
15
20
IOH (mA)
Figure 32-6. Output high voltage vs. output current, all I/Os excluding DP/DM, VCC = 5V.
5.0
V OH (V)
4.8
85
25
4.6
-40
4.4
4.2
0
5
10
15
20
IOH (mA)
407
7593L–AVR–09/12
32.3
Power-down supply current
Figure 32-7. Power-down supply current vs. VCC, with BOD disabled, WDT disabled, T = 25°C.
3.0
2.5
ICC (µA)
2.0
1.5
1.0
0.5
0
2.5
3.0
3.5
4.0
4.5
5.0
5.5
V CC (V)
Figure 32-8. Power-down supply current vs. VCC, with BOD disabled, WDT enabled, T = 25°C.
16
14
12
ICC (µA)
10
8
6
4
2
0
2.5
3.0
3.5
4.0
4.5
5.0
5.5
V CC (V)
408
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 32-9. Power-down supply current vs. VCC, with BOD enabled, WDT enabled, T = 25°C.
60
50
ICC (µA)
40
30
20
10
0
2.5
3.0
3.5
4.0
4.5
5.0
5.5
V CC (V)
32.4
Power-save supply current
Figure 32-10. Power-save supply current vs. VCC, with BOD & WDT disabled, T = 25°C.
8
7
6
ICC (µA)
5
4
3
2
1
0
2.5
3.0
3.5
4.0
4.5
5.0
5.5
V CC (V)
409
7593L–AVR–09/12
32.5
Idle supply current
Figure 32-11. Idle supply current vs. frequency, T = 25°C.
20
ICC (mA)
15
10
5.5
5.0
4.5
5
3.3
2.7
0
2
4
6
8
10
12
14
16
Fre que nc y (MHz )
32.6
Active supply current
Figure 32-12. Active supply current vs. frequency, T = 25°C.
25
ICC (mA)
20
15
5.5
5.0
10
4.5
3.3
5
2.7
0
2
4
6
8
10
12
14
16
Fre que nc y (MHz )
410
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
32.7
Reset supply current
Figure 32-13. Reset supply current vs. frequency.
12
10
ICC (mA)
8
6
5.5
5.0
4
4.5
3.3
2
2.7
0
4
6
8
10
12
14
16
Fre que nc y (MHz )
32.8
I/O pull-up current
Figure 32-14. I/O pull-up current vs. pin voltage, VCC = 5V.
140
120
IOP (uA)
100
80
85
60
25
40
-40
20
0
-20
0
1
2
3
4
5
V OP (V)
411
7593L–AVR–09/12
Figure 32-15. Reset pull-up current vs. pin voltage, VCC = 5V.
120
100
IRES ET (µA)
80
85
60
25
-40
40
20
0
0
1
2
3
4
5
V RE S E T (V)
32.9
Bandgap voltage
Figure 32-16. Bandgap voltage vs. temperature.
1.115
Bandgap voltage (V)
1.110
1.105
1.100
5.5
1.095
5.0
4.5
1.090
4.0
3.6
1.085
1.080
-40
2.7
-30
-20
-10
0
10
20
30
40
50
60
70
80
Te mpe ra ture (°C)
412
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
32.10 Internal ARef voltage
Figure 32-17. Internal ARef reference voltage vs. temperature, VCC = 2.7-5.5V.
Tens ion Vref Inter (V)
2.64
2.62
2.60
2.58
2.56
2.54
-40
-20
0
20
40
60
80
Te mpe ra ture (°C)
32.11 USB regulator
Figure 32-18. USB regulator quiescent current vs. input voltage, no load.
100
90
80
70
ICC (µA)
60
50
40
30
20
10
0
3.0
3.5
4.0
4.5
5.0
5.5
6.0
Volta ge (V)
413
7593L–AVR–09/12
Figure 32-19. USB regulator output voltage vs. input voltage, load = 75Ω.
3.4
Output voltage (V)
3.2
85
25
3.0
-40
2.8
2.6
3.0
3.5
4.0
4.5
5.0
5.5
Input Volta ge (V)
Note:
The 75Ω load is equivalent to the maximum average consumption of the USB peripheral in operation (full bus load).
32.12 BOD levels
Figure 32-20. BOD voltage (2.4V level) vs. temperature.
2.54
Thres hold (V)
2.52
2.50
Rising Vcc
2.48
Falling Vcc
2.46
2.44
2.42
-40
-30
-20
-10
0
10
20
30
40
50
60
70
80
Te mpe ra ture (°C)
414
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 32-21. BOD voltage (3.4V level) vs. temperature.
3.56
3.54
Thres hold (V)
3.52
3.50
Rising Vcc
Falling Vcc
3.48
3.46
3.44
3.42
-40
-30
-20
-10
0
10
20
30
40
50
60
70
80
Te mpe ra ture (°C)
Figure 32-22. BOD voltage (4.3V level) vs. temperature.
4.50
4.48
Thres hold (V)
4.46
4.44
Rising Vcc
4.42
Falling Vcc
4.40
4.38
4.36
4.34
-40
-30
-20
-10
0
10
20
30
40
50
60
70
80
Te mpe ra ture (°C)
415
7593L–AVR–09/12
32.13 Watchdog timer frequency
Figure 32-23. WDT oscillator frequency vs. VCC.
124
122
FRC (kHz)
120
118
85
25
116
-40
114
112
110
108
2.0
2.5
3.0
3.5
4.0
4.5
5.0
5.5
V CC (V)
32.14 Internal RC oscillator frequency
Figure 32-24. RC oscillator frequency vs. OSCCAL, T = 25°C.
16
14
FRC (MHz)
12
10
8
6
4
2
-1
15
31
47
63
79
95
111
127
143
159
175
191
207
223
239
255
OSCCAL (X1)
416
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Figure 32-25. RC oscillator frequency vs. VCC.
8.8
8.7
8.6
FRC (MHz)
8.5
8.4
85
8.3
25
8.2
-40
8.1
8.0
7.9
7.8
2.5
3.0
3.5
4.0
4.5
5.0
5.5
V CC (V)
Figure 32-26. RC oscillator frequency vs. temperature.
8.8
FRC (MHz)
8.6
8.4
5.5
4.0
8.2
3.3
3.0
8.0
2.7
7.8
-40
-30
-20
-10
0
10
20
30
40
50
60
70
80
Te mpe ra ture (°C)
417
7593L–AVR–09/12
32.15 Power-on reset
Figure 32-27. Power-on reset level vs. temperature.
1.7
1.6
POR Voltage (V)
1.5
1.4
1.3
1.2
1.1
1.0
-40
-30
-20
-10
0
10
20
30
40
50
60
70
80
Te mpe ra ture (°C)
418
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
33. Register summary
Address
Name
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
(0xFF)
Reserved
-
-
-
-
-
-
-
-
(0xFE)
Reserved
-
-
-
-
-
-
-
-
(0xFD)
Reserved
-
-
-
-
-
-
-
-
(0xFC)
Reserved
-
-
-
-
-
-
-
-
(0xFB)
Reserved
-
-
-
-
-
-
-
-
(0xFA)
Reserved
-
-
-
-
-
-
-
(0xF9)
OTGTCON
(0xF8)
UPINT
(0xF7)
UPBCHX
(0xF6)
UPBCLX
VALUE
PINT7:0
-
-
-
-
-
PBYCT10:8
PBYCT7:0
(0xF5)
UPERRX
UEINT
(0xF3)
UEBCHX
(0xF2)
UEBCLX
(0xF1)
UEDATX
(0xF0)
UEIENX
FLERRE
NAKINE
-
NAKOUTE
RXSTPE
RXOUTE
(0xEF)
UESTA1X
-
-
-
-
-
CTRLDIR
CFGOK
OVERFI
UNDERFI
-
(0xEE)
UESTA0X
UECFG1X
(0xEC)
UECFG0X
(0xEB)
UECONX
(0xEA)
UERST
(0xE9)
UENUM
(0xE8)
UEINTX
(0xE7)
Reserved
-
PAGE
(0xF4)
(0xED)
-
COUNTER1:0
CRC16
TIMEOUT
PID
DATAPID
DATATGL
EPINT6:0
-
-
-
-
-
BYCT10:8
BYCT7:0
DAT7:0
ALLOC
-
STALLRQC
TXINE
CURRBK1:0
NBUSYBK1:0
EPBK1:0
EPTYPE1:0
STALLRQ
STALLEDE
DTSEQ1:0
EPSIZE2:0
-
RSTDT
EPDIR
EPEN
EPRST6:0
EPNUM2:0
FIFOCON
NAKINI
RWAL
NAKOUTI
RXSTPI
RXOUTI
-
-
-
-
(0xE6)
UDMFN
(0xE5)
UDFNUMH
(0xE4)
UDFNUML
(0xE3)
UDADDR
(0xE2)
UDIEN
UPRSME
EORSME
WAKEUPE
EORSTE
SOFE
(0xE1)
UDINT
UPRSMI
EORSMI
WAKEUPI
EORSTI
SOFI
(0xE0)
UDCON
STALLEDI
TXINI
FNCERR
FNUM10:8
FNUM7:0
ADDEN
