ATMEL AT90CAN128-16MU Microcontroller with 32/64k bytes of isp flash and can controller Datasheet

1. Features
• High-performance, Low-power AVR® 8-bit Microcontroller
• Advanced RISC Architecture
•
•
•
•
•
•
•
•
•
– 133 Powerful Instructions – Most Single Clock Cycle Execution
– 32 x 8 General Purpose Working Registers + Peripheral Control Registers
– Fully Static Operation
– Up to 16 MIPS Throughput at 16 MHz
– On-chip 2-cycle Multiplier
Non volatile Program and Data Memories
– 32K/64K Bytes of In-System Reprogrammable Flash (AT90CAN32/64)
• Endurance: 10,000 Write/Erase Cycles
– Optional Boot Code Section with Independent Lock Bits
• Selectable Boot Size: 1K Bytes, 2K Bytes, 4K Bytes or 8K Bytes
• In-System Programming by On-Chip Boot Program (CAN, UART)
• True Read-While-Write Operation
– 1K/2K Bytes EEPROM (Endurance: 100,000 Write/Erase Cycles) (AT90CAN32/64)
– 2K/4K Bytes Internal SRAM (AT90CAN32/64)
– Up to 64K Bytes Optional External Memory Space
– Programming Lock for Software Security
JTAG (IEEE std. 1149.1 Compliant) Interface
– Boundary-scan Capabilities According to the JTAG Standard
– Programming Flash (Hardware ISP), EEPROM, Lock & Fuse Bits
– Extensive On-chip Debug Support
CAN Controller 2.0A & 2.0B
– 15 Full Message Objects with Separate Identifier Tags and Masks
– Transmit, Receive, Automatic Reply and Frame Buffer Receive Modes
– 1Mbits/s Maximum Transfer Rate at 8 MHz
– Time stamping, TTC & Listening Mode (Spying or Autobaud)
Peripheral Features
– Programmable Watchdog Timer with On-chip Oscillator
– 8-bit Synchronous Timer/Counter-0
• 10-bit Prescaler
• External Event Counter
• Output Compare or 8-bit PWM Output
– 8-bit Asynchronous Timer/Counter-2
• 10-bit Prescaler
• External Event Counter
• Output Compare or 8-Bit PWM Output
• 32Khz Oscillator for RTC Operation
– Dual 16-bit Synchronous Timer/Counters-1 & 3
• 10-bit Prescaler
• Input Capture with Noise Canceler
• External Event Counter
• 3-Output Compare or 16-Bit PWM Output
• Output Compare Modulation
– 8-channel, 10-bit SAR ADC
• 8 Single-ended Channels
• 7 Differential Channels
• 2 Differential Channels With Programmable Gain at 1x, 10x, or 200x
– On-chip Analog Comparator
– Byte-oriented Two-wire Serial Interface
– Dual Programmable Serial USART
– Master/Slave SPI Serial Interface
• Programming Flash (Hardware ISP)
Special Microcontroller Features
– Power-on Reset and Programmable Brown-out Detection
– Internal Calibrated RC Oscillator
– 8 External Interrupt Sources
– 5 Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down & Standby
– Software Selectable Clock Frequency
– Global Pull-up Disable
I/O and Packages
– 53 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
– 8 MHz at 2.7V - Industrial range
– 16 MHz at 4.5V - Industrial range
8-bit
Microcontroller
with
32/64K Bytes of
ISP Flash
and
CAN Controller
AT90CAN32
AT90CAN64
Summary
Rev. 7538AS–CAN–09/05
Note: This is a summary document. A complete document is
available on our web site at www.atmel.com.
1
2. Description
2.1
Comparison Between AT90CAN32/64 and AT90CAN128
AT90CAN32/64 is hardware and software compatible with AT90CAN128, the only difference is
the memory size.
2.2
Table 2-1.
Memory Size Summary
Device
Flash
EEPROM
RAM
AT90CAN32
32K Bytes
1K Byte
2K Bytes
AT90CAN64
64K Bytes
2K Bytes
4K Bytes
AT90CAN128
128K Bytes
4K Byte
4K Bytes
Part Desription
The AT90CAN32/64 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced
RIS C architecture. By executing powerful instructions in a single clock cycle, the
AT90CAN32/64 achieves throughputs approaching 1 MIPS per MHz allowing the system
designer to optimize power consumption versus processing speed.
The AVR core combines a rich instruction set with 32 general purpose working registers. All 32
registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent
registers to be accessed in one single instruction executed in one clock cycle. The resulting
architecture is more code efficient while achieving throughputs up to ten times faster than conventional CISC microcontrollers.
