ATMEL ATTINY20 8-bit avr microcontroller Datasheet

ATtiny20
8-bit AVR Microcontroller
with 2K Bytes In-System Programmable Flash
DATASHEET
Features
z High performance, low power 8-bit AVR® microcontroller
z Advanced RISC architecture
z
z
z
z
112 powerful instructions – most single clock cycle execution
16 x 8 general purpose working registers
Fully static operation
Up to 12 MIPS throughput at 12MHz
z Non-volatile program and data memories
z
z
z
z
2K bytes of in-system programmable flash program memory
128 bytes internal SRAM
Flash write/erase cycles: 10,000
Data retention: 20 years at 85oC / 100 years at 25oC
z Peripheral features
z
z
z
z
z
z
z
One 8-bit timer/counter with two PWM channels
One 16-bit timer/counter with two PWM channels
10-bit analog to digital converter
z 8 single-ended channels
Programmable watchdog timer with separate on-chip oscillator
On-chip analog comparator
Master/slave SPI serial interface
Slave TWI serial interface
z Special microcontroller features
z
z
z
z
z
In-system programmable
External and internal interrupt sources
Low power idle, ADC noise reduction, stand-by and power-down modes
Enhanced power-on reset circuit
Internal calibrated oscillator
z I/O and packages
z
z
z
z
14-pin SOIC/TSSOP: 12 programmable I/O lines
12-ball WLCSP: 10 programmable I/O lines
15-ball UFBGA: 12 programmable I/O lines
20-pad VQFN: 12 programmable I/O lines
z Operating voltage:
z
1.8 – 5.5V
z Programming voltage:
z
5V
z Speed grade
z
z
z
0 – 4MHz @ 1.8 – 5.5V
0 – 8MHz @ 2.7 – 5.5V
0 – 12MHz @ 4.5 – 5.5V
z Industrial temperature range
z Low power consumption
Active mode:
z 200 μA at 1MHz and 1.8V
z Idle mode:
z 25μA at 1MHz and 1.8V
z Power-down mode:
z < 0.1μA at 1.8V
z
8235F–AVR–09/2014
1.
Pin Configurations
1.1
SOIC & TSSOP
Figure 1-1. SOIC/TSSOP
VCC
(PCINT8/TPICLK/T0/CLKI) PB0
(PCINT9/TPIDATA/MOSI/SDA/OC1A) PB1
(PCINT11/RESET) PB3
(PCINT10/INT0/MISO/OC1B/OC0A/CKOUT) PB2
(PCINT7/SCL/SCK/T1/ICP1/OC0B/ADC7) PA7
(PCINT6/SS/ADC6) PA6
14
2
13
3
12
4
11
5
10
6
9
7
8
GND
PA0 (ADC0/PCINT0)
PA1 (ADC1/AIN0/PCINT1)
PA2 (ADC2/AIN1/PCINT2)
PA3 (ADC3/PCINT3)
PA4 (ADC4/PCINT4)
PA5 (ADC5/PCINT5)
VQFN
NOTE
Bottom pad should be
soldered to ground.
DNC: Do Not Connect
16
17
18
13
4
12
5
11
10
3
9
14
8
15
2
7
1
6
(PCINT4/ADC4) PA4
(PCINT3/ADC3) PA3
(PCINT2/AIN1/ADC2) PA2
(PCINT1/AIN0/ADC1) PA1
(PCINT0/ADC0) PA0
19
20
DNC
DNC
DNC
PA5 (ADC5/PCINT5)
PA6 (ADC6/PCINT6/SS)
Figure 1-2. VQFN
PA7 (ADC7/OC0B/ICP1/T1/SCL/SCK/PCINT7)
PB2 (CKOUT/OC0A/OC1B/MISO/INT0/PCINT10)
PB3 (RESET/PCINT11)
PB1 (OC1A/SDA/MOSI/TPIDATA/PCINT9)
PB0 (CLKI/T0/TPICLK/PCINT8)
DNC
DNC
GND
VCC
DNC
1.2
1
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1.3
UFBGA
Figure 1-3. UFBGA
1
2
3
4
4
1
A
B
B
C
C
D
D
BOTTOM VIEW
UFBGA Pin Configuration
1
A
1.4
2
A
TOP VIEW
Table 1-1.
3
2
3
4
PA5
PA6
PB2
B
PA4
PA7
PB1
PB3
C
PA3
PA2
PA1
PB0
D
PA0
GND
GND
VCC
Wafer Level Chip Scale Package
Figure 1-4. WLCSP
1
2
3
4
6 5 4 3 2 1
A
A
B
B
C
C
D
D
TOP VIEW
Table 1-2.
WLCSP Ball Configuration
1
A
D
2
PA4
3
4
PA1
PA6
B
C
BOTTOM VIEW
PA5
6
PA2
GND
PA7
PB2
5
VDD
PB1
PB3
PB0
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1.5
Pin Description
1.5.1
VCC
Supply voltage.
1.5.2
GND
Ground.
1.5.3
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 and provided the reset pin has not been disabled. The minimum pulse length is given in Table 20-4 on page 170.
Shorter pulses are not guaranteed to generate a reset.
The reset pin can also be used as a (weak) I/O pin.
1.5.4
Port A (PA7:PA0)
Port A is a 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 has alternate functions as analog inputs for the ADC, analog comparator and pin change interrupt as described in
“Alternate Port Functions” on page 47.
1.5.5
Port B (PB3:PB0)
Port B is a 4-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 except PB3 which has the RESET capability.
To use pin PB3 as an I/O pin, instead of RESET pin, program (‘0’) RSTDISBL fuse. 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.
The port also serves the functions of various special features of the ATtiny20, as listed on page 37.
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2.
Overview
ATtiny20 is a low-power CMOS 8-bit microcontroller based on the compact AVR enhanced RISC architecture. By
executing powerful instructions in a single clock cycle, the ATtiny20 achieves throughputs approaching 1 MIPS per MHz
allowing the system designer to optimize power consumption versus processing speed.
Figure 2-1. Block Diagram
VCC
RESET
PROGRAMMING
LOGIC
PROGRAM
COUNTER
INTERNAL
OSCILLATOR
CALIBRATED
OSCILLATOR
PROGRAM
FLASH
STACK
POINTER
WATCHDOG
TIMER
TIMING AND
CONTROL
INSTRUCTION
REGISTER
SRAM
RESET FLAG
REGISTER
INSTRUCTION
DECODER
INTERRUPT
UNIT
MCU STATUS
REGISTER
CONTROL
LINES
GENERAL
PURPOSE
REGISTERS
TIMER/
COUNTER0
X
Y
Z
ISP
INTERFACE
TIMER/
COUNTER1
ALU
SPI
ANALOG
COMPARATOR
STATUS
REGISTER
TWI
ADC
8-BIT DATA BUS
DIRECTION
REG. PORT A
DATA REGISTER
PORT A
DRIVERS
PORT A
PA[7:0]
DIRECTION
REG. PORT B
DATA REGISTER
PORT B
DRIVERS
PORT B
GND
PB[3:0]
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The AVR core combines a rich instruction set with 16 general purpose working registers and system registers. All
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 compact and code efficient while
achieving throughputs up to ten times faster than conventional CISC microcontrollers.