UADD6:0
LSM
SUSPE
SUSPI
RMWKUP
DETACH
(0xDF)
OTGINT
STOI
HNPERRI
ROLEEXI
BCERRI
VBERRI
SRPI
(0xDE)
OTGIEN
STOE
HNPERRE
ROLEEXE
BCERRE
VBERRE
SRPE
(0xDD)
OTGCON
HNPREQ
SRPREQ
SRPSEL
VBUSHWC
VBUSREQ
VBUSRQC
(0xDC)
Reserved
(0xDB)
Reserved
IDTI
VBUSTI
(0xDA)
USBINT
(0xD9)
USBSTA
(0xD8)
USBCON
USBE
HOST
UIMOD
UIDE
(0xD7)
UHWCON
(0xD6)
Reserved
(0xD5)
Reserved
(0xD4)
Reserved
(0xD3)
Reserved
Page
SPEED
FRZCLK
OTGPADE
ID
VBUS
IDTE
VBUSTE
UVCONE
UVREGE
(0xD2)
Reserved
-
-
-
-
-
-
-
-
(0xD1)
Reserved
-
-
-
-
-
-
-
-
(0xD0)
Reserved
-
-
-
-
-
-
-
-
(0xCF)
Reserved
-
-
-
-
-
-
-
-
(0xCE)
UDR1
(0xCD)
UBRR1H
(0xCC)
UBRR1L
USART1 I/O Data Register
-
-
-
-
USART1 Baud Rate Register High Byte
USART1 Baud Rate Register Low Byte
(0xCB)
Reserved
-
-
-
-
-
-
-
-
(0xCA)
UCSR1C
UMSEL11
UMSEL10
UPM11
UPM10
USBS1
UCSZ11
UCSZ10
UCPOL1
(0xC9)
UCSR1B
RXCIE1
TXCIE1
UDRIE1
RXEN1
TXEN1
UCSZ12
RXB81
TXB81
(0xC8)
UCSR1A
RXC1
TXC1
UDRE1
FE1
DOR1
PE1
U2X1
MPCM1
(0xC7)
Reserved
-
-
-
-
-
-
-
-
(0xC6)
Reserved
-
-
-
-
-
-
-
-
(0xC5)
Reserved
-
-
-
-
-
-
-
-
(0xC4)
Reserved
-
-
-
-
-
-
-
-
(0xC3)
Reserved
-
-
-
-
-
-
-
-
(0xC2)
Reserved
-
-
-
-
-
-
-
-
(0xC1)
Reserved
-
-
-
-
-
-
-
-
(0xC0)
Reserved
-
-
-
-
-
-
-
-
(0xBF)
Reserved
-
-
-
-
-
-
-
-
419
7593L–AVR–09/12
Address
Name
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
(0xBE)
Reserved
-
-
-
-
-
-
-
-
(0xBD)
TWAMR
TWAM6
TWAM5
TWAM4
TWAM3
TWAM2
TWAM1
TWAM0
-
(0xBC)
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
-
TWIE
420
(0xBB)
TWDR
(0xBA)
TWAR
TWA6
TWA5
TWA4
TWA3
TWA2
TWA1
TWA0
TWGCE
(0xB9)
TWSR
TWS7
TWS6
TWS5
TWS4
TWS3
-
TWPS1
TWPS0
(0xB8)
TWBR
(0xB7)
Reserved
-
-
-
-
-
-
-
-
(0xB6)
ASSR
-
EXCLK
AS2
TCN2UB
OCR2AUB
OCR2BUB
TCR2AUB
TCR2BUB
(0xB5)
Reserved
-
-
-
-
-
-
-
-
(0xB4)
OCR2B
Timer/Counter2 Output Compare Register B
(0xB3)
OCR2A
Timer/Counter2 Output Compare Register A
(0xB2)
TCNT2
(0xB1)
TCCR2B
FOC2A
FOC2B
-
-
WGM22
CS22
CS21
CS20
(0xB0)
TCCR2A
COM2A1
COM2A0
COM2B1
COM2B0
-
-
WGM21
WGM20
FLERRE
NAKEDE
-
PERRE
TXSTPE
TXOUTE
RXSTALLE
RXINE
(0xAF)
UPDATX
(0xAE)
UPIENX
(0xAD)
UPCFG2X
(0xAC)
UPSTAX
(0xAB)
UPCFG1X
(0xAA)
UPCFG0X
(0xA9)
UPCONX
(0xA8)
UPRST
Page
2-wire Serial Interface Data Register
2-wire Serial Interface Bit Rate Register
Timer/Counter2 (8 Bit)
PDAT7:0
INTFRQ7:0
CFGOK
OVERFI
UNDERFI
DTSEQ1:0
PSIZE2:0
PBK1:0
PTYPE1:0
NBUSYBK1:0
ALLOC
PTOKEN1:0
PFREEZE
PEPNUM3:0
INMODE
RSTDT
PEN
PRST6:0
(0xA7)
UPNUM
(0xA6)
UPINTX
PNUM2:0
(0xA5)
UPINRQX
INRQ7:0
(0xA4)
UHFLEN
FLEN7:0
(0xA3)
UHFNUMH
(0xA2)
UHFNUML
(0xA1)
UHADDR
(0xA0)
UHIEN
HWUPE
HSOFE
RXRSME
RSMEDE
RSTE
DDISCE
DCONNE
(0x9F)
UHINT
HWUPI
HSOFI
RXRSMI
RSMEDI
RSTI
DDISCI
DCONNI
(0x9E)
UHCON
RESUME
RESET
SOFEN
(0x9D)
OCR3CH
-
FIFOCON
NAKEDI
RWAL
PERRI
TXSTPI
TXOUTI
RXSTALLI
RXINI
FNUM10:8
FNUM7:0
HADD6:0
Timer/Counter3 - Output Compare Register C High Byte
(0x9C)
OCR3CL
Timer/Counter3 - Output Compare Register C Low Byte
(0x9B)
OCR3BH
Timer/Counter3 - Output Compare Register B High Byte
(0x9A)
OCR3BL
Timer/Counter3 - Output Compare Register B Low Byte
(0x99)
OCR3AH
Timer/Counter3 - Output Compare Register A High Byte
(0x98)
OCR3AL
Timer/Counter3 - Output Compare Register A Low Byte
(0x97)
ICR3H
Timer/Counter3 - Input Capture Register High Byte
(0x96)
ICR3L
Timer/Counter3 - Input Capture Register Low Byte
(0x95)
TCNT3H
Timer/Counter3 - Counter Register High Byte
(0x94)
TCNT3L
(0x93)
Reserved
-
-
-
-
-
-
-
(0x92)
TCCR3C
FOC3A
FOC3B
FOC3C
-
-
-
-
-
(0x91)
TCCR3B
ICNC3
ICES3
-
WGM33
WGM32
CS32
CS31
CS30
Timer/Counter3 - Counter Register Low Byte
(0x90)
TCCR3A
COM3A1
COM3A0
COM3B1
COM3B0
COM3C1
COM3C0
WGM31
WGM30
(0x8F)
Reserved
-
-
-
-
-
-
-
-
(0x8E)
Reserved
-
-
-
-
-
-
-
-
(0x8D)
OCR1CH
-
Timer/Counter1 - Output Compare Register C High Byte
(0x8C)
OCR1CL
Timer/Counter1 - Output Compare Register C Low Byte
(0x8B)
OCR1BH
Timer/Counter1 - Output Compare Register B High Byte
(0x8A)
OCR1BL
Timer/Counter1 - Output Compare Register B Low Byte
(0x89)
OCR1AH
Timer/Counter1 - Output Compare Register A High Byte
(0x88)
OCR1AL
Timer/Counter1 - Output Compare Register A Low Byte
(0x87)
ICR1H
Timer/Counter1 - Input Capture Register High Byte
(0x86)
ICR1L
Timer/Counter1 - Input Capture Register Low Byte
(0x85)
TCNT1H
Timer/Counter1 - Counter Register High Byte
(0x84)
TCNT1L
(0x83)
Reserved
-
-
-
-
-
-
-
(0x82)
TCCR1C
FOC1A
FOC1B
FOC1C
-
-
-
-
-
(0x81)
TCCR1B
ICNC1
ICES1
-
WGM13
WGM12
CS12
CS11
CS10
WGM10
Timer/Counter1 - Counter Register Low Byte
(0x80)
TCCR1A
COM1A1
COM1A0
COM1B1
COM1B0
COM1C1
COM1C0
WGM11
(0x7F)
DIDR1
-
-
-
-
-
-
AIN1D
AIN0D
(0x7E)
DIDR0
ADC7D
ADC6D
ADC5D
ADC4D
ADC3D
ADC2D
ADC1D
ADC0D
(0x7D)
-
-
-
-
-
-
-
-
-
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Address
Name
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
(0x7C)
ADMUX
REFS1
REFS0
ADLAR
MUX4
MUX3
MUX2
MUX1
MUX0
(0x7B)
ADCSRB
ADHSM
ACME
-
-
-
ADTS2
ADTS1
ADTS0
(0x7A)
ADCSRA
ADEN
ADSC
ADATE
ADIF
ADIE
ADPS2
ADPS1
ADPS0
(0x79)
ADCH
(0x78)
ADCL
(0x77)
Reserved
-
-
-
-
-
-
-
-
(0x76)
Reserved
-
-
-
-
-
-
-
-
(0x75)
XMCRB
XMBK
-
-
-
-
XMM2
XMM1
XMM0
(0x74)
XMCRA
SRE
SRL2
SRL1
SRL0
SRW11
SRW10
SRW01
SRW00
(0x73)
Reserved
-
-
-
-
-
-
-
-
(0x72)
Reserved
-
-
-
-
-
-
-
-
(0x71)
TIMSK3
-
-
ICIE3
-
OCIE3C
OCIE3B
OCIE3A
TOIE3
(0x70)
TIMSK2
-
-
-
-
-
OCIE2B
OCIE2A
TOIE2
(0x6F)
TIMSK1
-
-
ICIE1
-
OCIE1C
OCIE1B
OCIE1A
TOIE1
Page
ADC Data Register High byte
ADC Data Register Low byte
(0x6E)
TIMSK0
-
-
-
-
-
OCIE0B
OCIE0A
TOIE0
(0x6D)
Reserved
-
-
-
-
-
-
-
-
(0x6C)
Reserved
-
-
-
-
-
-
-
-
(0x6B)
PCMSK0
PCINT7
PCINT6
PCINT5
PCINT4
PCINT3
PCINT2
PCINT1
PCINT0
(0x6A)
EICRB
ISC71
ISC70
ISC61
ISC60
ISC51
ISC50
ISC41
ISC40
(0x69)
EICRA
ISC31
ISC30
ISC21
ISC20
ISC11
ISC10
ISC01
ISC00