The AT90CAN32/64 provides the following features: 32K/64K bytes of In-System Programmable
Flash with Read-While-Write capabilities, 1K/2K bytes EEPROM, 2K/4K bytes SRAM, 53 general purpose I/O lines, 32 general purpose working registers, a CAN controller, Real Time
Counter (RTC), four flexible Timer/Counters with compare modes and PWM, 2 USARTs, a byte
oriented Two-wire Serial Interface, an 8-channel 10-bit ADC with optional differential input stage
with programmable gain, a programmable Watchdog Timer with Internal Oscillator, an SPI serial
port, IEEE std. 1149.1 compliant JTAG test interface, also used for accessing the On-chip
Debug system and programming and five software selectable power saving modes.
The Idle mode stops the CPU while allowing the SRAM, Timer/Counters, SPI/CAN ports 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.
The device is manufactured using Atmel’s high-density nonvolatile memory technology. The Onchip ISP Flash allows the program memory to be reprogrammed in-system through an SPI serial
interface, by a conventional nonvolatile memory programmer, or by an On-chip Boot program
running on the AVR core. The boot program can use any interface to download the application
program in the application Flash memory. Software in the Boot Flash section will continue to run
while the Application Flash section is updated, providing true Read-While-Write operation. By
combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic chip,
2
AT90CAN32/64
7538AS–CAN–09/05
AT90CAN32/64
the Atmel AT90CAN32/64 is a powerful microcontroller that provides a highly flexible and cost
effective solution to many embedded control applications.
The AT90CAN32/64 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.
3
7538AS–CAN–09/05
2.3
Block Diagram
Figure 2-1.
Block Diagram
PF7 - PF0
VCC
PA7 - PA0
PC7 - PC0
PORTA DRIVERS
PORTF DRIVERS
PORTC DRIVERS
GND
DATA REGISTER
PORTF
DATA DIR.
REG. PORTF
DATA REGISTER
PORTA
DATA DIR.
REG. PORTA
DATA REGISTER
PORTC
DATA DIR.
REG. PORTC
8-BIT DATA BUS
POR - BOD
RESET
AVCC
INTERNAL
OSCILLATOR
CALIB. OSC
ADC
AGND
AREF
PROGRAM
COUNTER
STACK
POINTER
ON-CHIP DEBUG
PROGRAM
FLASH
SRAM
BOUNDARYSCAN
INSTRUCTION
REGISTER
JTAG TAP
OSCILLATOR
WATCHDOG
TIMER
OSCILLATOR
TIMING AND
CONTROL
MCU CONTROL
REGISTER
CONTROLLER
TIMER/
COUNTERS
GENERAL
PURPOSE
REGISTERS
X
PROGRAMMING
LOGIC
INSTRUCTION
DECODER
CONTROL
LINES
Z
INTERRUPT
UNIT
ALU
EEPROM
Y
STATUS
REGISTER
USART0
SPI
DATA REGISTER
PORTE
DATA DIR.
REG. PORTE
PORTE DRIVERS
PE7 - PE0
4
DATA REGISTER
PORTB
DATA DIR.
REG. PORTB
PORTB DRIVERS
PB7 - PB0
USART1
DATA REGISTER
PORTD
TWO-WIRE SERIAL
INTERFACE
DATA DIR.
REG. PORTD
DATA REG.
PORTG
DATA DIR.
REG. PORTG
PORTD DRIVERS
PORTG DRIVERS
PD7 - PD0
PG4 - PG0
AT90CAN32/64
7538AS–CAN–09/05
AT90CAN32/64
2.4
Pin Configurations
Figure 2-2.
Pinout AT90CAN32/64 - TQFP
NC (1)
1
(RXD0 / PDI) PE0
2
(TXD0 / PDO) PE1
3
(XCK0 / AIN0) PE2
48 PA3 (AD3)
47 PA4 (AD4)
INDEX CORNER
46
PA5 (AD5)
4
45
PA6 (AD6)
(OC3A / AIN1) PE3
5
44 PA7 (AD7)
(OC3B / INT4) PE4
6
43
PG2 (ALE)
(OC3C / INT5) PE5
7
42
PC7 (A15 / CLKO)
(T3 / INT6) PE6
8
(ICP3 / INT7) PE7
9
(64-lead TQFP top view)
41 PC6 (A14)
40 PC5 (A13)
(SS) PB0 10
39
PC4 (A12)
(SCK) PB1 11
38
PC3 (A11)
(MOSI) PB2 12
37
PC2 (A10)
(MISO) PB3 13
36 PC1 (A9)
(OC2A) PB4 14
35 PC0 (A8)
(OC1A) PB5 15
34
PG1 (RD)
(OC1B) PB6 16
33
PG0 (WR)
(1)
NC = Do not connect (May be used in future devices)
(2)
Timer2 Oscillator
5
7538AS–CAN–09/05
6
(1)
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
1
48
PA3 (AD3)
(RXD0 / PDI) PE0
2
47
PA4 (AD4)
(TXD0 / PDO) PE1
3
46
PA5 (AD5)
(XCK0 / AIN0) PE2
4
45
PA6 (AD6)
(OC3A / AIN1) PE3
5
44
PA7 (AD7)
(OC3B / INT4) PE4
6
43
PG2 (ALE)
(OC3C / INT5) PE5
7
42
PC7 (A15 / CLKO)
(T3 / INT6) PE6
8
41
PC6 (A14)
(ICP3 / INT7) PE7
9
40
PC5 (A13)
(SS) PB0
10
39
PC4 (A12)
(SCK) PB1
11
38
PC3 (A11)
(MOSI) PB2
12
37
PC2 (A10)
(MISO) PB3
13
36
PC1 (A9)
(OC2A) PB4
14
35
PC0 (A8)
(OC1A) PB5
15
34
PG1 (RD)
(OC1B) PB6
16
33
PG0 (WR)
INDEX CORNER
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
(TOSC1 ) PG4
RESET
VCC
GND
XTAL2
XTAL1
(SCL / INT0) PD0
(SDA / INT1) PD1
(RXD1 / INT2) PD2
(TXD1 / INT3) PD3
(ICP1) PD4
(TXCAN / XCK1) PD5
(RXCAN / T1) PD6
(T0) PD7
(2)
17
(64-lead QFN top view)
(TOSC2(2)) PG3
NC
64
Pinout AT90CAN32/64 - QFN
(OC0A / OC1C) PB7
Figure 2-3.