ATtiny20 provides the following features:
z
2K bytes of in-system programmable Flash
z
128 bytes of SRAM
z
Twelve general purpose I/O lines
z
16 general purpose working registers
z
An 8-bit Timer/Counter with two PWM channels
z
A 16-bit Timer/Counter with two PWM channels
z
Internal and external interrupts
z
An eight-channel, 10-bit ADC
z
A programmable Watchdog Timer with internal oscillator
z
A slave two-wire interface
z
A master/slave serial peripheral interface
z
An internal calibrated oscillator
z
Four software selectable power saving modes
The device includes the following modes for saving power:
z
Idle mode: stops the CPU while allowing the timer/counter, ADC, analog comparator, SPI, TWI, and interrupt
system to continue functioning
z
ADC Noise Reduction mode: minimizes switching noise during ADC conversions by stopping the CPU and all I/O
modules except the ADC
z
Power-down mode: registers keep their contents and all chip functions are disabled until the next interrupt or
hardware reset
z
Standby mode: the oscillator is running while the rest of the device is sleeping, allowing very fast start-up
combined with low power consumption.
The device is manufactured using Atmel’s high density non-volatile memory technology. The on-chip, in-system
programmable Flash allows program memory to be re-programmed in-system by a conventional, non-volatile memory
programmer.
The ATtiny20 AVR is supported by a suite of program and system development tools, including macro assemblers and
evaluation kits.
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3.
General Information
3.1
Resources
A comprehensive set of drivers, application notes, data sheets and descriptions on development tools are available for
download at http://www.atmel.com/avr.
3.2
Code Examples
This documentation contains simple code examples that briefly show how to use various parts of the device. These code
examples assume that the part specific header file is included before compilation. Be aware that not all C compiler
vendors include bit definitions in the header files and interrupt handling in C is compiler dependent. Please confirm with
the C compiler documentation for more details.
3.3
Capacitive Touch Sensing
Atmel QTouch Library provides a simple to use solution for touch sensitive interfaces on Atmel AVR microcontrollers.
The QTouch Library includes support for QTouch® and QMatrix® acquisition methods.
Touch sensing is easily added to any application by linking the QTouch Library and using the Application Programming
Interface (API) of the library to define the touch channels and sensors. The application then calls the API to retrieve
channel information and determine the state of the touch sensor.
The QTouch Library is free and can be downloaded from the Atmel website. For more information and details of
implementation, refer to the QTouch Library User Guide – also available from the Atmel website.
3.4
Data Retention
Reliability Qualification results show that the projected data retention failure rate is much less than 1 PPM over 20 years
at 85°C or 100 years at 25°C.
3.5
Disclaimer
Typical values contained in this datasheet are based on simulations and characterization of other AVR microcontrollers
manufactured on the same process technology.
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4.
CPU Core
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.
Architectural Overview
Figure 4-1. Block Diagram of the AVR Architecture
Data Bus 8-bit
Flash
Program
Memory
Program
Counter
Status
and Control
16 x 8
General
Purpose
Registrers
Instruction
Decoder
Control Lines
Indirect Addressing
Instruction
Register
Direct Addressing
4.1
Interrupt
Unit
Watchdog
Timer
Analog
Comparator
ADC
ALU
Timer/Counter 0
Timer/Counter 1
Data
SRAM
SPI
TWI Slave
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 Reprogrammable Flash memory.
The fast-access Register File contains 16 x 8-bit general purpose working registers with a single clock cycle access time.
This allows single-cycle Arithmetic Logic Unit (ALU) operation. In a typical ALU operation, two operands are output from
the Register File, the operation is executed, and the result is stored back in the Register File – in one clock cycle.
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Six of the 16 registers can be used as three 16-bit indirect address register pointers for data space addressing – enabling
efficient address calculations. 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, capable of directly addressing the
whole address space. Most AVR instructions have a single 16-bit word format but 32-bit wide instructions also exist. The
actual instruction set varies, as some devices only implement a part of the instruction set.
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 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 four 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 as the data space locations, 0x0000 - 0x003F.
4.2
ALU – Arithmetic Logic Unit
The high-performance AVR ALU operates in direct connection with all the 16 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 document “AVR Instruction Set” and section “Instruction Set Summary” on page 205 for a detailed
description.
4.3
Status Register
The Status Register contains information about the result of the most recently executed arithmetic instruction. This
information can be used for altering program flow in order to perform conditional operations. Note that the Status
Register is updated after all ALU operations, as specified in document “AVR Instruction Set” and section “Instruction Set
Summary” on page 205. 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.
4.4
General Purpose Register File
The Register File is optimized for the AVR Enhanced RISC instruction set. In order to achieve the required performance
and flexibility, the following input/output schemes are supported by the Register File:
z
One 8-bit output operand and one 8-bit result input
z
Two 8-bit output operands and one 8-bit result input
z
One 16-bit output operand and one 16-bit result input
Figure 4-2 below shows the structure of the 16 general purpose working registers in the CPU.
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Figure 4-2. AVR CPU General Purpose Working Registers
7
Note:
0
R16
R16
R17
R17
General
R18
R18
Purpose
…
...
Working
R26
R26
X-register Low Byte
Registers
R27
R27
X-register High Byte
R28
R28
Y-register Low Byte
R29
R29
Y-register High Byte
R30
R30
Z-register Low Byte
R31
R31
Z-register High Byte
A typical implementation of the AVR register file includes 32 general purpose registers but ATtiny20 implements only
16 registers. For reasons of compatibility the registers are numbered R16:R31 and not R0:R15.
Most of the instructions operating on the Register File have direct access to all registers, and most of them are single
cycle instructions.
4.4.1
The X-register, Y-register, and Z-register
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 4-3.
Figure 4-3. The X-, Y-, and Z-registers
15
X-register
XH
7
XL
0
7
R27
15
Y-register
R26
YH
7
YL
0
7
R29
15
Z-register
ZL
0
R31
0
0
R28
ZH
7
0
0
7
0
0
R30
In different addressing modes these address registers function as automatic increment and automatic decrement (see
document “AVR Instruction Set” and section “Instruction Set Summary” on page 205 for details).
4.5
Stack Pointer
The stack is mainly used for storing temporary data, local variables and return addresses after interrupts and subroutine
calls. The Stack Pointer registers (SPH and SPL) always point to the top of the stack. Note that the stack grows from
higher memory locations to lower memory locations. This means that the PUSH instructions decreases and the POP
instruction increases the stack pointer value.
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The stack pointer points to the area of data memory where subroutine and interrupt stacks are located. This stack space
must be defined by the program before any subroutine calls are executed or interrupts are enabled.
The pointer is decremented by one when data is put on the stack with the PUSH instruction, and incremented by one
when data is fetched with the POP instruction. It is decremented by two when the return address is put on the stack by a
subroutine call or a jump to an interrupt service routine, and incremented by two when data is fetched by a return from
subroutine (the RET instruction) or a return from interrupt service routine (the RETI instruction).
The AVR stack pointer is typically implemented as two 8-bit registers in the I/O register file. The width of the stack pointer
and the number of bits implemented is device dependent. In some AVR devices all data memory can be addressed using
SPL, only. In this case, the SPH register is not implemented.
The stack pointer must be set to point above the I/O register areas, the minimum value being the lowest address of
SRAM. See Figure 5-1 on page 15.
4.6
Instruction Execution Timing
This section describes the general access timing concepts for instruction execution. The AVR CPU is driven by the CPU
clock clkCPU, directly generated from the selected clock source for the chip. No internal clock division is used.
Figure 4-4. 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 4-4 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 4-5 shows the internal timing concept for the Register File. In a single clock cycle an ALU operation using two
register operands is executed, and the result is stored back to the destination register.
Figure 4-5. Single Cycle ALU Operation
T1
T2
T3
T4
clkCPU
Total Execution Time
Register Operands Fetch
ALU Operation Execute
Result Write Back
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4.7
Reset and Interrupt Handling
The AVR provides several different interrupt sources. These interrupts and the separate Reset Vector each have a
separate Program Vector in the program memory space. All interrupts are assigned individual enable bits which must be
written logic one together with the Global Interrupt Enable bit in the Status Register in order to enable the interrupt.
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 36. 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.