(0x68)
PCICR
-
-
-
-
-
-
-
PCIE0
(0x67)
Reserved
-
-
-
-
-
-
-
-
(0x66)
OSCCAL
Oscillator Calibration Register
(0x65)
PRR1
PRUSB
-
-
-
PRTIM3
-
-
PRUSART1
(0x64)
PRR0
PRTWI
PRTIM2
PRTIM0
-
PRTIM1
PRSPI
-
PRADC
(0x63)
Reserved
-
-
-
-
-
-
-
-
(0x62)
Reserved
-
-
-
-
-
-
-
-
(0x61)
CLKPR
CLKPCE
-
-
-
CLKPS3
CLKPS2
CLKPS1
CLKPS0
WDP0
(0x60)
WDTCSR
WDIF
WDIE
WDP3
WDCE
WDE
WDP2
WDP1
0x3F (0x5F)
SREG
I
T
H
S
V
N
Z
C
0x3E (0x5E)
SPH
SP15
SP14
SP13
SP12
SP11
SP10
SP9
SP8
0x3D (0x5D)
SPL
SP7
SP6
SP5
SP4
SP3
SP2
SP1
SP0
0x3C (0x5C)
Reserved
-
-
-
-
-
-
-
-
0x3B (0x5B)
RAMPZ
-
-
-
-
-
-
RAMPZ1
RAMPZ0
0x3A (0x5A)
Reserved
-
-
-
-
-
-
-
-
0x39 (0x59)
Reserved
-
-
-
-
-
-
-
-
0x38 (0x58)
Reserved
-
-
-
-
-
-
-
-
0x37 (0x57)
SPMCSR
SPMIE
RWWSB
SIGRD
RWWSRE
BLBSET
PGWRT
PGERS
SPMEN
0x36 (0x56)
Reserved
-
-
-
-
-
-
-
-
0x35 (0x55)
MCUCR
JTD
-
-
PUD
-
-
IVSEL
IVCE
0x34 (0x54)
MCUSR
-
-
-
JTRF
WDRF
BORF
EXTRF
PORF
0x33 (0x53)
SMCR
-
-
-
-
SM2
SM1
SM0
SE
0x32 (0x52)
Reserved
-
-
-
-
-
-
-
-
0x31 (0x51)
OCDR/
MONDR
OCDR7
OCDR6
OCDR5
OCDR4
OCDR3
OCDR2
OCDR1
OCDR0
0x30 (0x50)
ACSR
ACD
ACBG
ACO
ACI
ACIE
ACIC
ACIS1
ACIS0
0x2F (0x4F)
Reserved
-
-
-
-
-
-
-
-
0x2E (0x4E)
SPDR
Monitor Data Register
SPI Data Register
0x2D (0x4D)
SPSR
SPIF
WCOL
-
-
-
-
-
SPI2X
0x2C (0x4C)
SPCR
SPIE
SPE
DORD
MSTR
CPOL
CPHA
SPR1
SPR0
0x2B (0x4B)
GPIOR2
PLLP0
PLLE
PLOCK
General Purpose I/O Register 2
0x2A (0x4A)
GPIOR1
0x29 (0x49)
PLLCSR
General Purpose I/O Register 1
0x28 (0x48)
OCR0B
Timer/Counter0 Output Compare Register B
0x27 (0x47)
OCR0A
Timer/Counter0 Output Compare Register A
0x26 (0x46)
TCNT0
0x25 (0x45)
TCCR0B
FOC0A
FOC0B
-
-
WGM02
CS02
CS01
CS00
0x24 (0x44)
TCCR0A
COM0A1
COM0A0
COM0B1
COM0B0
-
-
WGM01
WGM00
0x23 (0x43)
GTCCR
TSM
-
-
-
-
-
PSRASY
PSRSYNC
0x22 (0x42)
EEARH
-
-
-
-
-
-
-
PLLP2
PLLP1
Timer/Counter0 (8 Bit)
EEPROM Address Register High Byte
0x21 (0x41)
EEARL
0x20 (0x40)
EEDR
EEPROM Address Register Low Byte
0x1F (0x3F)
EECR
0x1E (0x3E)
GPIOR0
0x1D (0x3D)
EIMSK
INT7
INT6
INT5
INT4
INT3
INT2
INT1
INT0
0x1C (0x3C)
EIFR
INTF7
INTF6
INTF5
INTF4
INTF3
INTF2
INTF1
INTF0
EEPROM Data Register
-
-
EEPM1
EEPM0
EERIE
EEMPE
EEPE
EERE
General Purpose I/O Register 0
421
7593L–AVR–09/12
Address
Name
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0x1B (0x3B)
PCIFR
-
-
-
-
-
-
-
PCIF0
0x1A (0x3A)
Reserved
-
-
-
-
-
-
-
-
0x19 (0x39)
Reserved
-
-
-
-
-
-
-
-
0x18 (0x38)
TIFR3
-
-
ICF3
-
OCF3C
OCF3B
OCF3A
TOV3
0x17 (0x37)
TIFR2
-
-
-
-
-
OCF2B
OCF2A
TOV2
0x16 (0x36)
TIFR1
-
-
ICF1
-
OCF1C
OCF1B
OCF1A
TOV1
0x15 (0x35)
TIFR0
-
-
-
-
-
OCF0B
OCF0A
TOV0
0x14 (0x34)
Reserved
-
-
-
-
-
-
-
-
0x13 (0x33)
Reserved
-
-
-
-
-
-
-
-
0x12 (0x32)
Reserved
-
-
-
-
-
-
-
-
0x11 (0x31)
PORTF
PORTF7
PORTF6
PORTF5
PORTF4
PORTF3
PORTF2
PORTF1
PORTF0
0x10 (0x30)
DDRF
DDF7
DDF6
DDF5
DDF4
DDF3
DDF2
DDF1
DDF0
0x0F (0x2F)
PINF
PINF7
PINF6
PINF5
PINF4
PINF3
PINF2
PINF1
PINF0
PORTE0
0x0E (0x2E)
PORTE
PORTE7
PORTE6
PORTE5
PORTE4
PORTE3
PORTE2
PORTE1
0x0D (0x2D)
DDRE
DDE7
DDE6
DDE5
DDE4
DDE3
DDE2
DDE1
DDE0
0x0C (0x2C)
PINE
PINE7
PINE6
PINE5
PINE4
PINE3
PINE2
PINE1
PINE0
0x0B (0x2B)
PORTD
PORTD7
PORTD6
PORTD5
PORTD4
PORTD3
PORTD2
PORTD1
PORTD0
0x0A (0x2A)
DDRD
DDD7
DDD6
DDD5
DDD4
DDD3
DDD2
DDD1
DDD0
0x09 (0x29)
PIND
PIND7
PIND6
PIND5
PIND4
PIND3
PIND2
PIND1
PIND0
0x08 (0x28)
PORTC
PORTC7
PORTC6
PORTC5
PORTC4
PORTC3
PORTC2
PORTC1
PORTC0
0x07 (0x27)
DDRC
DDC7
DDC6
DDC5
DDC4
DDC3
DDC2
DDC1
DDC0
0x06 (0x26)
PINC
PINC7
PINC6
PINC5
PINC4
PINC3
PINC2
PINC1
PINC0
0x05 (0x25)
PORTB
PORTB7
PORTB6
PORTB5
PORTB4
PORTB3
PORTB2
PORTB1
PORTB0
0x04 (0x24)
DDRB
DDB7
DDB6
DDB5
DDB4
DDB3
DDB2
DDB1
DDB0
0x03 (0x23)
PINB
PINB7
PINB6
PINB5
PINB4
PINB3
PINB2
PINB1
PINB0
0x02 (0x22)
PORTA
PORTA7
PORTA6
PORTA5
PORTA4
PORTA3
PORTA2
PORTA1
PORTA0
0x01 (0x21)
DDRA
DDA7
DDA6
DDA5
DDA4
DDA3
DDA2
DDA1
DDA0
0x00 (0x20)
PINA
PINA7
PINA6
PINA5
PINA4
PINA3
PINA2
PINA1
PINA0
Note:
Page
1. For compatibility with future devices, reserved bits should be written to zero if accessed. Reserved I/O memory addresses
should never be written.
2. I/O registers within the address range $00 - $1F are directly bit-accessible using the SBI and CBI instructions. In these registers, the value of single bits can be checked by using the SBIS and SBIC instructions.
3. Some of the status flags are cleared by writing a logical one to them. Note that the CBI and SBI instructions will operate on
all bits in the I/O register, writing a one back into any flag read as set, thus clearing the flag. The CBI and SBI instructions
work with registers 0x00 to 0x1F only.
4. When using the I/O specific commands IN and OUT, the I/O addresses $00 - $3F must be used. When addressing I/O registers as data space using LD and ST instructions, $20 must be added to these addresses. The Atmel AT90USB64/128 is a
complex microcontroller with more peripheral units than can be supported within the 64 location reserved in Opcode for the
IN and OUT instructions. For the Extended I/O space from $60 - $1FF in SRAM, only the ST/STS/STD and LD/LDS/LDD
instructions can be used.
422
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
34. Instruction set summary
Mnemonics
Operands
Description
Operation
Flags
#Clocks
ARITHMETIC AND LOGIC INSTRUCTIONS
ADD
Rd, Rr
Add two Registers
Rd ← Rd + Rr
Z,C,N,V,H
1
ADC
Rd, Rr
Add with Carry two Registers
Rd ← Rd + Rr + C
Z,C,N,V,H
1
ADIW
Rdl,K
Add Immediate to Word
Rdh:Rdl ← Rdh:Rdl + K
Z,C,N,V,S
2
SUB
Rd, Rr
Subtract two Registers
Rd ← Rd - Rr
Z,C,N,V,H
1
1
SUBI
Rd, K
Subtract Constant from Register
Rd ← Rd - K
Z,C,N,V,H
SBC
Rd, Rr
Subtract with Carry two Registers
Rd ← Rd - Rr - C
Z,C,N,V,H
1
SBCI
Rd, K
Subtract with Carry Constant from Reg.