(1)
NC = Do not connect (May be used in future devices)
(2)
Timer2 Oscillator
AT90CAN32/64
7538AS–CAN–09/05
AT90CAN32/64
2.5
2.5.1
Pin Descriptions
VCC
Digital supply voltage.
2.5.2
GND
Ground.
2.5.3
Port A (PA7..PA0)
Port A is an 8-bit bi-directional 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 AT90CAN32/64 as listed on
I/O-Ports paragraph of the complete Datasheet.
2.5.4
Port B (PB7..PB0)
Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The
Port B output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port B pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port B pins are tri-stated when a reset condition becomes active,
even if the clock is not running.
Port B also serves the functions of various special features of the AT90CAN32/64 as listed on
I/O-Ports paragraph of the complete Datasheet.
2.5.5
Port C (PC7..PC0)
Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The
Port C output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port C pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port C pins are tri-stated when a reset condition becomes active,
even if the clock is not running.
Port C also serves the functions of special features of the AT90CAN32/64 as listed on I/O-Ports
paragraph of the complete Datasheet.
2.5.6
Port D (PD7..PD0)
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The
Port D output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port D pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port D pins are tri-stated when a reset condition becomes active,
even if the clock is not running.
Port D also serves the functions of various special features of the AT90CAN32/64 as listed on
I/O-Ports paragraph of the complete Datasheet.
2.5.7
Port E (PE7..PE0)
Port E is an 8-bit bi-directional 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
7
7538AS–CAN–09/05
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 AT90CAN32/64 as listed on
I/O-Ports paragraph of the complete Datasheet.
2.5.8
Port F (PF7..PF0)
Port F serves as the analog inputs to the A/D Converter.
Port F also serves as an 8-bit bi-directional I/O port, if the A/D Converter is not used. Port pins
can provide internal pull-up resistors (selected for each bit). The Port 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.
Port F also serves the functions of the JTAG interface. If the JTAG interface is enabled, the pullup resistors on pins PF7(TDI), PF5(TMS), and PF4(TCK) will be activated even if a reset occurs.
2.5.9
Port G (PG4..PG0)
Port G is a 5-bit I/O port with internal pull-up resistors (selected for each bit). The Port G output
buffers have symmetrical drive characteristics with both high sink and source capability. As
inputs, Port G pins that are externally pulled low will source current if the pull-up resistors are
activated. The Port G pins are tri-stated when a reset condition becomes active, even if the clock
is not running.
Port G also serves the functions of various special features of the AT90CAN32/64 as listed on
I/O-Ports paragraph of the complete Datasheet.
2.5.10
RESET
Reset input. A low level on this pin for longer than the minimum pulse length will generate a
reset. The minimum pulse length is given in characteristics. Shorter pulses are not guaranteed
to generate a reset. The I/O ports of the AVR are immediately reset to their initial state even if
the clock is not running. The clock is needed to reset the rest of the AT90CAN32/64.
2.5.11
XTAL1
Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.
2.5.12
XTAL2
Output from the inverting Oscillator amplifier.
2.5.13
AVCC
AVCC is the supply voltage pin for the A/D Converter on Port F. 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.
2.5.14
AREF
This is the analog reference pin for the A/D Converter.