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.
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.
When using the SEI instruction to enable interrupts, the instruction following SEI will be executed before any pending
interrupts, as shown in the following example.
Assembly Code Example
sei
sleep
; set Global Interrupt Enable
; enter sleep, waiting for interrupt
; note: will enter sleep before any
pending interrupt(s)
Note:
4.7.1
See “Code Examples” on page 7.
Interrupt Response Time
The interrupt execution response for all the enabled AVR interrupts is four clock cycles minimum. After four clock cycles
the Program Vector address for the actual interrupt handling routine is executed. During this four clock cycle period, the
Program Counter is pushed onto the Stack. The vector is normally a jump to the interrupt routine, and this jump takes
three clock cycles. If an interrupt occurs during execution of a multi-cycle instruction, this instruction is completed before
the interrupt is served. If an interrupt occurs when the MCU is in sleep mode, the interrupt execution response time is
increased by four clock cycles. This increase comes in addition to the start-up time from the selected sleep mode.
A return from an interrupt handling routine takes four clock cycles. During these four clock cycles, the Program Counter
(two bytes) is popped back from the Stack, the Stack Pointer is incremented by two, and the I-bit in SREG is set.
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4.8
Register Description
4.8.1
CCP – Configuration Change Protection Register
Bit
0x3C
Read/Write
Initial Value
z
7
6
5
4
3
2
1
0
W
0
W
0
W
0
R/W
0
CCP[7:0]
W
0
W
0
W
0
W
0
CCP
Bits 7:0 – CCP[7:0]: Configuration Change Protection
In order to change the contents of a protected I/O register the CCP register must first be written with the correct
signature. After CCP is written the protected I/O registers may be written to during the next four CPU instruction cycles.
All interrupts are ignored during these cycles. After these cycles interrupts are automatically handled again by the CPU,
and any pending interrupts will be executed according to their priority.
When the protected I/O register signature is written, CCP0 will read as one as long as the protected feature is enabled,
while CCP[7:1] will always read as zero.
Table 4-1 shows the signatures that are recognized.
Table 4-1.
Signature
Group
Description
0xD8
IOREG: CLKMSR, CLKPSR, WDTCSR(1), MCUCR(2)
Protected I/O register
Notes: 1.
2.
4.8.2
Signatures Recognized by the Configuration Change Protection Register
Only WDE and WDP[3:0] bits are protected in WDTCSR.
Only BODS bit is protected in MCUCR.
SPH and SPL — Stack Pointer Registers
Initial Value
Read/Write
Bit
0x3E
0x3D
Bit
Read/Write
Initial Value
z
0
0
0
0
0
0
0
0
R
15
R
14
R
13
R
12
R
11
R
10
R
9
R
8
–
–
–
–
–
–
–
–
SP7
7
R/W
SP6
6
R/W
SP5
5
R/W
SP4
4
R/W
SP3
3
R/W
SP2
2
R/W
SP1
1
R/W
SP0
0
R/W
RAMEND
RAMEND
RAMEND
RAMEND
RAMEND
RAMEND
RAMEND
RAMEND
SPH
SPL
Bits 7:0 – SP[7:0]: Stack Pointer
The Stack Pointer register points to the top of the stack, which is implemented growing from higher memory locations to
lower memory locations. Hence, a stack PUSH command decreases the stack pointer.
The stack space in the data SRAM must be defined by the program before any subroutine calls are executed or
interrupts are enabled.
In ATtiny20, the SPH register has not been implemented.
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4.8.3
SREG – Status Register
Bit
0x3F
Read/Write
Initial Value
z
7
I
R/W
0
6
T
R/W
0
5
H
R/W
0
4
S
R/W
0
3
V
R/W
0
2
N
R/W
0
1
Z
R/W
0
0
C
R/W
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 document “AVR Instruction Set” and “Instruction Set
Summary” on page 205.
z
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.
z
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
document “AVR Instruction Set” and section “Instruction Set Summary” on page 205 for detailed information.
z
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
document “AVR Instruction Set” and section “Instruction Set Summary” on page 205 for detailed information.
z
Bit 3 – V: Two’s Complement Overflow Flag
The Two’s Complement Overflow Flag V supports two’s complement arithmetic. See document “AVR Instruction Set”
and section “Instruction Set Summary” on page 205 for detailed information.
z
Bit 2 – N: Negative Flag
The Negative Flag N indicates a negative result in an arithmetic or logic operation. See document “AVR Instruction Set”
and section “Instruction Set Summary” on page 205 for detailed information.
z
Bit 1 – Z: Zero Flag
The Zero Flag Z indicates a zero result in an arithmetic or logic operation. See document “AVR Instruction Set” and
section “Instruction Set Summary” on page 205 for detailed information.
z
Bit 0 – C: Carry Flag
The Carry Flag C indicates a carry in an arithmetic or logic operation. See document “AVR Instruction Set” and section
“Instruction Set Summary” on page 205 for detailed information.
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5.
Memories
This section describes the different memories in the ATtiny20. The device has two main memory areas, the program
memory space and the data memory space.
5.1
In-System Re-programmable Flash Program Memory
The ATtiny20 contains 2K byte on-chip, in-system reprogrammable Flash memory for program storage. Since all AVR
instructions are 16 or 32 bits wide, the Flash is organized as 1024 x 16.
The Flash memory has an endurance of at least 10,000 write/erase cycles. The ATtiny20 Program Counter (PC) is 10
bits wide, thus capable of addressing the 1024 program memory locations, starting at 0x000. “Memory Programming” on
page 159 contains a detailed description on Flash data serial downloading.
Constant tables can be allocated within the entire address space of program memory. Since program memory can not be
accessed directly, it has been mapped to the data memory. The mapped program memory begins at byte address
0x4000 in data memory (see Figure 5-1 on page 15). Although programs are executed starting from address 0x000 in
program memory it must be addressed starting from 0x4000 when accessed via the data memory.
Internal write operations to Flash program memory have been disabled and program memory therefore appears to
firmware as read-only. Flash memory can still be written to externally but internal write operations to the program
memory area will not be successful.
Timing diagrams of instruction fetch and execution are presented in “Instruction Execution Timing” on page 11.
5.2
Data Memory
Data memory locations include the I/O memory, the internal SRAM memory, the non-volatile memory lock bits, and the
Flash memory. See Figure 5-1 for an illustration on how the ATtiny20 memory space is organized.
Figure 5-1. Data Memory Map (Byte Addressing)
I/O SPACE
0x0000 ... 0x003F
SRAM DATA MEMORY
0x0040 ... 0x00BF
(reserved)
0x00C0 ... 0x3EFF
NVM LOCK BITS
0x3F00 ... 0x3F01
(reserved)
0x3F02 ... 0x3F3F
CONFIGURATION BITS
0x3F40 ... 0x3F41
(reserved)
0x3F42 ... 0x3F7F
CALIBRATION BITS
0x3F80 ... 0x3F81
(reserved)
0x3F82 ... 0x3FBF
DEVICE ID BITS
0x3FC0 ... 0x3FC3
(reserved)
0x3FC4 ... 0x3FFF
FLASH PROGRAM MEMORY
0x4000 ... 0x47FF
(reserved)
0x4800 ... 0xFFFF
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The first 64 locations are reserved for I/O memory, while the following 128 data memory locations (from 0x0040 to
0x00BF) address the internal data SRAM.
The non-volatile memory lock bits and all the Flash memory sections are mapped to the data memory space. These
locations appear as read-only for device firmware.
The four different addressing modes for data memory are direct, indirect, indirect with pre-decrement, and indirect with
post-increment. In the register file, registers R26 to R31 function as pointer registers for indirect addressing.