Rd ← Rd - K - C
Z,C,N,V,H
1
SBIW
Rdl,K
Subtract Immediate from Word
Rdh:Rdl ← Rdh:Rdl - K
Z,C,N,V,S
2
AND
Rd, Rr
Logical AND Registers
Rd ← Rd • Rr
Z,N,V
1
ANDI
Rd, K
Logical AND Register and Constant
Rd ← Rd • K
Z,N,V
1
OR
Rd, Rr
Logical OR Registers
Rd ← Rd v Rr
Z,N,V
1
ORI
Rd, K
Logical OR Register and Constant
Rd ← Rd v K
Z,N,V
1
EOR
Rd, Rr
Exclusive OR Registers
Rd ← Rd ⊕ Rr
Z,N,V
1
COM
Rd
One’s Complement
Rd ← 0xFF − Rd
Z,C,N,V
1
NEG
Rd
Two’s Complement
Rd ← 0x00 − Rd
Z,C,N,V,H
1
SBR
Rd,K
Set Bit(s) in Register
Rd ← Rd v K
Z,N,V
1
CBR
Rd,K
Clear Bit(s) in Register
Rd ← Rd • (0xFF - K)
Z,N,V
1
INC
Rd
Increment
Rd ← Rd + 1
Z,N,V
1
DEC
Rd
Decrement
Rd ← Rd − 1
Z,N,V
1
1
TST
Rd
Test for Zero or Minus
Rd ← Rd • Rd
Z,N,V
CLR
Rd
Clear Register
Rd ← Rd ⊕ Rd
Z,N,V
1
SER
Rd
Set Register
Rd ← 0xFF
None
1
MUL
Rd, Rr
Multiply Unsigned
R1:R0 ← Rd x Rr
Z,C
2
MULS
Rd, Rr
Multiply Signed
R1:R0 ← Rd x Rr
Z,C
2
MULSU
Rd, Rr
Multiply Signed with Unsigned
R1:R0 ← Rd x Rr
Z,C
2
FMUL
Rd, Rr
Fractional Multiply Unsigned
1
R1:R0 ← (Rd x Rr) << 1
R1:R0 ← (Rd x Rr) << 1
Z,C
2
Z,C
2
Z,C
2
2
FMULS
Rd, Rr
Fractional Multiply Signed
FMULSU
Rd, Rr
Fractional Multiply Signed with Unsigned
R1:R0 ← (Rd x Rr) <<
BRANCH INSTRUCTIONS
Relative Jump
PC ← PC + k + 1
None
IJMP
Indirect Jump to (Z)
None
2
EIJMP
Extended Indirect Jump to (Z)
PC ← Z
PC ←(EIND:Z)
None
2
RJMP
k
JMP
k
Direct Jump
PC ← k
None
3
RCALL
k
Relative Subroutine Call
PC ← PC + k + 1
None
4
ICALL
Indirect Call to (Z)
4
Extended Indirect Call to (Z)
PC ← Z
PC ←(EIND:Z)
None
EICALL
None
4
Direct Subroutine Call
PC ← k
None
5
RET
Subroutine Return
PC ← STACK
None
5
RETI
Interrupt Return
PC ← STACK
I
5
Compare, Skip if Equal
if (Rd = Rr) PC ← PC + 2 or 3
None
1/2/3
1
CALL
CPSE
k
Rd,Rr
CP
Rd,Rr
Compare
Rd − Rr
Z, N,V,C,H
CPC
Rd,Rr
Compare with Carry
Rd − Rr − C
Z, N,V,C,H
1
CPI
Rd,K
Compare Register with Immediate
Rd − K
Z, N,V,C,H
1
SBRC
Rr, b
Skip if Bit in Register Cleared
if (Rr(b)=0) PC ← PC + 2 or 3
None
1/2/3
SBRS
Rr, b
Skip if Bit in Register is Set
if (Rr(b)=1) PC ← PC + 2 or 3
None
1/2/3
SBIC
P, b
Skip if Bit in I/O Register Cleared
if (P(b)=0) PC ← PC + 2 or 3
None
1/2/3
SBIS
P, b
Skip if Bit in I/O Register is Set
if (P(b)=1) PC ← PC + 2 or 3
None
1/2/3
BRBS
s, k
Branch if Status Flag Set
if (SREG(s) = 1) then PC←PC+k + 1
None
1/2
BRBC
s, k
Branch if Status Flag Cleared
if (SREG(s) = 0) then PC←PC+k + 1
None
1/2
BREQ
k
Branch if Equal
if (Z = 1) then PC ← PC + k + 1
None
1/2
BRNE
k
Branch if Not Equal
if (Z = 0) then PC ← PC + k + 1
None
1/2
BRCS
k
Branch if Carry Set
if (C = 1) then PC ← PC + k + 1
None
1/2
1/2
BRCC
k
Branch if Carry Cleared
if (C = 0) then PC ← PC + k + 1
None
BRSH
k
Branch if Same or Higher
if (C = 0) then PC ← PC + k + 1
None
1/2
BRLO
k
Branch if Lower
if (C = 1) then PC ← PC + k + 1
None
1/2
BRMI
k
Branch if Minus
if (N = 1) then PC ← PC + k + 1
None
1/2
BRPL
k
Branch if Plus
if (N = 0) then PC ← PC + k + 1
None
1/2
BRGE
k
Branch if Greater or Equal, Signed
if (N ⊕ V= 0) then PC ← PC + k + 1
None
1/2
BRLT
k
Branch if Less Than Zero, Signed
if (N ⊕ V= 1) then PC ← PC + k + 1
None
1/2
BRHS
k
Branch if Half Carry Flag Set
if (H = 1) then PC ← PC + k + 1
None
1/2
BRHC
k
Branch if Half Carry Flag Cleared
if (H = 0) then PC ← PC + k + 1
None
1/2
BRTS
k
Branch if T Flag Set
if (T = 1) then PC ← PC + k + 1
None
1/2
BRTC
k
Branch if T Flag Cleared
if (T = 0) then PC ← PC + k + 1
None
1/2
BRVS
k
Branch if Overflow Flag is Set
if (V = 1) then PC ← PC + k + 1
None
1/2
423
7593L–AVR–09/12
Mnemonics
Operands
Description
Operation
Flags
#Clocks
BRVC
k
Branch if Overflow Flag is Cleared
if (V = 0) then PC ← PC + k + 1
None
1/2
BRIE
k
Branch if Interrupt Enabled
if ( I = 1) then PC ← PC + k + 1
None
1/2
BRID
k
Branch if Interrupt Disabled
if ( I = 0) then PC ← PC + k + 1
None
1/2
BIT AND BIT-TEST INSTRUCTIONS
SBI
P,b
Set Bit in I/O Register
I/O(P,b) ← 1
None
2
CBI
P,b
Clear Bit in I/O Register
I/O(P,b) ← 0
None
2
LSL
Rd
Logical Shift Left
Rd(n+1) ← Rd(n), Rd(0) ← 0
Z,C,N,V
1
LSR
Rd
Logical Shift Right
Rd(n) ← Rd(n+1), Rd(7) ← 0
Z,C,N,V
1
ROL
Rd
Rotate Left Through Carry
Rd(0)←C,Rd(n+1)← Rd(n),C←Rd(7)
Z,C,N,V
1
ROR
Rd
Rotate Right Through Carry
Rd(7)←C,Rd(n)← Rd(n+1),C←Rd(0)
Z,C,N,V
1
ASR
Rd
Arithmetic Shift Right
Rd(n) ← Rd(n+1), n=0..6
Z,C,N,V
1
SWAP
Rd
Swap Nibbles
Rd(3..0)←Rd(7..4),Rd(7..4)←Rd(3..0)
None
1
BSET
s
Flag Set
SREG(s) ← 1
SREG(s)
1
1
BCLR
s
Flag Clear
SREG(s) ← 0
SREG(s)
BST
Rr, b
Bit Store from Register to T
T ← Rr(b)
T
1
BLD
Rd, b
Bit load from T to Register
Rd(b) ← T
None
1
SEC
Set Carry
C←1
C
1
CLC
Clear Carry
C←0
C
1
SEN
Set Negative Flag
N←1
N
1
CLN
Clear Negative Flag
N←0
N
1
SEZ
Set Zero Flag
Z←1
Z
1
CLZ
Clear Zero Flag
Z←0
Z
1
SEI
Global Interrupt Enable
I←1
I
1
CLI
Global Interrupt Disable
I←0
I
1
SES
Set Signed Test Flag
S←1
S
1
CLS
Clear Signed Test Flag
S←0
S
1
SEV
Set Twos Complement Overflow.
V←1
V
1
CLV
Clear Twos Complement Overflow
V←0
V
1
SET
Set T in SREG
T←1
T
1
CLT
Clear T in SREG
T←0
T
1
SEH
CLH
Set Half Carry Flag in SREG
Clear Half Carry Flag in SREG
H←1
H←0
H
H
1
1
1
DATA TRANSFER INSTRUCTIONS
MOV
Rd, Rr
Move Between Registers
Rd, Rr
Copy Register Word
Rd ← Rr
Rd+1:Rd ← Rr+1:Rr
None
MOVW
None
1
LDI
Rd, K
Load Immediate
Rd ← K
None
1
LD
Rd, X
Load Indirect
Rd ← (X)
None
2
LD
Rd, X+
Load Indirect and Post-Inc.
Rd ← (X), X ← X + 1
None
2
LD
Rd, - X
Load Indirect and Pre-Dec.
X ← X - 1, Rd ← (X)
None
2
LD
Rd, Y
Load Indirect
Rd ← (Y)
None
2
LD
Rd, Y+
Load Indirect and Post-Inc.
Rd ← (Y), Y ← Y + 1
None
2
2
LD
Rd, - Y
Load Indirect and Pre-Dec.
Y ← Y - 1, Rd ← (Y)
None
LDD
Rd,Y+q
Load Indirect with Displacement
Rd ← (Y + q)
None
2
LD
Rd, Z
Load Indirect
Rd ← (Z)
None
2
LD
Rd, Z+
Load Indirect and Post-Inc.
Rd ← (Z), Z ← Z+1
None
2
LD
Rd, -Z
Load Indirect and Pre-Dec.
Z ← Z - 1, Rd ← (Z)
None
2
LDD
Rd, Z+q
Load Indirect with Displacement
Rd ← (Z + q)
None
2
LDS
Rd, k
Load Direct from SRAM
Rd ← (k)
None
2
ST
X, Rr
Store Indirect
(X) ← Rr
None
2
ST
X+, Rr
Store Indirect and Post-Inc.