8
AT90CAN32/64
7538AS–CAN–09/05
AT90CAN32/64
3. Register Summary
Address
Name
(0xFF)
Reserved
(0xFE)
Reserved
(0xFD)
Reserved
(0xFC)
Reserved
(0xFB)
Reserved
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
(0xFA)
CANMSG
MSG 7
MSG 6
MSG 5
MSG 4
MSG 3
MSG 2
MSG 1
MSG 0
(0xF9)
CANSTMH
TIMSTM15
TIMSTM14
TIMSTM13
TIMSTM12
TIMSTM11
TIMSTM10
TIMSTM9
TIMSTM8
(0xF8)
CANSTML
TIMSTM7
TIMSTM6
TIMSTM5
TIMSTM4
TIMSTM3
TIMSTM2
TIMSTM1
TIMSTM0
(0xF7)
CANIDM1
IDMSK28
IDMSK27
IDMSK26
IDMSK25
IDMSK24
IDMSK23
IDMSK22
IDMSK21
(0xF6)
CANIDM2
IDMSK20
IDMSK19
IDMSK18
IDMSK17
IDMSK16
IDMSK15
IDMSK14
IDMSK13
(0xF5)
CANIDM3
IDMSK12
IDMSK11
IDMSK10
IDMSK9
IDMSK8
IDMSK7
IDMSK6
IDMSK5
(0xF4)
CANIDM4
IDMSK4
IDMSK3
IDMSK2
IDMSK1
IDMSK0
RTRMSK
–
IDEMSK
(0xF3)
CANIDT1
IDT28
IDT27
IDT26
IDT25
IDT24
IDT23
IDT22
IDT21
(0xF2)
CANIDT2
IDT20
IDT19
IDT18
IDT17
IDT16
IDT15
IDT14
IDT13
(0xF1)
CANIDT3
IDT12
IDT11
IDT10
IDT9
IDT8
IDT7
IDT6
IDT5
(0xF0)
CANIDT4
IDT4
IDT3
IDT2
IDT1
IDT0
RTRTAG
RB1TAG
RB0TAG
(0xEF)
CANCDMOB
CONMOB1
CONMOB0
RPLV
IDE
DLC3
DLC2
DLC1
DLC0
(0xEE)
CANSTMOB
DLCW
TXOK
RXOK
BERR
SERR
CERR
FERR
AERR
INDX0
(0xED)
CANPAGE
MOBNB3
MOBNB2
MOBNB1
MOBNB0
AINC
INDX2
INDX1
(0xEC)
CANHPMOB
HPMOB3
HPMOB2
HPMOB1
HPMOB0
CGP3
CGP2
CGP1
CGP0
(0xEB)
CANREC
REC7
REC6
REC5
REC4
REC3
REC2
REC1
REC0
(0xEA)
CANTEC
TEC7
TEC6
TEC5
TEC4
TEC3
TEC2
TEC1
TEC0
(0xE9)
CANTTCH
TIMTTC15
TIMTTC14
TIMTTC13
TIMTTC12
TIMTTC11
TIMTTC10
TIMTTC9
TIMTTC8
(0xE8)
CANTTCL
TIMTTC7
TIMTTC6
TIMTTC5
TIMTTC4
TIMTTC3
TIMTTC2
TIMTTC1
TIMTTC0
(0xE7)
CANTIMH
CANTIM15
CANTIM14
CANTIM13
CANTIM12
CANTIM11
CANTIM10
CANTIM9
CANTIM8
(0xE6)
CANTIML
CANTIM7
CANTIM6
CANTIM5
CANTIM4
CANTIM3
CANTIM2
CANTIM1
CANTIM0
(0xE5)
CANTCON
TPRSC7
TPRSC6
TPRSC5
TPRSC4
TPRSC3
TPRSC2
TRPSC1
TPRSC0
(0xE4)
CANBT3
–
PHS22
PHS21
PHS20
PHS12
PHS11
PHS10
SMP
(0xE3)
CANBT2
–
SJW1
SJW0
–
PRS2
PRS1
PRS0
–
(0xE2)
CANBT1
–
BRP5
BRP4
BRP3
BRP2
BRP1
BRP0
–
(0xE1)
CANSIT1
–
SIT14
SIT13
SIT12
SIT11
SIT10
SIT9
SIT8
(0xE0)
CANSIT2
SIT7
SIT6
SIT5
SIT4
SIT3
SIT2
SIT1
SIT0
(0xDF)
CANIE1
–
IEMOB14
IEMOB13
IEMOB12
IEMOB11
IEMOB10
IEMOB9
IEMOB8
(0xDE)
CANIE2
IEMOB7
IEMOB6
IEMOB5
IEMOB4
IEMOB3
IEMOB2
IEMOB1
IEMOB0
(0xDD)
CANEN1
–
ENMOB14
ENMOB13
ENMOB12
ENMOB11
ENMOB10
ENMOB9
ENMOB8
(0xDC)
CANEN2
ENMOB7
ENMOB6
ENMOB5
ENMOB4
ENMOB3
ENMOB2
ENMOB1
ENMOB0
(0xDB)
CANGIE
ENIT
ENBOFF
ENRX
ENTX
ENERR
ENBX
ENERG
ENOVRT
(0xDA)
CANGIT
CANIT
BOFFIT
OVRTIM
BXOK
SERG
CERG
FERG
AERG
(0xD9)
CANGSTA
–
OVRG
–
TXBSY
RXBSY
ENFG
BOFF
ERRP