The IN and OUT instructions can access all 64 locations of I/O memory. Direct addressing using the LDS and STS
instructions reaches the 128 locations between 0x0040 and 0x00BF.
The indirect addressing reaches the entire data memory space. When using indirect addressing modes with automatic
pre-decrement and post-increment, the address registers X, Y, and Z are decremented or incremented.
5.2.1
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 5-2.
Figure 5-2. On-chip Data SRAM Access Cycles
T1
T2
T3
clkCPU
Address
Compute Address
Address valid
Write
Data
WR
Read
Data
RD
Memory Access Instruction
5.3
Next Instruction
I/O Memory
The I/O space definition of the ATtiny20 is shown in “Register Summary” on page 203.
All ATtiny20 I/Os and peripherals are placed in the I/O space. All I/O locations may be accessed using the LD and ST
instructions, enabling data transfer between the 16 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. See document “AVR Instruction Set” and
section “Instruction Set Summary” on page 205 for more details. When using the I/O specific commands IN and OUT, the
I/O addresses 0x00 - 0x3F must 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 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 on registers in the address range 0x00 to 0x1F, only.
The I/O and Peripherals Control Registers are explained in later sections.
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6.
Clock System
Figure 6-1 presents the principal clock systems and their distribution in ATtiny20. 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 and power reduction register bits, as described in “Power Management and Sleep Modes” on page 23. The
clock systems is detailed below.
Figure 6-1. Clock Distribution
ANALOG-TO-DIGITAL
CONVERTER
clk ADC
GENERAL
I/O MODULES
CPU
CORE
clk I/O
NVM
RAM
clk NVM
clk CPU
CLOCK CONTROL UNIT
SOURCE CLOCK
RESET
LOGIC
WATCHDOG
CLOCK
CLOCK
PRESCALER
WATCHDOG
TIMER
CLOCK
SWITCH
EXTERNAL
CLOCK
6.1
WATCHDOG
OSCILLATOR
CALIBRATED
OSCILLATOR
Clock Subsystems
The clock subsystems are detailed in the sections below.
6.1.1
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 System Registers and the SRAM data memory. Halting the CPU clock inhibits
the core from performing general operations and calculations.
6.1.2
I/O Clock – clkI/O
The I/O clock is used by the majority of the I/O modules, like Timer/Counter. 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.
6.1.3
NVM clock - clkNVM
The NVM clock controls operation of the Non-Volatile Memory Controller. The NVM clock is usually active simultaneously
with the CPU clock.
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6.1.4
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.
6.2
Clock Sources
All synchronous clock signals are derived from the main clock. The device has three alternative sources for the main
clock, as follows:
z
Calibrated Internal 8 MHz Oscillator (see page 18)
z
External Clock (see page 18)
z
Internal 128 kHz Oscillator (see page 18)
See Table 6-3 on page 21 on how to select and change the active clock source.
6.2.1
Calibrated Internal 8 MHz Oscillator
The calibrated internal oscillator provides an approximately 8 MHz clock signal. Though voltage and temperature
dependent, this clock can be very accurately calibrated by the user. See Table 20-2 on page 169, and “Internal Oscillator
Speed” on page 200 for more details.
This clock may be selected as the main clock by setting the Clock Main Select bits CLKMS[1:0] in CLKMSR to 0b00.
Once enabled, the oscillator will operate with no external components. During reset, hardware loads the calibration byte
into the OSCCAL register and thereby automatically calibrates the oscillator. The accuracy of this calibration is shown as
Factory calibration in Table 20-2 on page 169.
When this oscillator is used as the main clock, the watchdog oscillator will still be used for the watchdog timer and reset
time-out. For more information on the pre-programmed calibration value, see section “Calibration Section” on page 162.
6.2.2
External Clock
To use the device with an external clock source, CLKI should be driven as shown in Figure 6-2. The external clock is
selected as the main clock by setting CLKMS[1:0] bits in CLKMSR to 0b10.
Figure 6-2. External Clock Drive Configuration
EXTERNAL
CLOCK
SIGNAL
CLKI
GND
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. It is required to ensure that the MCU is kept in reset during such changes in the clock frequency.
6.2.3
Internal 128 kHz Oscillator
The internal 128 kHz oscillator is a low power oscillator providing a clock of 128 kHz. The frequency depends on supply
voltage, temperature and batch variations. This clock may be select as the main clock by setting the CLKMS[1:0] bits in
CLKMSR to 0b01.
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6.2.4
Switching Clock Source
The main clock source can be switched at run-time using the “CLKMSR – Clock Main Settings Register” on page 20.
When switching between any clock sources, the clock system ensures that no glitch occurs in the main clock.
6.2.5
Default Clock Source
The calibrated internal 8 MHz oscillator is always selected as main clock when the device is powered up or has been
reset. The synchronous system clock is the main clock divided by 8, controlled by the System Clock Prescaler. The Clock
Prescaler Select Bits can be written later to change the system clock frequency. See “System Clock Prescaler”.
6.3
System Clock Prescaler
The system clock is derived from the main clock via the System Clock Prescaler. The system clock can be divided by
setting the “CLKPSR – Clock Prescale Register” on page 21. The system clock prescaler can be used to decrease power
consumption at times when requirements for processing power is low or to bring the system clock within limits of
maximum frequency. The prescaler can be used with all main clock source options, and it will affect the clock frequency
of the CPU and all synchronous peripherals.
The System Clock Prescaler can be used to implement run-time changes of the internal clock frequency while still
ensuring stable operation.
6.3.1
Switching Prescaler Setting
When switching between prescaler settings, the system clock prescaler ensures that no glitch occurs in the system clock
and that no intermediate frequency is higher than neither the clock frequency corresponding 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 main 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 another 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.
6.4
Starting
6.4.1
Starting from Reset
The internal reset is immediately asserted when a reset source goes active. The internal reset is kept asserted until the
reset source is released and the start-up sequence is completed. The start-up sequence includes three steps, as follows.
1.
The first step after the reset source has been released consists of the device counting the reset start-up time. The
purpose of this reset start-up time is to ensure that supply voltage has reached sufficient levels. The reset start-up
time is counted using the internal 128 kHz oscillator. See Table 6-1 for details of reset start-up time.
Note that the actual supply voltage is not monitored by the start-up logic. The device will count until the reset startup time has elapsed even if the device has reached sufficient supply voltage levels earlier.
2.
The second step is to count the oscillator start-up time, which ensures that the calibrated internal oscillator has
reached a stable state before it is used by the other parts of the system. The calibrated internal oscillator needs to
oscillate for a minimum number of cycles before it can be considered stable. See Table 6-1 for details of the oscillator start-up time.
3.
The last step before releasing the internal reset is to load the calibration and the configuration values from the
Non-Volatile Memory to configure the device properly. The configuration time is listed in Table 6-1.
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Table 6-1.
Reset
Oscillator
Configuration
64 ms
6 cycles
21 cycles
Notes: 1.
2.
6.4.2
Start-up Times when Using the Internal Calibrated Oscillator
Total start-up time
64 ms + 6 oscillator cycles + 21 system clock cycles (1)(2)
After powering up the device or after a reset the system clock is automatically set to calibrated internal 8
MHz oscillator, divided by 8
When the Brown-out Detection is enabled, the reset start-up time is 128 ms after powering up the device.
Starting from Power-Down Mode
When waking up from Power-Down sleep mode, the supply voltage is assumed to be at a sufficient level and only the
oscillator start-up time is counted to ensure the stable operation of the oscillator. The oscillator start-up time is counted
on the selected main clock, and the start-up time depends on the clock selected. See Table 6-2 for details.
Table 6-2.
Notes: 1.
2.
6.4.3
Start-up Time from Power-Down Sleep Mode
Oscillator start-up time
Total start-up time
6 cycles
6 oscillator cycles (1)(2)
The start-up time is measured in main clock oscillator cycles.