(X) ← Rr, X ← X + 1
None
2
ST
- X, Rr
Store Indirect and Pre-Dec.
X ← X - 1, (X) ← Rr
None
2
ST
Y, Rr
Store Indirect
(Y) ← Rr
None
2
ST
Y+, Rr
Store Indirect and Post-Inc.
(Y) ← Rr, Y ← Y + 1
None
2
2
ST
- Y, Rr
Store Indirect and Pre-Dec.
Y ← Y - 1, (Y) ← Rr
None
STD
Y+q,Rr
Store Indirect with Displacement
(Y + q) ← Rr
None
2
ST
Z, Rr
Store Indirect
(Z) ← Rr
None
2
ST
Z+, Rr
Store Indirect and Post-Inc.
(Z) ← Rr, Z ← Z + 1
None
2
ST
-Z, Rr
Store Indirect and Pre-Dec.
Z ← Z - 1, (Z) ← Rr
None
2
STD
Z+q,Rr
Store Indirect with Displacement
(Z + q) ← Rr
None
2
STS
k, Rr
Store Direct to SRAM
(k) ← Rr
None
2
Load Program Memory
R0 ← (Z)
None
3
3
LPM
LPM
Rd, Z
Load Program Memory
Rd ← (Z)
None
LPM
Rd, Z+
Load Program Memory and Post-Inc
Rd ← (Z), Z ← Z+1
None
3
Extended Load Program Memory
R0 ← (RAMPZ:Z)
None
3
ELPM
424
ELPM
Rd, Z
Extended Load Program Memory
Rd ← (Z)
None
3
ELPM
Rd, Z+
Extended Load Program Memory
Rd ← (RAMPZ:Z), RAMPZ:Z ←RAMPZ:Z+1
None
3
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Mnemonics
Operands
SPM
IN
Rd, P
Description
Operation
Flags
Store Program Memory
(Z) ← R1:R0
None
#Clocks
-
In Port
Rd ← P
None
1
1
OUT
P, Rr
Out Port
P ← Rr
None
PUSH
Rr
Push Register on Stack
STACK ← Rr
None
2
POP
Rd
Pop Register from Stack
Rd ← STACK
None
2
MCU CONTROL INSTRUCTIONS
NOP
No Operation
None
1
SLEEP
Sleep
(see specific descr. for Sleep function)
None
1
WDR
BREAK
Watchdog Reset
Break
(see specific descr. for WDR/timer)
For On-chip Debug Only
None
None
1
N/A
425
7593L–AVR–09/12
35. Ordering information
35.1
Atmel AT90USB646
Speed [MHz]
Power supply [V]
Ordering code (2)
USB interface
Package (1)
Operating range
16 (3)
2.7-5.5
AT90USB646-AU
AT90USB646-MU
Device
MD
PS
Industrial
(-40° to +85°C)
Notes:
1. This device can also be supplied in wafer form. Please contact your local Atmel sales office for detailed ordering information
and minimum quantities.
2. Pb-free packaging complies to the European directive for Restriction of Hazardous Substances (RoHS directive). Also
Halide free and fully green.
3. See “Maximum speed vs. VCC” on page 392.
426
MD
64 - lead, 14 × 14mm body size, 1.0mm body thickness
0.8mm lead pitch, thin profile plastic quad flat package (TQFP)
PS
64 - lead, 9 × 9mm body size, 0.50mm pitch
Quad flat no lead package (QFN)
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
35.2
Atmel AT90USB647
Speed [MHz]
Power supply [V]
Ordering code (2)
USB interface
Package (1)
Operating range
16 (3)
2.7-5.5
AT90USB647-AU
AT90USB647-MU
USB OTG
MD
PS
Industrial
(-40° to +85°C)
Notes:
1. This device can also be supplied in wafer form. Please contact your local Atmel sales office for detailed ordering information
and minimum quantities.
2. Pb-free packaging complies to the European directive for Restriction of Hazardous Substances (RoHS directive). Also
Halide free and fully green.
3. See “Maximum speed vs. VCC” on page 392.
MD
64 - lead, 14 × 14mm body size, 1.0mm body thickness
0.8mm lead pitch, thin profile plastic quad flat package (TQFP)
PS
64 - lead, 9 × 9mm body size, 0.50mm pitch
Quad flat no lead package (QFN)
427
7593L–AVR–09/12
35.3
Atmel AT90USB1286
Speed [MHz]
Power supply [V]
Ordering code (2)
USB interface
Package (1)
Operating range
16 (3)
2.7-5.5
AT90USB1286-AU
AT90USB1286-MU
Device
MD
PS
Industrial
(-40° to +85°C)
Notes:
1. This device can also be supplied in wafer form. Please contact your local Atmel sales office for detailed ordering information
and minimum quantities.
2. Pb-free packaging complies to the European directive for Restriction of Hazardous Substances (RoHS directive). Also
Halide free and fully green.
3. See “Maximum speed vs. VCC” on page 392.
428
MD
64 - lead, 14 × 14mm body size, 1.0mm body thickness
0.8mm lead pitch, thin profile plastic quad flat package (TQFP)
PS
64 - lead, 9 × 9mm body size, 0.50mm pitch
Quad flat no lead package (QFN)
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
35.4
Atmel AT90USB1287
Speed [MHz]
Power supply [V]
Ordering code (2)
USB interface
Package (1)
Operating range
16 (3)
2.7-5.5
AT90USB1287-AU
AT90USB1287-MU
Host (OTG)
MD
PS
Industrial
(-40° to +85°C)
Notes:
1. This device can also be supplied in wafer form. Please contact your local Atmel sales office for detailed ordering information
and minimum quantities.
2. Pb-free packaging complies to the European directive for Restriction of Hazardous Substances (RoHS directive). Also
Halide free and fully green.
3. See “Maximum speed vs. VCC” on page 392.
MD
64 - lead, 14 × 14mm body size, 1.0mm body thickness
0.8mm lead pitch, thin profile plastic quad flat package (TQFP)
PS
64 - lead, 9 × 9mm body size, 0.50mm pitch
Quad flat no lead package (QFN)
429
7593L–AVR–09/12
36. Packaging information
36.1
430
TQFP64
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
431
7593L–AVR–09/12
36.2
432
QFN64
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
433
7593L–AVR–09/12
37. Errata
37.1
Atmel AT90USB1287/6 errata
37.1.1
AT90USB1287/6 errata history
Silicon Release
90USB1286-16MU
90USB1287-16AU
90USB1287-16MU
First Release
Date Code up to 0648
Date Code up to 0714
and lots 0735 6H2726 (1)
Date Code up to 0701
Second Release
Date Code from 0709 to 0801
except lots 0801 7H5103 (1)
from Date Code 0722 to 0806
except lots 0735 6H2726 (1)
Date Code from 0714 to 0810
except lots 0748 7H5103 (1)
Third Release
Lots 0801 7H5103 (1) and
Date Code from 0814
Date Code from 0814
Lots 0748 7H5103 (1) and
Date Code from 0814
Fourth Release
TBD
TBD
TBD
Notes:
1. A blank or any alphanumeric string.
37.1.2
AT90USB1287/6 first release
• Incorrect CPU behavior for VBUSTI and IDTI interrupts routines
• USB Eye Diagram violation in low-speed mode
• Transient perturbation in USB suspend mode generates over consumption
• VBUS Session valid threshold voltage
• USB signal rate
• VBUS residual level
• Spike on TWI pins when TWI is enabled
• High current consumption in sleep mode
• Async timer interrupt wake up from sleep generate multiple interrupts
9.
Incorrect CPU behavior for VBUSTI and IDTI interrupts routines
The CPU core may incorrectly execute the interrupt vector related to the VBUSTI and IDTI
interrupt flags.
Problem fix/workaround
Do not enable these interrupts, firmware must process these USB events by polling VBUSTI
and IDTI flags.
8.
USB Eye Diagram violation in low-speed mode
The low to high transition of D- violates the USB eye diagram specification when transmitting
with low-speed signaling.
Problem fix/workaround
None.
7.
Transient perturbation in USB suspend mode generates overconsumption
In device mode and when the USB is suspended, transient perturbation received on the
USB lines generates a wake up state. However the idle state following the perturbation does
434
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
not set the SUSPI bit anymore. The internal USB engine remains in suspend mode but the
USB differential receiver is still enabled and generates a typical 300µA extra-power consumption. Detection of the suspend state after the transient perturbation should be
performed by software (instead of reading the SUSPI bit).
Problem fix/workaround
USB waiver allows bus powered devices to consume up to 2.5mA in suspend state.
6.
VBUS session valid threshold voltage
The VSession valid threshold voltage is internally connected to VBus_Valid (4.4V approx.).
That causes the device to attach to the bus only when Vbus is greater than VBusValid
instead of V_Session Valid. Thus if VBUS is lower than 4.4V, the device is detached.
Problem fix/workaround
According to the USB power drop budget, this may require connecting the device toa root
hub or a self-powered hub.
5.
UBS signal rate
The average USB signal rate may sometime be measured out of the USB specifications
(12MHz ±30kHz) with short frames. When measured on a long period, the average signal
rate value complies with the specifications. This bit rate deviation does not generates communication or functional errors.
Problem fix/workaround
None.
4.
VBUS residual level
In USB device and host mode, once a 5V level has been detected to the VBUS pad, a residual level (about 3V) can be measured on the VBUS pin.
Problem fix/workaround
None.
3. Spike on TWI pins when TWI is enabled
100ns negative spike occurs on SDA and SCL pins when TWI is enabled.
Problem fix/workaround
No known workaround, enable Atmel AT90USB64/128 TWI first versus the others nodes of
the TWI network.
2. High current consumption in sleep mode
If a pending interrupt cannot wake the part up from the selected mode, the current consumption will increase during sleep when executing the SLEEP instruction directly after a SEI
instruction.
Problem fix/workaround
Before entering sleep, interrupts not used to wake up the part from the sleep mode should
be disabled.
435
7593L–AVR–09/12
1. Asynchronous timer interrupt wake up from sleep generates multiple interrupts
If the CPU core is in sleep and wakes-up from an asynchronous timer interrupt and then go
back in sleep again it may wake up multiple times.