ABRQ
OVRQ
TTC
SYNTTC
LISTEN
TEST
ENA/STB
SWRES
(0xD8)
CANGCON
(0xD7)
Reserved
(0xD6)
Reserved
(0xD5)
Reserved
(0xD4)
Reserved
(0xD3)
Reserved
(0xD2)
Reserved
(0xD1)
Reserved
(0xD0)
Reserved
(0xCF)
Reserved
(0xCE)
UDR1
UDR17
UDR16
UDR15
UDR14
UDR13
UDR12
UDR11
UDR10
(0xCD)
UBRR1H
–
–
–
–
UBRR111
UBRR110
UBRR19
UBRR18
UBRR17
UBRR16
UBRR15
UBRR14
UBRR13
UBRR12
UBRR11
UBRR10
UCPOL1
(0xCC)
UBRR1L
(0xCB)
Reserved
(0xCA)
UCSR1C
–
UMSEL1
UPM11
UPM10
USBS1
UCSZ11
UCSZ10
(0xC9)
UCSR1B
RXCIE1
TXCIE1
UDRIE1
RXEN1
TXEN1
UCSZ12
RXB81
TXB81
(0xC8)
UCSR1A
RXC1
TXC1
UDRE1
FE1
DOR1
UPE1
U2X1
MPCM1
(0xC7)
Reserved
(0xC6)
UDR0
UDR07
UDR06
UDR05
UDR04
UDR03
UDR02
UDR01
UDR00
(0xC5)
UBRR0H
–
–
–
–
UBRR011
UBRR010
UBRR09
UBRR08
UBRR07
UBRR06
UBRR05
UBRR04
UBRR03
UBRR02
UBRR01
UBRR00
UCPOL0
(0xC4)
UBRR0L
(0xC3)
Reserved
(0xC2)
UCSR0C
–
UMSEL0
UPM01
UPM00
USBS0
UCSZ01
UCSZ00
(0xC1)
UCSR0B
RXCIE0
TXCIE0
UDRIE0
RXEN0
TXEN0
UCSZ02
RXB80
TXB80
(0xC0)
UCSR0A
RXC0
TXC0
UDRE0
FE0
DOR0
UPE0
U2X0
MPCM0
(0xBF)
Reserved
Comment
9
7538AS–CAN–09/05
10
Address
Name
(0xBE)
Reserved
(0xBD)
Reserved
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
(0xBC)
TWCR
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
–
TWIE
(0xBB)
TWDR
TWDR7
TWDR6
TWDR5
TWDR4
TWDR3
TWDR2
TWDR1
TWDR0
(0xBA)
TWAR
TWAR6
TWAR5
TWAR4
TWAR3
TWAR2
TWAR1
TWAR0
TWGCE
(0xB9)
TWSR
TWS7
TWS6
TWS5
TWS4
TWS3
–
TWPS1
TWPS0
(0xB8)
TWBR
TWBR7
TWBR6
TWBR5
TWBR4
TWBR3
TWBR2
TWBR1
TWBR0
(0xB7)
Reserved
–
–
–
EXCLK
AS2
TCN2UB
OCR2UB
TCR2UB
(0xB6)
ASSR
(0xB5)
Reserved
(0xB4)
Reserved
(0xB3)
OCR2A
OCR2A7
OCR2A6
OCR2A5
OCR2A4
OCR2A3
OCR2A2
OCR2A1
OCR2A0
(0xB2)
TCNT2
TCNT27
TCNT26
TCNT25
TCNT24
TCNT23
TCNT22
TCNT21
TCNT20
(0xB1)
Reserved
FOC2A
WGM20
COM2A1
COM2A0
WGM21
CS22
CS21
CS20
(0xB0)
TCCR2A
(0xAF)
Reserved
(0xAE)
Reserved
(0xAD)
Reserved
(0xAC)
Reserved
(0xAB)
Reserved
(0xAA)
Reserved
(0xA9)
Reserved
(0xA8)
Reserved
(0xA7)
Reserved
(0xA6)
Reserved
(0xA5)
Reserved
(0xA4)
Reserved
(0xA3)
Reserved
(0xA2)
Reserved
(0xA1)
Reserved
(0xA0)
Reserved
(0x9F)
Reserved
(0x9E)
Reserved
(0x9D)
OCR3CH
OCR3C15
OCR3C14
OCR3C13
OCR3C12
OCR3C11
OCR3C10
OCR3C9
OCR3C8
(0x9C)
OCR3CL
OCR3C7
OCR3C6
OCR3C5
OCR3C4
OCR3C3
OCR3C2
OCR3C1
OCR3C0
(0x9B)
OCR3BH
OCR3B15
OCR3B14
OCR3B13
OCR3B12
OCR3B11
OCR3B10
OCR3B9
OCR3B8
(0x9A)
OCR3BL
OCR3B7
OCR3B6
OCR3B5
OCR3B4
OCR3B3
OCR3B2
OCR3B1
OCR3B0
(0x99)
OCR3AH
OCR3A15
OCR3A14
OCR3A13
OCR3A12
OCR3A11
OCR3A10
OCR3A9
OCR3A8
(0x98)
OCR3AL
OCR3A7
OCR3A6
OCR3A5
OCR3A4