When using software BOD disable, the wake-up time from sleep mode will be approximately 60 μs.
Starting from Idle / ADC Noise Reduction / Standby Mode
When waking up from Idle, ADC Noise Reduction or Standby Mode, the oscillator is already running and no oscillator
start-up time is introduced.
6.5
Register Description
6.5.1
CLKMSR – Clock Main Settings Register
Bit
0x37
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
–
R
0
4
–
R
0
3
–
R
0
2
–
R
0
1
CLKMS1
R/W
0
0
CLKMS0
R/W
0
CLKMSR
Bits 7:2 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bits 1:0 – CLKMS[1:0]: Clock Main Select Bits
These bits select the main clock source of the system. The bits can be written at run-time to switch the source of the main
clock. The clock system ensures glitch free switching of the main clock source.
The main clock alternatives are shown in Table 6-3.
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Table 6-3.
Selection of Main Clock
CLKM1
CLKM0
Main Clock Source
0
0
Calibrated Internal 8 MHz Oscillator
0
1
Internal 128 kHz Oscillator (WDT Oscillator)
1
0
External clock
1
1
Reserved
To avoid unintentional switching of main clock source, a protected change sequence must be followed to change the
CLKMS bits, as follows:
6.5.2
1.
Write the signature for change enable of protected I/O register to register CCP
2.
Within four instruction cycles, write the CLKMS bits with the desired value
CLKPSR – Clock Prescale Register
Bit
0x36
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
–
R
0
4
–
R
0
3
CLKPS3
R/W
0
2
CLKPS2
R/W
0
1
CLKPS1
R/W
1
0
CLKPS0
R/W
1
CLKPSR
Bits 7:4 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bits 3:0 – CLKPS[3:0]: 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 at run-time to vary the clock frequency and suit the application requirements. As the prescaler divides the master
clock input to the MCU, the speed of all synchronous peripherals is reduced accordingly. The division factors are given in
Table 6-4.
Table 6-4.
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 (default)
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
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CLKPS3
CLKPS2
CLKPS1
CLKPS0
Clock Division Factor
1
0
1
0
Reserved
1
0
1
1
Reserved
1
1
0
0
Reserved
1
1
0
1
Reserved
1
1
1
0
Reserved
1
1
1
1
Reserved
To avoid unintentional changes of clock frequency, a protected change sequence must be followed to change the
CLKPS bits:
1.
Write the signature for change enable of protected I/O register to register CCP
2.
Within four instruction cycles, write the desired value to CLKPS bits
At start-up, the CLKPS bits will be reset to 0b0011 to select the clock division factor of 8. 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.
6.5.3
OSCCAL – Oscillator Calibration Register
.
Bit
0x39
Read/Write
Initial Value
z
7
CAL7
R/W
0
6
CAL6
R/W
0
5
CAL5
R/W
0
4
CAL4
R/W
0
3
CAL3
R/W
0
2
CAL2
R/W
0
1
CAL1
R/W
0
0
CAL0
R/W
0
OSCCAL
Bits 7:0 – CAL[7:0]: Oscillator Calibration Value
The oscillator calibration register is used to trim the calibrated internal oscillator and remove process variations from the
oscillator frequency. A pre-programmed calibration value is automatically written to this register during chip reset, giving
the factory calibrated frequency as specified in Table 20-2, “Calibration Accuracy of Internal RC Oscillator,” on page 169.
The application software can write this register to change the oscillator frequency. The oscillator can be calibrated to
frequencies as specified in Table 20-2, “Calibration Accuracy of Internal RC Oscillator,” on page 169. Calibration outside
the range given is not guaranteed.
The CAL[7:0] bits are used to tune the frequency of the oscillator. A setting of 0x00 gives the lowest frequency, and a
setting of 0xFF gives the highest frequency.
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7.
Power Management and Sleep Modes
The high performance and industry leading code efficiency makes the AVR microcontrollers an ideal choice for low
power applications. In addition, 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.
7.1
Sleep Modes
Figure 6-1 on page 17 presents the different clock systems and their distribution in ATtiny20. The figure is helpful in
selecting an appropriate sleep mode. Table 7-1 shows the different sleep modes and their wake up sources.
Active Clock Domains and Wake-up Sources in Different Sleep Modes
ADC Noise Reduction
Standby
Power-down
Notes: 1.
2.
X
X
X
X
X
X
X(1)
X
X(2)
X
X
X(1)
X
X(2)
X(1)
X
X(2)
ADC
Other I/O
X
TWI Slave
X
clkADC
Watchdog
Interrupt
X
Wake-up Sources
INT0 and
Pin Change
Idle
Oscillators
clkIO
clkNVM
Sleep Mode
clkCPU
Active Clock Domains
Main Clock
Source Enabled
Table 7-1.
X
For INT0, only level interrupt.
Only TWI address match interrupt.
To enter any of the four sleep modes, the SE bits in MCUCR must be written to logic one and a SLEEP instruction must
be executed. The SM[2:0] bits in the MCUCR register select which sleep mode (Idle, ADC Noise Reduction, Standby or
Power-down) will be activated by the SLEEP instruction. See Table 7-2 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.
Note that if a level triggered interrupt is used for wake-up the changed level must be held for some time to wake up the
MCU (and for the MCU to enter the interrupt service routine). See “External Interrupts” on page 37 for details.
7.1.1
Idle Mode
When bits SM[2:0] are written to 000, the SLEEP instruction makes the MCU enter Idle mode, stopping the CPU but
allowing the analog comparator, ADC, timer/counters, watchdog, TWI, SPI and the interrupt system to continue
operating. This sleep mode basically halts clkCPU and clkNVM, 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.
If wake-up from the analog comparator interrupt is not required, the analog comparator can be powered down by setting
the ACD bit in “ACSRA – Analog Comparator Control and Status Register” on page 106. This will reduce power
consumption in idle mode. If the ADC is enabled, a conversion starts automatically when this mode is entered.
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7.1.2
ADC Noise Reduction Mode
When bits SM[2:0] 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, TWI and the watchdog to continue operating (if enabled). This
sleep mode halts clkI/O, clkCPU, and clkNVM, while allowing the other clocks to run.
This mode 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.
7.1.3
Power-down Mode
When bits SM[2:0] are written to 010, the SLEEP instruction makes the MCU enter Power-down mode. In this mode, the
oscillator is stopped, while the external interrupts, TWI and the watchdog continue operating (if enabled). Only a
watchdog reset, an external level interrupt on INT0, a pin change interrupt, or a TWI slave interrupt can wake up the
MCU. This sleep mode halts all generated clocks, allowing operation of asynchronous modules only.
7.1.4
Standby Mode
When bits SM[2:0] are written to 100, 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. This reduces wake-up time, because the oscillator is
already running and doesn't need to be started up.
7.2
Software BOD Disable
When the Brown-out Detector (BOD) is enabled by BODLEVEL fuses (see Table 19-5 on page 161), the BOD is actively
monitoring the supply voltage during a sleep period. In some devices it is possible to save power by disabling the BOD by
software in Power-Down and Stand-By sleep modes. The sleep mode power consumption will then be at the same level
as when BOD is globally disabled by fuses.
If BOD is disabled by software, the BOD function is turned off immediately after entering the sleep mode. Upon wake-up
from sleep, BOD is automatically enabled again. This ensures safe operation in case the VCC level has dropped during
the sleep period.
When the BOD has been disabled, the wake-up time from sleep mode will be approximately 60μs to ensure that the BOD
is working correctly before the MCU continues executing code.