Problem fix/workaround
A s o f t wa r e w o r k a r o u n d i s t o wa i t w i t h p e r f o r m i n g t h e s l e e p i n s t r u c t i o n u n t i l
TCNT2>OCR2+1.
436
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
37.1.3
Atmel AT90USB1287/6 second release
• Incorrect CPU behavior for VBUSTI and IDTI interrupts routines
• USB Eye Diagram violation in low-speed mode
• Transient perturbation in USB suspend mode generates over consumption
• VBUS Session valid threshold voltage
• Spike on TWI pins when TWI is enabled
• High current consumption in sleep mode
• Async timer interrupt wake up from sleep generate multiple interrupts
7.
Incorrect CPU behavior for VBUSTI and IDTI interrupts routines
The CPU core may incorrectly execute the interrupt vector related to the VBUSTI and IDTI
interrupt flags.
Problem fix/workaround
Do not enable these interrupts, firmware must process these USB events by polling VBUSTI
and IDTI flags.
6.
USB Eye Diagram violation in low-speed mode
The low to high transition of D- violates the USB eye diagram specification when transmitting
with low-speed signaling.
Problem fix/workaround
None.
5.
Transient perturbation in USB suspend mode generates overconsumption
In device mode and when the USB is suspended, transient perturbation received on the
USB lines generates a wake up state. However the idle state following the perturbation does
not set the SUSPI bit anymore. The internal USB engine remains in suspend mode but the
USB differential receiver is still enabled and generates a typical 300µA extra-power consumption. Detection of the suspend state after the transient perturbation should be
performed by software (instead of reading the SUSPI bit).
Problem fix/workaround
USB waiver allows bus powered devices to consume up to 2.5mA in suspend state.
4.
VBUS session valid threshold voltage
The VSession valid threshold voltage is internally connected to VBus_Valid (4.4V approx.).
That causes the device to attach to the bus only when Vbus is greater than VBusValid
instead of V_Session Valid. Thus if VBUS is lower than 4.4V, the device is detached.
Problem fix/workaround
According to the USB power drop budget, this may require connecting the device toa root
hub or a self-powered hub.
3. Spike on TWI pins when TWI is enabled
100ns negative spike occurs on SDA and SCL pins when TWI is enabled.
437
7593L–AVR–09/12
Problem fix/workaround
No known workaround, enable Atmel AT90USB64/128 TWI first versus the others nodes of
the TWI network.
2. High current consumption in sleep mode
If a pending interrupt cannot wake the part up from the selected mode, the current consumption will increase during sleep when executing the SLEEP instruction directly after a SEI
instruction.
Problem fix/workaround
Before entering sleep, interrupts not used to wake up the part from the sleep mode should
be disabled.
1. Asynchronous timer interrupt wake up from sleep generates multiple interrupts
If the CPU core is in sleep and wakes-up from an asynchronous timer interrupt and then go
back in sleep again it may wake up multiple times.
Problem fix/workaround
A s o f t wa r e w o r k a r o u n d i s t o wa i t w i t h p e r f o r m i n g t h e s l e e p i n s t r u c t i o n u n t i l
TCNT2>OCR2+1.
438
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
37.1.4
Atmel AT90USB1287/6 Third Release
• Incorrect CPU behavior for VBUSTI and IDTI interrupts routines
• Transient perturbation in USB suspend mode generates over consumption
• Spike on TWI pins when TWI is enabled
• High current consumption in sleep mode
• Async timer interrupt wake up from sleep generate multiple interrupts
5.
Incorrect CPU behavior for VBUSTI and IDTI interrupts routines
The CPU core may incorrectly execute the interrupt vector related to the VBUSTI and IDTI
interrupt flags.
Problem fix/workaround
Do not enable these interrupts, firmware must process these USB events by polling VBUSTI
and IDTI flags.
4. Transient perturbation in USB suspend mode generates overconsumption
In device mode and when the USB is suspended, transient perturbation received on the
USB lines generates a wake up state. However the idle state following the perturbation does
not set the SUSPI bit. The internal USB engine remains in suspend mode but the USB differential receiver is still enabled and generates a typical 300µA extra-power consumption.
Detection of the suspend state after the transient perturbation should be performed by software (instead of reading the SUSPI bit).
Problem fix/workaround
USB waiver allows bus powered devices to consume up to 2.5mA in suspend state.
3. Spike on TWI pins when TWI is enabled
100ns negative spike occurs on SDA and SCL pins when TWI is enabled.
Problem fix/workaround
No known workaround, enable AT90USB64/128 TWI first, before the others nodes of the
TWI network.
2. High current consumption in sleep mode
If a pending interrupt cannot wake the part up from the selected mode, the current consumption will increase during sleep when executing the SLEEP instruction directly after a SEI
instruction.
Problem fix/workaround
Before entering sleep, interrupts not used to wake up the part from sleep mode should be
disabled.
1. Asynchronous timer interrupt wake up from sleep generates multiple interrupts
If the CPU core is in sleep mode and wakes-up from an asynchronous timer interrupt and
then goes back into sleep mode, it may wake up multiple times.
439
7593L–AVR–09/12
Problem fix/workaround
A software workaround is to wait before performing the sleep instruction: until
TCNT2>OCR2+1.
440
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
37.1.5
Atmel AT90USB1287/6 Fourth Release
• Transient perturbation in USB suspend mode generates over consumption
• Spike on TWI pins when TWI is enabled
• High current consumption in sleep mode
• Async timer interrupt wake up from sleep generate multiple interrupts
4. Transient perturbation in USB suspend mode generates overconsumption
In device mode and when the USB is suspended, transient perturbation received on the
USB lines generates a wake up state. However the idle state following the perturbation does
not set the SUSPI bit. The internal USB engine remains in suspend mode but the USB differential receiver is still enabled and generates a typical 300µA extra-power consumption.
Detection of the suspend state after the transient perturbation should be performed by software (instead of reading the SUSPI bit).
Problem fix/workaround
USB waiver allows bus powered devices to consume up to 2.5mA in suspend state.
3. Spike on TWI pins when TWI is enabled
100ns negative spike occurs on SDA and SCL pins when TWI is enabled.
Problem fix/workaround
No known workaround, enable Atmel AT90USB64/128 TWI first, before the others nodes of
the TWI network.
2. High current consumption in sleep mode
If a pending interrupt cannot wake the part up from the selected mode, the current consumption will increase during sleep when executing the SLEEP instruction directly after a SEI
instruction.
Problem fix/workaround
Before entering sleep, interrupts not used to wake up the part from sleep mode should be
disabled.
1. Asynchronous timer interrupt wake up from sleep generates multiple interrupts
If the CPU core is in sleep mode and wakes-up from an asynchronous timer interrupt and
then goes back into sleep mode, it may wake up multiple times.
Problem fix/workaround
A software workaround is to wait before performing the sleep instruction: until
TCNT2>OCR2+1.
441
7593L–AVR–09/12
37.2
37.2.1
Atmel AT90USB646/7 errata
AT90USB646/7 errata history TBD
Silicon Release
90USB646-16MU
90USB647-16AU
90USB647-16MU
First Release
Second Release
Note ‘*’ means a blank or any alphanumeric string.
37.2.2
AT90USB646/7 first release.
• Incorrect interrupt routine execution for VBUSTI, IDTI interrupts flags
• USB Eye Diagram violation in low-speed mode
• Transient perturbation in USB suspend mode generates over consumption
• Spike on TWI pins when TWI is enabled
• High current consumption in sleep mode
• Async timer interrupt wake up from sleep generate multiple interrupts
6.
Incorrect CPU behavior for VBUSTI and IDTI interrupts routines
The CPU core may incorrectly execute the interrupt vector related to the VBUSTI and IDTI
interrupt flags.
Problem fix/workaround
Do not enable these interrupts, firmware must process these USB events by polling VBUSTI
and IDTI flags.
5. USB Eye Diagram violation in low-speed mode
The low to high transition of D- violates the USB eye diagram specification when transmitting
with low-speed signaling.
Problem fix/workaround
None.
4. Transient perturbation in USB suspend mode generates overconsumption
In device mode and when the USB is suspended, transient perturbation received on the
USB lines generates a wake up state. However the idle state following the perturbation does
not set the SUSPI bit anymore. The internal USB engine remains in suspend mode but the
USB differential receiver is still enabled and generates a typical 300µA extra-power consumption. Detection of the suspend state after the transient perturbation should be
performed by software (instead of reading the SUSPI bit).
Problem fix/workaround
USB waiver allows bus powered devices to consume up to 2.5mA in suspend state.
3. Spike on TWI pins when TWI is enabled
100ns negative spike occurs on SDA and SCL pins when TWI is enabled.
442
AT90USB64/128
7593L–AVR–09/12
AT90USB64/128
Problem fix/workaround
No known workaround, enable Atmel AT90USB64/128 TWI first versus the others nodes of
the TWI network.
2. High current consumption in sleep mode
If a pending interrupt cannot wake the part up from the selected mode, the current consumption will increase during sleep when executing the SLEEP instruction directly after a SEI
instruction.
Problem fix/workaround
Before entering sleep, interrupts not used to wake up the part from the sleep mode should
be disabled.
1. Asynchronous timer interrupt wake up from sleep generates multiple interrupts
If the CPU core is in sleep and wakes-up from an asynchronous timer interrupt and then go
back in sleep mode again it may wake up several times.
Problem fix/workaround
A s o f t wa r e w o r k a r o u n d i s t o wa i t w i t h p e r f o r m i n g t h e s l e e p i n s t r u c t i o n u n t i l
TCNT2>OCR2+1.
443
7593L–AVR–09/12
37.2.3
Atmel AT90USB646/7 Second Release.
• USB Eye Diagram violation in low-speed mode
• Transient perturbation in USB suspend mode generates over consumption
• Spike on TWI pins when TWI is enabled
• High current consumption in sleep mode
• Async timer interrupt wake up from sleep generate multiple interrupts
5. USB Eye Diagram violation in low-speed mode
The low to high transition of D- violates the USB eye diagram specification when transmitting
with low-speed signaling.
Problem fix/workaround
None.