OCR3A3
OCR3A2
OCR3A1
OCR3A0
(0x97)
ICR3H
ICR315
ICR314
ICR313
ICR312
ICR311
ICR310
ICR39
ICR38
(0x96)
ICR3L
ICR37
ICR36
ICR35
ICR34
ICR33
ICR32
ICR31
ICR30
(0x95)
TCNT3H
TCNT315
TCNT314
TCNT313
TCNT312
TCNT311
TCNT310
TCNT39
TCNT38
TCNT37
TCNT36
TCNT35
TCNT34
TCNT33
TCNT32
TCNT31
TCNT30
(0x94)
TCNT3L
(0x93)
Reserved
(0x92)
TCCR3C
FOC3A
FOC3B
FOC3C
–
–
–
–
(0x91)
TCCR3B
ICNC3
ICES3
–
WGM33
WGM32
CS32
CS31
CS30
(0x90)
TCCR3A
COM3A1
COM3A0
COM3B1
COM3B0
COM3C1
COM3C0
WGM31
WGM30
(0x8F)
Reserved
(0x8E)
Reserved
(0x8D)
OCR1CH
OCR1C15
OCR1C14
OCR1C13
OCR1C12
OCR1C11
OCR1C10
OCR1C9
OCR1C8
(0x8C)
OCR1CL
OCR1C7
OCR1C6
OCR1C5
OCR1C4
OCR1C3
OCR1C2
OCR1C1
OCR1C0
(0x8B)
OCR1BH
OCR1B15
OCR1B14
OCR1B13
OCR1B12
OCR1B11
OCR1B10
OCR1B9
OCR1B8
(0x8A)
OCR1BL
OCR1B7
OCR1B6
OCR1B5
OCR1B4
OCR1B3
OCR1B2
OCR1B1
OCR1B0
(0x89)
OCR1AH
OCR1A15
OCR1A14
OCR1A13
OCR1A12
OCR1A11
OCR1A10
OCR1A9
OCR1A8
(0x88)
OCR1AL
OCR1A7
OCR1A6
OCR1A5
OCR1A4
OCR1A3
OCR1A2
OCR1A1
OCR1A0
(0x87)
ICR1H
ICR115
ICR114
ICR113
ICR112
ICR111
ICR110
ICR19
ICR18
(0x86)
ICR1L
ICR17
ICR16
ICR15
ICR14
ICR13
ICR12
ICR11
ICR10
(0x85)
TCNT1H
TCNT115
TCNT114
TCNT113
TCNT112
TCNT111
TCNT110
TCNT19
TCNT18
(0x84)
TCNT1L
TCNT17
TCNT16
TCNT15
TCNT14
TCNT13
TCNT12
TCNT11
TCNT10
(0x83)
Reserved
(0x82)
TCCR1C
FOC1A
FOC1B
FOC1C
–
–
–
–
–
(0x81)
TCCR1B
ICNC1
ICES1
–
WGM13
WGM12
CS12
CS11
CS10
(0x80)
TCCR1A
COM1A1
COM1A0
COM1B1
COM1B0
COM1C1
COM1C0
WGM11
WGM10
(0x7F)
DIDR1
–
–
–
–
–
–
AIN1D
AIN0D
(0x7E)
DIDR0
ADC7D
ADC6D
ADC5D
ADC4D
ADC3D
ADC2D
ADC1D
ADC0D
(0x7D)
Reserved
Comment
AT90CAN32/64
7538AS–CAN–09/05
AT90CAN32/64
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
–
ACME
–
–
–
ADTS2
ADTS1
ADTS0
(0x7A)
ADCSRA
ADEN
ADSC
ADATE
ADIF
ADIE
ADPS2
ADPS1
ADPS0
(0x79)
ADCH
- / ADC9
- / ADC8
- / ADC7
- / ADC6
- / ADC5
- / ADC4
ADC9 / ADC3
ADC8 / ADC2
(0x78)
ADCL
ADC7 / ADC1
ADC6 / ADC0
ADC5 / -
ADC4 / -
ADC3 / -
ADC2 / -
ADC1 / -
ADC0 /
(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
–
–
–
–
–
–
OCIE2A
TOIE2
(0x6F)
TIMSK1
–
–
ICIE1
–
OCIE1C
OCIE1B
OCIE1A
TOIE1
–
–
–
–
–
–
OCIE0A
TOIE0
(0x6E)
TIMSK0
(0x6D)
Reserved
(0x6C)
Reserved
(0x6B)
Reserved
(0x6A)
EICRB
ISC71
ISC70
ISC61
ISC60
ISC51
ISC50
ISC41
ISC40
(0x69)
EICRA
ISC31
ISC30
ISC21
ISC20
ISC11
ISC10
ISC01
ISC00
(0x68)
Reserved
(0x67)
Reserved
–
CAL6
CAL5
CAL4
CAL3
CAL2
CAL1
CAL0
(0x66)
OSCCAL
(0x65)
Reserved
(0x64)
Reserved
(0x63)
Reserved
(0x62)
Reserved
(0x61)
CLKPR
CLKPCE
–
–
–
CLKPS3
CLKPS2
CLKPS1
CLKPS0
(0x60)
WDTCR