BOD disable is controlled by the BODS (BOD Sleep) bit of MCU Control Register, see “MCUCR – MCU Control Register”
on page 26. Writing this bit to one turns off BOD in Power-Down and Stand-By, while writing a zero keeps the BOD
active. The default setting is zero, i.e. BOD active.
Writing to the BODS bit is controlled by a timed sequence, see “MCUCR – MCU Control Register” on page 26.
7.3
Power Reduction Register
The Power Reduction Register (PRR), see “PRR – Power Reduction Register” on page 27, provides a method to reduce
power consumption by stopping the clock to individual peripherals. When the clock for a peripheral is stopped then:
z
The current state of the peripheral is frozen.
z
The associated registers can not be read or written.
z
Resources used by the peripheral will remain occupied.
The peripheral should in most cases be disabled before stopping the clock. Clearing the PRR bit wakes up the peripheral
and puts it in the same state as before shutdown.
Peripheral shutdown can be used in Idle mode and Active mode to significantly reduce the overall power consumption.
See “Supply Current of I/O Modules” on page 174 for examples. In all other sleep modes, the clock is already stopped.
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7.4
Minimizing Power Consumption
There are several issues to consider when trying to minimize the power consumption in an AVR Core 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.
7.4.1
Analog Comparator
When entering Idle mode, the analog comparator should be disabled if not used. In the power-down mode, the analog
comparator is automatically disabled. See “Analog Comparator” on page 105 for further details.
7.4.2
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. See “Analog
to Digital Converter” on page 109 for details on ADC operation.
7.4.3
Watchdog Timer
If the Watchdog Timer is not needed in the application, this module should be turned off. If the Watchdog Timer is
enabled, it will be enabled in all sleep modes, and hence, always consume power. In the deeper sleep modes, this will
contribute significantly to the total current consumption. Refer to “Watchdog Timer” on page 31 for details on how to
configure the Watchdog Timer.
7.4.4
Brown-out Detector
If the Brown-out Detector is not needed in 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. See “Brown-out Detection” on page
30 and “Software BOD Disable” on page 24 for details on how to configure the Brown-out Detector.
7.4.5
Port Pins
When entering a sleep mode, all port pins should be configured to use minimum power. The most important thing is then
to ensure that no pins drive resistive loads. In sleep modes where the I/O clock (clkI/O) is 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 46 for details on which pins are enabled. If the input buffer is enabled and the input
signal is left floating or has 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 Register (DIDR0). Refer to “DIDR0 – Digital Input Disable Register 0” on page 108 for details.
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7.5
Register Description
7.5.1
MCUCR – MCU Control Register
The MCU Control Register contains bits for controlling external interrupt sensing and power management.
Bit
0x3A
Read/Write
Initial Value
z
7
ISC01
R/W
0
6
ISC00
R/W
0
5
–
R
0
4
BODS
R/W
0
3
SM2
R/W
0
2
SM1
R/W
0
1
SM0
R/W
0
0
SE
R/W
0
MCUCR
Bit 5 – Res: Reserved Bit
This bit is reserved and will always read as zero.
z
Bit 4 – BODS: BOD Sleep
In order to disable BOD during sleep (see Table 7-1 on page 23) the BODS bit must be written to logic one. This is
controlled by a protected change sequence, as follows:
1.
Write the signature for change enable of protected I/O registers to register CCP.
2.
Within four instruction cycles write the BODS bit.
A sleep instruction must be executed while BODS is active in order to turn off the BOD for the actual sleep mode.
The BODS bit is automatically cleared when the device wakes up. Alternatively the BODS bit can be cleared by writing
logic zero to it. This does not require protected sequence.
z
Bits 3:1 – SM[2:0]: Sleep Mode Select Bits 2 - 0
These bits select between available sleep modes, as shown in Table 7-2.
Table 7-2.
z
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
Reserved
1
0
0
Standby
1
0
1
Reserved
1
1
0
Reserved
1
1
1
Reserved
Bit 0 – SE: Sleep Enable
The SE bit must be written to logic one to make the MCU enter the sleep mode when the SLEEP instruction is executed.
To avoid the MCU entering the sleep mode unless it is the programmer’s purpose, 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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7.5.2
PRR – Power Reduction Register
Bit
0x35
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
–
R
0
4
PRTWI
R/W
0
3
PRSPI
R/W
0
2
PRTIM1
R/W
0
1
PRTIM0
R/W
0
0
PRADC
R/W
0
PRR
Bits 7:5 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bit 4 – PRTWI: Power Reduction Two-Wire Interface
Writing a logic one to this bit shuts down the Two-Wire Interface module.
z
Bit 3 – PRSPI: Power Reduction Serial Peripheral Interface
Writing a logic one to this bit shuts down the Serial Peripheral Interface module.
z
Bit 2 – 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.
z
Bit 1 – 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.
z
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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8.
System Control and Reset
8.1
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 RJMP – Relative 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. The circuit diagram in Figure 8-1 shows the reset logic. Electrical parameters of the reset circuitry are
defined in section “System and Reset Characteristics” on page 170.
Figure 8-1. Reset Logic
DATA BUS
PULL-UP
RESISTOR
RESET
WDRF
BROWN OUT
RESET CIRCUIT
VCC
EXTRF
BORF
PORF
RESET FLAG REGISTER
(RSTFLR)
BODLEVEL2...0
S
POWER-ON
RESET CIRCUIT
Q
COUNTER RESET
TIMEOUT
SPIKE
FILTER
EXTERNAL
RESET CIRCUIT
INTERNAL
RESET
R
DELAY
COUNTERS
CK
WATCHDOG
TIMER
RSTDISBL
WATCHDOG
OSCILLATOR
CLOCK
GENERATOR
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 start up sequence is described in “Starting from Reset” on
page 19.
8.2
Reset Sources
The ATtiny20 has four sources of reset:
8.2.1
z
Power-on Reset. The MCU is reset when the supply voltage is below the Power-on Reset threshold (VPOT)
z
External Reset. The MCU is reset when a low level is present on the RESET pin for longer than the minimum pulse
length
z
Watchdog Reset. The MCU is reset when the Watchdog Timer period expires and the Watchdog is enabled
z
Brown Out Reset. The MCU is reset when the Brown-Out Detector is enabled and supply voltage is below the
brown-out threshold (VBOT)
Power-on Reset
A Power-on Reset (POR) pulse is generated by an on-chip detection circuit. The detection level is defined in section
“System and Reset Characteristics” on page 170. The POR is activated whenever VCC is below the detection level. The
POR circuit can be used to trigger the Start-up Reset, as well as to detect a failure in supply voltage.
A Power-on Reset (POR) circuit ensures that the device is reset from Power-on. Reaching the Power-on Reset threshold
voltage invokes the delay counter, which determines how long the device is kept in reset after VCC rise. The reset signal
is activated again, without any delay, when VCC decreases below the detection level.
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Figure 8-2. MCU Start-up, RESET Tied to VCC
V CC
V POT
RESET
V RST
TIME-OUT
t TOUT
INTERNAL
RESET
Figure 8-3. MCU Start-up, RESET Extended Externally
V CC
V POT
> t TOUT
RESET
TIME-OUT
V RST
t TOUT
INTERNAL
RESET
8.2.2
External Reset
An External Reset is generated by a low level on the RESET pin if enabled. Reset pulses longer than the minimum pulse
width (see section “System and Reset Characteristics” on page 170) 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.
External reset is ignored during Power-on start-up count. After Power-on reset the internal reset is extended only if
RESET pin is low when the initial Power-on delay count is complete. See Figure 8-2 and Figure 8-3.
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Figure 8-4. External Reset During Operation
CC
8.2.3
Watchdog Reset
When the Watchdog times out, it will generate a short reset pulse. On the falling edge of this pulse, the delay timer starts
counting the time-out period tTOUT. See page 30 for details on operation of the Watchdog Timer and Table 20-4 on page
170 for details on reset time-out.