4. Transient perturbation in USB suspend mode generates overconsumption
In device mode and when the USB is suspended, transient perturbation received on the
USB lines generates a wake up state. However the idle state following the perturbation does
not set the SUSPI bit anymore. The internal USB engine remains in suspend mode but the
USB differential receiver is still enabled and generates a typical 300µA extra-power consumption. Detection of the suspend state after the transient perturbation should be
performed by software (instead of reading the SUSPI bit).
Problem fix/workaround
USB waiver allows bus powered devices to consume up to 2.5mA in suspend state.
3. Spike on TWI pins when TWI is enabled
100ns negative spike occurs on SDA and SCL pins when TWI is enabled.
Problem fix/workaround
No known workaround, enable Atmel AT90USB64/128 TWI first versus the others nodes of
the TWI network.
2. High current consumption in sleep mode
If a pending interrupt cannot wake the part up from the selected mode, the current consumption will increase during sleep when executing the SLEEP instruction directly after a SEI
instruction.
Problem fix/workaround
Before entering sleep, interrupts not used to wake up the part from the sleep mode should
be disabled.
1. Asynchronous timer interrupt wake up from sleep generates multiple interrupts
If the CPU core is in sleep and wakes-up from an asynchronous timer interrupt and then go
back in sleep mode again it may wake up several times.
Problem fix/workaround
A s o f t wa r e w o r k a r o u n d i s t o wa i t w i t h p e r f o r m i n g t h e s l e e p i n s t r u c t i o n u n t i l
TCNT2>OCR2+1.
444
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AT90USB64/128
38. Datasheet revision history for Atmel AT90USB64/128
Please note that the referring page numbers in this section are referred to this document. The
referring revision in this section are referring to the document revision.
38.1
Changes from 7593A to 7593B
1. Changed default configuration for fuse bytes and security byte.
2. Suppression of timer 4,5 registers which does not exist.
3. Updated typical application schematics in USB section
38.2
Changes from 7593B to 7593C
1. Update to package drawings, MQFP64 and TQFP64.
38.3
Changes from 7593C to 7593D
1. For further product compatibility, changed USB PLL possible prescaler configurations.
Only 8MHz and 16MHz crystal frequencies allows USB operation (see Table 7-11 on
page 50).
38.4
Changes from 7593D to 7593E
1. Updated PLL Prescaler table: configuration words are different between AT90USB64x
and AT90USB128x to enable the PLL with a 16MHz source.
2. Cleaned up some bits from USB registers, and updated information about OTG timers,
remote wake-up, reset and connection timings.
3. Updated clock distribution tree diagram (USB prescaler source and configuration
register).
4. Cleaned up register summary.
5. Suppressed PCINT23:8 that do not exist from External Interrupts.
6. Updated Electrical Characteristics.
7. Added Typical Characteristics.
8. Update Errata section.
38.5
Changes from 7593E to 7593F
1. Removed ’Preliminary’ from document status.
2. Clarification in Stand by mode regarding USB.
38.6
Changes from 7593F to 7593G
1. Updated Errata section.
38.7
Changes from 7593G to 7593H
1. Added Signature information for 64K devices.
2. Fixed figure for typical bus powered application
3. Added min/max values for BOD levels
4. Added ATmega32U6 product
5. Update Errata section
6. Modified descriptions for HWUPE and WAKEUPE interrupts enable (these interrupts
should be enabled only to wake up the CPU core from power down mode).
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7. Added description to access unique serial number located in Signature Row see
“Reading the Signature Row from software” on page 354.
38.8
Changes from 7593H to 7593I
1. Updated Table 9-2 in “Brown-out detection” on page 60. Unused BOD levels removed.
38.9
Changes from 7593I to 7593J
1. Updated Table 9-2 in “Brown-out detection” on page 60. BOD level 100 removed.
2. Updated “Ordering information” on page 426.
3. Removed ATmega32U6 errata section.
38.10 Changes from 7593J to 7593K
1. Corrected Figure 6-7 on page 34, Figure 6-8 on page 34 and Figure 6-9 on page 35.
2. Corrected ordering information for Section 35.3 ”Atmel AT90USB1286” on page 428,
Section 35.4 ”Atmel AT90USB1287” on page 429 andSection 35.2 ”Atmel
AT90USB647” on page 427.
3. Removed the ATmega32U6 device and updated the datasheet accordingly.
4. Updated Assembly Code Example in “Watchdog reset” on page 61.
38.11 Changes from 7593K to 7593L
1. Updated the “Ordering information” on page 426. Changed the speed from 20MHz to
16MHz.
2. Replaced ATmegaAT90USBxxxx by AT90USBxxxx through the datasheet.
3. Updated the first paragraph of “Overview” on page 307. Port A replaced by Port F.
4. Updated ADC equation in “ADC conversion result” on page 318. The equation has
1024 instead of 1023.
5. Created “Packaging Information” chapter.
6. Replaced the “QFN64” Packaging by an updated QFN64 Packaging drawing.
7. Updated “Errata” on page 434. AT90USB1286/7 has a fourth release, while
AT90USB646/7 updated with a second release.
8. In Section “Overview” on page 307, “Port A” has been replaced by “Port F” in the first
section.
9. In Section “Atmel AT90USB647” on page 427 the USB interface has been changed to
USB OTG.
10. In Section “Atmel AT90USB1286” on page 428 the USB interface has been changed to
Device.
11. In Section “Atmel AT90USB1287” on page 429 the USB interface has been changed to
Host OTG.
12. General update according to new template.
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AT90USB64X/128X
Table of contents
Features ..................................................................................................... 1
1
Pin configurations ................................................................................... 3
2
Overview ................................................................................................... 5
2.1 Block diagram ..........................................................................................................6
2.2 Pin descriptions .......................................................................................................8
3
Resources ............................................................................................... 10
4
About code examples ............................................................................ 10
5
AVR CPU core ........................................................................................ 11
5.1 Introduction ............................................................................................................11
5.2 Architectural overview ...........................................................................................11
5.3 ALU – Arithmetic Logic Unit ..................................................................................12
5.4 Status register .......................................................................................................13
5.5 General purpose register file .................................................................................14
5.6 Stack pointer .........................................................................................................15
5.7 Instruction execution timing ...................................................................................16
5.8 Reset and interrupt handling .................................................................................17
6
Atmel AVR AT90USB64/128 memories ................................................ 20
6.1 In-system re-programmable flash program memory .............................................20
6.2 SRAM data memory ..............................................................................................21
6.3 EEPROM data memory .........................................................................................24
6.4 I/O memory ............................................................................................................30
6.5 External memory interface ....................................................................................31
7
System clock and clock options .......................................................... 40
7.1 Clock systems and their distribution ......................................................................40
7.2 Clock sources ........................................................................................................41
7.3 Low power crystal oscillator ..................................................................................42
7.4 Low frequency crystal oscillator ............................................................................44
7.5 Calibrated internal RC oscillator ............................................................................45
7.6 External clock ........................................................................................................46
7.7 Clock output buffer ................................................................................................47
7.8 Timer/counter oscillator .........................................................................................47
7.9 System clock prescaler .........................................................................................47
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7.10 PLL ......................................................................................................................49
8
Power management and sleep modes ................................................. 51
8.1 Idle mode ...............................................................................................................52
8.2 ADC noise reduction mode ...................................................................................52
8.3 Power-down mode ................................................................................................52
8.4 Power-save mode .................................................................................................52
8.5 Standby mode .......................................................................................................53
8.6 Extended Standby mode .......................................................................................53
8.7 Power Reduction Register .....................................................................................54
8.8 Minimizing power consumption .............................................................................55
9
System control and reset ...................................................................... 57
9.1 Resetting the AVR .................................................................................................57
9.2 Reset sources .......................................................................................................57
9.3 Power-on reset ......................................................................................................58
9.4 External reset ........................................................................................................59
9.5 Brown-out detection ..............................................................................................60
9.6 Watchdog reset .....................................................................................................61
9.7 Internal voltage reference ......................................................................................62
9.8 Watchdog timer .....................................................................................................63
10 Interrupts ................................................................................................ 68
10.1 Interrupt vectors in AT90USB64/128 ...................................................................68
11 I/O-ports .................................................................................................. 71
11.1 Introduction ..........................................................................................................71
11.2 Ports as general digital I/O ..................................................................................72
11.3 Alternate port functions .......................................................................................76
11.4 Register description for I/O-ports ........................................................................89
12 External interrupts ................................................................................. 92
13 Timer/Counter0, Timer/Counter1, and Timer/Counter3 prescalers ... 96
13.1 Internal clock source ...........................................................................................96
13.2 Prescaler reset ....................................................................................................96
13.3 External clock source ..........................................................................................96
13.4 GTCCR – General Timer/Counter Control Register ............................................97
14 8-bit Timer/Counter0 with PWM ............................................................ 98
14.1 Overview .............................................................................................................98
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14.2 Timer/Counter clock sources ...............................................................................99
14.3 Counter unit .........................................................................................................99
14.4 Output compare unit ..........................................................................................100
14.5 Compare Match Output Unit ..............................................................................102
14.6 Modes of operation ............................................................................................103
14.7 Timer/Counter timing diagrams .........................................................................107
14.8 8-bit Timer/Counter register description ............................................................108
15 16-bit Timer/Counter (Timer/Counter1 and Timer/Counter3) ........... 115
15.1 Overview ...........................................................................................................115
15.2 Accessing 16-bit registers .................................................................................117
15.3 Timer/Counter clock sources .............................................................................120
15.4 Counter unit .......................................................................................................121
15.5 Input Capture unit ..............................................................................................122
15.6 Output Compare units .......................................................................................124
15.7 Compare Match Output unit ..............................................................................126
15.8 Modes of operation ............................................................................................127
15.9 Timer/Counter timing diagrams .........................................................................134
15.10 16-bit Timer/Counter register description ........................................................136
16 8-bit Timer/Counter2 with PWM and asynchronous operation ........ 145
16.1 Overview ...........................................................................................................145
16.2 Timer/Counter clock sources .............................................................................146
16.3 Counter unit .......................................................................................................146
16.4 Output Compare unit .........................................................................................147
16.5 Compare Match Output unit ..............................................................................149
16.6 Modes of operation ............................................................................................150
16.7 Timer/Counter timing diagrams .........................................................................154
16.8 8-bit Timer/Counter register description ............................................................156
16.9 Asynchronous operation of the Timer/Counter ..................................................161
16.10 Timer/Counter prescaler ..................................................................................164
17 Output Compare Modulator (OCM1C0A) ........................................... 166
17.1 Overview ...........................................................................................................166
17.2 Description ........................................................................................................166
18 SPI – Serial Peripheral Interface ......................................................... 168
18.1 SS Pin Functionality ..........................................................................................172
18.2 Data modes .......................................................................................................175
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19 USART ................................................................................................... 177
19.1 Overview ...........................................................................................................177
19.2 Clock generation ...............................................................................................178
19.3 Frame formats ...................................................................................................180
19.4 USART initialization ...........................................................................................181
19.5 Data transmission – The USART transmitter ....................................................182
19.6 Data reception – The USART receiver ..............................................................185
19.7 Asynchronous data reception ............................................................................189
19.8 Multi-processor Communication mode ..............................................................192
19.9 USART register description ...............................................................................193
19.10 Examples of baud rate setting .........................................................................198
20 USART in SPI mode ............................................................................. 202
20.1 Overview ...........................................................................................................202
20.2 Clock generation ...............................................................................................202
20.3 SPI data modes and timing ...............................................................................203
20.4 Frame formats ...................................................................................................203