–
–
–
WDCE
WDE
WDP2
WDP1
WDP0
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
–
–
–
–
–
–
–
RAMPZ0
SPMEN
0x3B (0x5B)
RAMPZ
0x3A (0x5A)
Reserved
0x39 (0x59)
Reserved
0x38 (0x58)
Reserved
0x37 (0x57)
SPMCSR
SPMIE
RWWSB
–
RWWSRE
BLBSET
PGWRT
PGERS
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
IDRD/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
SPD7
SPD6
SPD5
SPD4
SPD3
SPD2
SPD1
SPD0
0x2D (0x4D)
SPSR
SPIF
WCOL
–
–
–
–
–
SPI2X
0x2C (0x4C)
SPCR
SPIE
SPE
DORD
MSTR
CPOL
CPHA
SPR1
SPR0
0x2B (0x4B)
GPIOR2
GPIOR27
GPIOR26
GPIOR25
GPIOR24
GPIOR23
GPIOR22
GPIOR21
GPIOR20
0x2A (0x4A)
GPIOR1
GPIOR17
GPIOR16
GPIOR15
GPIOR14
GPIOR13
GPIOR12
GPIOR11
GPIOR10
0x29 (0x49)
Reserved
0x28 (0x48)
Reserved
0x27 (0x47)
OCR0A
OCR0A7
OCR0A6
OCR0A5
OCR0A4
OCR0A3
OCR0A2
OCR0A1
OCR0A0
0x26 (0x46)
TCNT0
TCNT07
TCNT06
TCNT05
TCNT04
TCNT03
TCNT02
TCNT01
TCNT00
0x25 (0x45)
Reserved
0x24 (0x44)
TCCR0A
FOC0A
WGM00
COM0A1
COM0A0
WGM01
CS02
CS01
CS00
0x23 (0x43)
GTCCR
TSM
–
–
–
–
–
PSR2
PSR310
0x22 (0x42)
EEARH
–
–
–
–
EEAR11
EEAR10
EEAR9
EEAR8
0x21 (0x41)
EEARL
EEAR7
EEAR6
EEAR5
EEAR4
EEAR3
EEAR2
EEAR1
EEAR0
EEDR0
0x20 (0x40)
EEDR
EEDR7
EEDR6
EEDR5
EEDR4
EEDR3
EEDR2
EEDR1
0x1F (0x3F)
EECR
–
–
–
–
EERIE
EEMWE
EEWE
EERE
0x1E (0x3E)
GPIOR0
GPIOR07
GPIOR06
GPIOR05
GPIOR04
GPIOR03
GPIOR02
GPIOR01
GPIOR00
0x1D (0x3D)
EIMSK
INT7
INT6
INT5
INT4
INT3
INT2
INT1
INT0
0x1C (0x3C)
EIFR
INTF7
INTF6
INTF5
INTF4
INTF3
INTF2
INTF1
INTF0
0x1B (0x3B)
Reserved
Comment
(1)
(2)
11
7538AS–CAN–09/05
Address
Name
0x1A (0x3A)
Reserved
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
0x19 (0x39)
Reserved
0x18 (0x38)
0x17 (0x37)
Bit 1
Bit 0
TIFR3
–
–
ICF3
–
OCF3C
OCF3B
OCF3A
TOV3
TIFR2
–
–
–
–
–
–
OCF2A
TOV2
0x16 (0x36)
TIFR1
–
–
ICF1
–
OCF1C
OCF1B
OCF1A
TOV1
0x15 (0x35)
TIFR0
–
–
–
–
–
–
OCF0A
TOV0
0x14 (0x34)
PORTG
–
–
–
PORTG4
PORTG3
PORTG2
PORTG1
PORTG0
0x13 (0x33)
DDRG
–
–
–
DDG4
DDG3
DDG2
DDG1
DDG0
0x12 (0x32)
PING
–
–
–
PING4
PING3
PING2
PING1
PING0
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
PORTC0
0x08 (0x28)
PORTC
PORTC7
PORTC6
PORTC5
PORTC4
PORTC3
PORTC2
PORTC1
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
Notes:
Comment
1. Address bits exceeding PCMSB (c.f complete Datasheet) are don’t care.
2. Address bits exceeding EEAMSB (c.f complete Datasheet) are don’t care.
3. For compatibility with future devices, reserved bits should be written to zero if accessed. Reserved I/O memory addresses
should never be written.