Figure 8-5. Watchdog Reset During Operation
CC
CK
8.2.4
Brown-out Detection
ATtiny20 has an On-chip Brown-out Detection (BOD) circuit for monitoring the VCC level during operation by comparing it
to a fixed trigger level. The trigger level for the BOD can be selected by the BODLEVEL Fuses. The trigger level has a
hysteresis to ensure spike free Brown-out Detection. The hysteresis on the detection level should be interpreted as VBOT+
= VBOT + VHYST/2 and VBOT- = VBOT - VHYST/2.
When the BOD is enabled, and VCC decreases to a value below the trigger level (VBOT- in Figure 8-6 on page 31), the
Brown-out Reset is immediately activated. When VCC increases above the trigger level (VBOT+ in Figure 8-6), the delay
counter starts the MCU after the Time-out period tTOUT has expired.
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The BOD circuit will only detect a drop in VCC if the voltage stays below the trigger level for longer than tBOD given in
“System and Reset Characteristics” on page 170.
Figure 8-6. Brown-out Reset During Operation
VCC
VBOT-
VBOT+
RESET
TIME-OUT
tTOUT
INTERNAL
RESET
8.3
Internal Voltage Reference
ATtiny20 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. The bandgap voltage varies with supply voltage and temperature.
8.3.1
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
“System and Reset Characteristics” on page 170. 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 internal 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.
8.4
Watchdog Timer
The Watchdog Timer is clocked from an on-chip oscillator, which runs at 128 kHz. See Figure 8-7 on page 32. By
controlling the Watchdog Timer prescaler, the Watchdog Reset interval can be adjusted as shown in Table 8-2 on page
34. The WDR – Watchdog Reset – instruction resets the Watchdog Timer. The Watchdog Timer is also reset when it is
disabled and when a device reset occurs. Ten different clock cycle periods can be selected to determine the reset period.
If the reset period expires without another Watchdog Reset, the ATtiny20 resets and executes from the Reset Vector. For
timing details on the Watchdog Reset, refer to Table 8-3 on page 34.
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Figure 8-7. Watchdog Timer
WDP0
WDP1
WDP2
WDP3
OSC/512K
OSC/1024K
OSC/256K
OSC/64K
OSC/128K
OSC/8K
OSC/16K
OSC/4K
OSC/2K
WATCHDOG
RESET
OSC/32K
WATCHDOG
PRESCALER
128 kHz
OSCILLATOR
MUX
WDE
MCU RESET
The Watchdog Timer can also be configured to generate an interrupt instead of a reset. This can be very helpful when
using the Watchdog to wake-up from Power-down.
To prevent unintentional disabling of the Watchdog or unintentional change of time-out period, two different safety levels
are selected by the fuse WDTON as shown in Table 8-1 on page 32. See “Procedure for Changing the Watchdog Timer
Configuration” on page 32 for details.
Table 8-1.
WDT Configuration as a Function of the Fuse Settings of WDTON
WDTON
8.4.1
Safety Level
Initial State
How to Disable
How to Change Time-out
Unprogrammed
1
Disabled
Protected change sequence
No limitations
Programmed
2
Enabled
Always enabled
Protected change sequence
Procedure for Changing the Watchdog Timer Configuration
The sequence for changing configuration differs between the two safety levels, as follows:
8.4.1.1 Safety Level 1
In this mode, the Watchdog Timer is initially disabled, but can be enabled by writing the WDE bit to one without any
restriction. A special sequence is needed when disabling an enabled Watchdog Timer. To disable an enabled Watchdog
Timer, the following procedure must be followed:
1.
Write the signature for change enable of protected I/O registers to register CCP
2.
Within four instruction cycles, in the same operation, write WDE and WDP bits
8.4.1.2 Safety Level 2
In this mode, the Watchdog Timer is always enabled, and the WDE bit will always read as one. A protected change is
needed when changing the Watchdog Time-out period. To change the Watchdog Time-out, the following procedure must
be followed:
1.
Write the signature for change enable of protected I/O registers to register CCP
2.
Within four instruction cycles, write the WDP bit. The value written to WDE is irrelevant
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8.4.2
Code Examples
The following code example shows how to turn off the WDT. The example assumes that interrupts are controlled (for
example by disabling interrupts globally) so that no interrupts will occur during execution of these functions.
Assembly Code Example
WDT_off:
wdr
; Clear WDRF in RSTFLR
in
r16, RSTFLR
andi r16, ~(1<<WDRF)
out
RSTFLR, r16
; Write signature for change enable of protected I/O register
ldi
r16, 0xD8
out
CCP, r16
; Within four instruction cycles, turn off WDT
ldi
r16, (0<<WDE)
out
WDTCSR, r16
ret
Note:
See “Code Examples” on page 7.
8.5
Register Description
8.5.1
WDTCSR – Watchdog Timer Control and Status Register
Bit
0x31
Read/Write
Initial Value
z
7
WDIF
R/W
0
6
WDIE
R/W
0
5
WDP3
R/W
0
4
–
R
0
3
WDE
R/W
X
2
WDP2
R/W
0
1
WDP1
R/W
0
0
WDP0
R/W
0
WDTCSR
Bit 7 – WDIF: Watchdog Timer 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 WDIE is set, the Watchdog Time-out Interrupt is requested.
z
Bit 6 – WDIE: Watchdog Timer Interrupt Enable
When this bit is written to one, the Watchdog interrupt request is enabled. If WDE is cleared in combination with this
setting, the Watchdog Timer is in Interrupt Mode, and the corresponding interrupt is requested 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.
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Table 8-2.
Watchdog Timer Configuration
WDTON(1)
WDE
WDIE
1
0
1
Note:
z
Mode
Action on Time-out
0
Stopped
None
0
1
Interrupt
Interrupt
1
1
0
System Reset
Reset
1
1
1
Interrupt and System Reset
Interrupt, then go to System Reset Mode
0
x
x
System Reset
Reset
1.
WDTON configuration bit set to “0“ means programmed and “1“ means unprogrammed.
Bit 4 – Res: Reserved Bit
This bit is reserved and will always read as zero.
z
Bit 3 – WDE: Watchdog System Reset Enable
WDE is overridden by WDRF in RSTFLR. 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.
z
Bits 5, 2:0 – WDP[3:0]: Watchdog Timer Prescaler 3 - 0
The WDP[3:0] 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 8-3 on page 34.
Table 8-3.
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
16 ms
0
0
0
1
4K (4096) cycles
32 ms
0
0
1
0
8K (8192) cycles
64 ms
0
0
1
1
16K (16384) cycles
0.125 s
0
1
0
0
32K (32768) cycles
0.25 s
0
1
0
1
64K (65536) cycles
0.5 s
0
1
1
0
128K (131072) cycles
1.0 s
0
1
1
1
256K (262144) cycles
2.0 s
1
0
0
0
512K (524288) cycles
4.0 s
1
0
0
1
1024K (1048576) cycles
8.0 s
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8.5.2
WDP3
WDP2
WDP1
WDP0
1
0
1
0
1
0
1
1
1
1
0
0
1
1
0
1
1
1
1
0
1
1
1
1
Number of
WDT Oscillator Cycles
Typical Time-out
at VCC = 5.0V
Reserved
RSTFLR – Reset Flag Register
The Reset Flag Register provides information on which reset source caused an MCU Reset.
Bit
0x3B
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
–
R
0
4
–
R
0
3
WDRF
R/W
X
2
BORF
R/W
X
1
EXTRF
R/W
X
0
PORF
R/W
X
RSTFLR
Bits 7:4 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
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.
z
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.
z
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.
z
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 RSTFLR 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.
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9.