20.5 Data transfer ......................................................................................................205
20.6 USART MSPIM register description ..................................................................207
20.7 AVR USART MSPIM vs. AVR SPI ....................................................................209
21 2-wire serial interface .......................................................................... 211
21.1 Features ............................................................................................................211
21.2 2-wire Serial Interface bus definition .................................................................211
21.3 Data transfer and frame format .........................................................................212
21.4 Multi-master bus systems, arbitration and synchronization ...............................215
21.5 Overview of the TWI module .............................................................................216
21.6 TWI register description ....................................................................................219
21.7 Using the TWI ....................................................................................................222
21.8 Transmission modes .........................................................................................225
21.9 Multi-master systems and arbitration .................................................................239
22 USB controller ...................................................................................... 241
22.1 Features ............................................................................................................241
22.2 Block diagram ....................................................................................................241
22.3 Typical application implementation ...................................................................242
22.4 General operating modes ..................................................................................246
22.5 Power modes ....................................................................................................250
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22.6 Speed control ....................................................................................................251
22.7 Memory management .......................................................................................252
22.8 PAD suspend ....................................................................................................253
22.9 OTG timers customizing ....................................................................................254
22.10 Plug-in detection ..............................................................................................255
22.11 ID detection .....................................................................................................256
22.12 Registers description .......................................................................................256
22.13 USB Software Operating modes .....................................................................261
23 USB device operating modes ............................................................. 262
23.1 Introduction ........................................................................................................262
23.2 Power-on and reset ...........................................................................................262
23.3 Endpoint reset ...................................................................................................262
23.4 USB reset ..........................................................................................................263
23.5 Endpoint selection .............................................................................................263
23.6 Endpoint activation ............................................................................................263
23.7 Address setup ...................................................................................................264
23.8 Suspend, wake-up and resume .........................................................................265
23.9 Detach ...............................................................................................................265
23.10 Remote Wake-up ............................................................................................266
23.11 STALL request ................................................................................................266
23.12 CONTROL endpoint management ..................................................................267
23.13 OUT endpoint management ............................................................................268
23.14 IN endpoint management ................................................................................269
23.15 Isochronous mode ...........................................................................................271
23.16 Overflow ..........................................................................................................272
23.17 Interrupts .........................................................................................................272
23.18 Registers .........................................................................................................273
24 USB host operating modes ................................................................. 285
24.1 Pipe description .................................................................................................285
24.2 Detach ...............................................................................................................285
24.3 Power-on and reset ...........................................................................................285
24.4 Device detection ................................................................................................286
24.5 Pipe selection ....................................................................................................286
24.6 Pipe configuration ..............................................................................................286
24.7 USB reset ..........................................................................................................288
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24.8 Address setup ...................................................................................................288
24.9 Remote wake-up detection ................................................................................288
24.10 USB pipe reset ................................................................................................288
24.11 Pipe data access .............................................................................................288
24.12 Control pipe management ...............................................................................289
24.13 OUT pipe management ...................................................................................289
24.14 IN Pipe management .......................................................................................290
24.15 Interrupt system ...............................................................................................291
24.16 Registers .........................................................................................................292
25 Analog Comparator ............................................................................. 304
25.1 Analog Comparator multiplexed input ...............................................................306
26 ADC – Analog to Digital Converter ..................................................... 307
26.1 Features ............................................................................................................307
26.2 Overview ...........................................................................................................307
26.3 Operation ...........................................................................................................309
26.4 Starting a conversion .........................................................................................309
26.5 Prescaling and conversion timing ......................................................................310
26.6 Changing channel or reference selection ..........................................................313
26.7 ADC noise canceler ...........................................................................................314
26.8 ADC conversion result .......................................................................................318
26.9 ADC register description ...................................................................................321
27 JTAG interface and on-chip debug system ....................................... 327
27.1 Overview ...........................................................................................................327
27.2 TAP – Test Access Port ....................................................................................327
27.3 TAP Controller ...................................................................................................329
27.4 Using the Boundary-scan chain ........................................................................330
27.5 Using the on-chip debug system .......................................................................330
27.6 On-chip debug specific JTAG instructions .........................................................331
27.7 On-chip Debug related Register in I/O memory ................................................332
27.8 Using the JTAG programming capabilities ........................................................332
27.9 Bibliography .......................................................................................................332
28 IEEE 1149.1 (JTAG) boundary-scan ................................................... 333
28.1 Features ............................................................................................................333
28.2 System overview ...............................................................................................333
28.3 Data registers ....................................................................................................333
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28.4 Boundary-scan specific JTAG instructions ........................................................335
28.5 Boundary-scan Related Register in I/O memory ...............................................336
28.6 Boundary-scan chain .........................................................................................337
28.7 Atmel AT90USB64/128 Boundary-scan order ...................................................340
28.8 Boundary-scan description language files .........................................................342
29 Boot Loader support – read-while-write self-programming ............. 343
29.1 Boot Loader features .........................................................................................343
29.2 Application and Boot Loader flash sections ......................................................343
29.3 Read-while-write and no read-while-write flash sections ...................................343
29.4 Boot Loader lock bits .........................................................................................346
29.5 Entering the Boot Loader program ....................................................................347
29.6 Addressing the flash during self-programming ..................................................350
29.7 Self-programming the flash ...............................................................................351
30 Memory programming ......................................................................... 359
30.1 Program and data memory lock bits ..................................................................359
30.2 Fuse bits ............................................................................................................360
30.3 Signature bytes .................................................................................................362
30.4 Calibration byte .................................................................................................362
30.5 Parallel programming parameters, pin mapping, and commands .....................362
30.6 Parallel programming ........................................................................................365
30.7 Serial downloading ............................................................................................373
30.8 Serial programming pin mapping ......................................................................374
30.9 Programming via the JTAG interface ................................................................377
31 Electrical characteristics for Atmel AT90USB64/128 ....................... 390
31.1 Absolute maximum ratings* ...............................................................................390
31.2 DC characteristics .............................................................................................390
31.3 External clock drive waveforms .........................................................................392
31.4 External clock drive ...........................................................................................392
31.5 Maximum speed vs. VCC ........................................................................................................................... 392
31.6 2-wire serial interface characteristics ................................................................393
31.7 SPI timing characteristics ..................................................................................395
31.8 Hardware boot entrance timing characteristics .................................................396
31.9 ADC characteristics ...........................................................................................397
31.10 External data memory timing ...........................................................................399
32
Atmel AT90USB64/128 typical characteristics ................................. 404
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32.1 Input voltage levels ............................................................................................405
32.2 Output voltage levels .........................................................................................406
32.3 Power-down supply current ...............................................................................408
32.4 Power-save supply current ................................................................................409
32.5 Idle supply current .............................................................................................410
32.6 Active supply current .........................................................................................410
32.7 Reset supply current .........................................................................................411
32.8 I/O pull-up current ..............................................................................................411
32.9 Bandgap voltage ...............................................................................................412
32.10 Internal ARef voltage .......................................................................................413
32.11 USB regulator ..................................................................................................413
32.12 BOD levels ......................................................................................................414
32.13 Watchdog timer frequency ..............................................................................416
32.14 Internal RC oscillator frequency ......................................................................416
32.15 Power-on reset ................................................................................................418
33 Register summary ................................................................................ 419
34 Instruction set summary ..................................................................... 423
35 Ordering information ........................................................................... 426
35.1 Atmel AT90USB646 ..........................................................................................426
35.2 Atmel AT90USB647 ..........................................................................................427
35.3 Atmel AT90USB1286 ........................................................................................428
35.4 Atmel AT90USB1287 ........................................................................................429
36 Packaging information ........................................................................ 430
36.1 TQFP64 .............................................................................................................430
36.2 QFN64 ...............................................................................................................432
37 Errata ..................................................................................................... 434
37.1 Atmel AT90USB1287/6 errata ...........................................................................434
37.2 Atmel AT90USB646/7 errata .............................................................................442
38 Datasheet revision history for Atmel AT90USB64/128 ..................... 445
38.1 Changes from 7593A to 7593B .........................................................................445
38.2 Changes from 7593B to 7593C .........................................................................445
38.3 Changes from 7593C to 7593D .........................................................................445
38.4 Changes from 7593D to 7593E .........................................................................445
38.5 Changes from 7593E to 7593F .........................................................................445
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38.6 Changes from 7593F to 7593G .........................................................................445
38.7 Changes from 7593G to 7593H ........................................................................445
38.8 Changes from 7593H to 7593I ..........................................................................446
38.9 Changes from 7593I to 7593J ...........................................................................446
38.10 Changes from 7593J to 7593K ........................................................................446
38.11 Changes from 7593K to 7593L .......................................................................446
Table of contents ....................................................................................... i
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7593L–AVR–09/12