4. 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.
5. 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.
6. 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 AT90CAN32/64 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.
12
AT90CAN32/64
7538AS–CAN–09/05
AT90CAN32/64
4. Ordering Information
Ordering Code
(1)
Speed (MHz)
Power Supply (V)
Package
AT90CAN32-16AI
16
2.7 - 5.5
64A
AT90CAN32-16MI
16
2.7 - 5.5
Operation Range
Product Marking
Industrial (-40° to +85°C)
AT90CAN32-IL
64M1
Industrial (-40° to +85°C)
AT90CAN32-IL
AT90CAN32-UL
AT90CAN32-16AU
16
2.7 - 5.5
64A
Industrial (-40° to +85°C)
Green
AT90CAN32-16MU
16
2.7 - 5.5
64M1
Industrial (-40° to +85°C)
Green
AT90CAN32-UL
AT90CAN64-16AI(3)
16
2.7 - 5.5
64A
Industrial (-40° to +85°C)
AT90CAN64-IL
(3)
16
2.7 - 5.5
64M1
Industrial (-40° to +85°C)
AT90CAN64-IL
AT90CAN64-UL
AT90CAN64-16MI
AT90CAN64-16AU(3)
16
2.7 - 5.5
64A
Industrial (-40° to +85°C)
Green
AT90CAN64-16MU(3)
16
2.7 - 5.5
64M1
Industrial (-40° to +85°C)
Green
AT90CAN64-UL
AT90CAN128-16AI(2)
16
2.7 - 5.5
64A
Industrial (-40° to +85°C)
AT90CAN128-IL
(2)
16
2.7 - 5.5
64M1
Industrial (-40° to +85°C)
AT90CAN128-IL
AT90CAN128-UL
AT90CAN128-UL
AT90CAN128-16MI
AT90CAN128-16AU(2)
16
2.7 - 5.5
64A
Industrial (-40° to +85°C)
Green
AT90CAN128-16MU(2)
16
2.7 - 5.5
64M1
Industrial (-40° to +85°C)
Green
Notes:
1. These devices can also be supplied in wafer form. Please contact your local Atmel sales office for detailed ordering information and minimum quantities.
2. For information only.
3. Check for Availability.
5. Packaging Information
Package Type
64A
64-Lead, Thin (1.0 mm) Plastic Gull Wing Quad Flat Package (TQFP)
64M1
64-Lead, Quad Flat No lead (QFN)
13
7538A–CAN–09/05
5.1
TQFP64
64 LEADS Thin Quad Flat Package
PIN 64
PIN 1
B
INDEX CORNER
E1
e
E
D1
D
C
A2
A1
A
L
MM
SYMBOL
MIN
NOM
INCH
MAX
MIN
NOM
MAX
(2)
(2)
14
AT90CAN32/64
7538A–CAN–09/05
AT90CAN32/64
5.2
QFN64
64 LEADS Quad Flat No lead
A
A2
D
A1
INDEX CORNER
E
SEATING PLANE
TOP VIEW
0.08 C
SIDE VIEW
J
64x b
e
INDEX CORNER
62 63 64
MM
1
2
3
INCH
MIN NOM MAX MIN NOM MAX
A
0.80
1.00 . 031
. 039
J / K 6.47 6.57 6.67 . 255 . 259 . 263
D/E
K
A1
9.00 BSC
0.00
0.05 . 000
0.75
1.00 . 029
N
A2
e
. 354 BSC
. 002
64
0.50 BSC
. 039
. 020 BSC
L
0.40 0.45 0.50 . 016 . 018 . 020
b
0.17 0.25 0.27 . 007 . 010 . 011
64x L
BOTTOM VIEW
EXPOSED DIE
ATTACH PAD
Note: Compliant JEDEC MO-220
15
7538A–CAN–09/05
Atmel Corporation
2325 Orchard Parkway
San Jose, CA 95131, USA
Tel: 1(408) 441-0311
Fax: 1(408) 487-2600
Regional Headquarters
Europe
Atmel Sarl
Route des Arsenaux 41
Case Postale 80
CH-1705 Fribourg
Switzerland
Tel: (41) 26-426-5555
Fax: (41) 26-426-5500
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