Interrupts
This section describes the specifics of the interrupt handling as performed in ATtiny20. For a general explanation of the
AVR interrupt handling, see “Reset and Interrupt Handling” on page 12.
9.1
Interrupt Vectors
The interrupt vectors of ATtiny20 are described in Table 9-1 below.
Table 9-1.
1.
Reset and Interrupt Vectors
Vector No.
Program Address
Label
Interrupt Source
1
0x0000
RESET
External Pin, Power-on Reset,
Brown-Out Reset, Watchdog Reset
2
0x0001
INT0
External Interrupt Request 0
3
0x0002
PCINT0
Pin Change Interrupt Request 0
4
0x0003
PCINT1
Pin Change Interrupt Request 1
5
0x0004
WDT
Watchdog Time-out
6
0x0005
TIM1_CAPT
Timer/Counter1 Input Capture
7
0x0006
TIM1_COMPA
Timer/Counter1 Compare Match A
8
0x0007
TIM1_COMPB
Timer/Counter1 Compare Match B
9
0x0008
TIM1_OVF
Timer/Counter1 Overflow
10
0x0009
TIM0_COMPA
Timer/Counter0 Compare Match A
11
0x000A
TIM0_COMPB
Timer/Counter0 Compare Match B
12
0x000B
TIM0_OVF
Timer/Counter0 Overflow
13
0x000C
ANA_COMP
Analog Comparator
14
0x000D
ADC
ADC Conversion Complete
15
0x000E
TWI_SLAVE
Two-Wire Interface
16
0x000F
SPI
Serial Peripheral Interface
17
0x0010
QTRIP
(1)
Touch Sensing
The touch sensing interrupt source is related to the QTouch library support.
In case the program never enables an interrupt source, the Interrupt Vectors will not be used and, consequently, regular
program code can be placed at these locations.
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A typical and general setup for interrupt vector addresses in ATtiny20 is shown in the program example below.
Assembly Code Example
.org 0x0000
statement
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
rjmp
RESET:
<instr>
...
Note:
9.2
;Set address of next
RESET
INT0_ISR
PCINT0_ISR
PCINT1_ISR
WDT_ISR
TIM1_CAPT_ISR
TIM1_COMPA_ISR
TIM1_COMPB_ISR
TIM1_OVF_ISR
TIM0_COMPA_ISR
TIM0_COMPB_ISR
TIM0_OVF_ISR
ANA_COMP_ISR
ADC_ISR
TWI_SLAVE_ISR
SPI_ISR
QTRIP_ISR
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Address
Address
Address
Address
Address
Address
Address
Address
Address
Address
Address
Address
Address
Address
Address
Address
Address
0x0000
0x0001
0x0002
0x0003
0x0004
0x0005
0x0006
0x0007
0x0008
0x0009
0x000A
0x000B
0x000C
0x000D
0x000E
0x000F
0x0010
; Main program start
; Address 0x0011
See “Code Examples” on page 7.
External Interrupts
External Interrupts are triggered by the INT0 pin or any of the PCINT[11:0] pins. Observe that, if enabled, the interrupts
will trigger even if the INT0 or PCINT[11:0] pins are configured as outputs. This feature provides a way of generating a
software interrupt.
Pin change 0 interrupts PCI0 will trigger if any enabled PCINT[7:0] pin toggles. Pin change 1 interrupts PCI1 will trigger if
any enabled PCINT[11:8] pin toggles. The PCMSK0 and PCMSK1 Registers control which pins contribute to the pin
change interrupts. Pin change interrupts on PCINT[11:0] are detected asynchronously, which means that these interrupts
can be used for waking the part also from sleep modes other than Idle mode.
The INT0 interrupt can be triggered by a falling or rising edge or a low level. This is set up as shown in “MCUCR – MCU
Control Register” on page 38. When the INT0 interrupt is enabled and 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 INT0 requires the
presence of an I/O clock, as described in “Clock System” on page 17.
9.2.1
Low Level Interrupt
A low level interrupt on INT0 is detected asynchronously. This means that the interrupt source can be used for waking
the part also from sleep modes other than Idle (the I/O clock is halted in all sleep modes except Idle).
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 as described in “Clock
System” on page 17.
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If the low level on the interrupt pin is removed before the device has woken up then program execution will not be
diverted to the interrupt service routine but continue from the instruction following the SLEEP command.
9.2.2
Pin Change Interrupt Timing
A timing example of a pin change interrupt is shown in Figure 9-1.
Figure 9-1. Timing of pin change interrupts
pin_lat
PCINT(0)
LE
D
pcint_in_(0)
Q
clk
0
pcint_syn
pcint_setflag
PCIF
pin_sync
x
PCINT(0) in PCMSK(x)
clk
clk
PCINT(0)
pin_lat
pin_sync
pcint_in_(0)
pcint_syn
pcint_setflag
PCIF
9.3
Register Description
9.3.1
MCUCR – MCU Control Register
The MCU Control Register contains bits for controlling external interrupt sensing and power management.
Bit
0x3A
Read/Write
Initial Value
z
7
ISC01
R/W
0
6
ISC00
R/W
0
5
–
R
0
4
BODS
R/W
0
3
SM2
R/W
0
2
SM1
R/W
0
1
SM0
R/W
0
0
SE
R/W
0
MCUCR
Bits 7:6 – ISC01, ISC00: Interrupt Sense Control
The External Interrupt 0 is activated by the external pin INT0 if the SREG I-flag and the corresponding interrupt mask are
set. The level and edges on the external INT0 pin that activate the interrupt are defined in Table 9-2. The value on the
INT0 pin is sampled before detecting edges. If edge or toggle interrupt is selected, pulses that last longer than one clock
period will generate an interrupt. Shorter pulses are not 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.
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Table 9-2.
9.3.2
Interrupt 0 Sense Control
ISC01
ISC00
Description
0
0
The low level of INT0 generates an interrupt request.
0
1
Any logical change on INT0 generates an interrupt request.
1
0
The falling edge of INT0 generates an interrupt request.
1
1
The rising edge of INT0 generates an interrupt request.
GIMSK – General Interrupt Mask Register
Bit
0x0C
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
PCIE1
R/W
0
4
PCIE0
R/W
0
3
–
R
0
2
–
R
0
1
–
R
0
0
INT0
R/W
0
GIMSK
Bits 7:6 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bit 5 – PCIE1: Pin Change Interrupt Enable 1
When the PCIE1 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), pin change interrupt 1 is
enabled. Any change on any enabled PCINT[11:8] pin will cause an interrupt. The corresponding interrupt of Pin Change
Interrupt Request is executed from the PCI1 Interrupt Vector. PCINT[11:8] pins are enabled individually by the PCMSK1
Register.
z
Bit 4 – 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 PCINT[7:0] pin will cause an interrupt. The corresponding interrupt of Pin Change
Interrupt Request is executed from the PCI0 Interrupt Vector. PCINT[7:0] pins are enabled individually by the PCMSK0
Register.
z
Bits 3:1 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bit 0 – INT0: External Interrupt Request 0 Enable
When the INT0 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), the external pin interrupt is
enabled. The Interrupt Sense Control bits (ISC01 and ISC00) in the MCU Control Register (MCUCR) define whether the
external interrupt is activated on rising and/or falling edge of the INT0 pin or level sensed. Activity on the pin will cause an
interrupt request even if INT0 is configured as an output. The corresponding interrupt of External Interrupt Request 0 is
executed from the INT0 Interrupt Vector.
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9.3.3
GIFR – General Interrupt Flag Register
Bit
0x0B
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
PCIF1
R/W
0
4
PCIF0
R/W
0
3
–
R
0
2
–
R
0
1
–
R
0
0
INTF0
R/W
0
GIFR
Bits 7:6 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bit 5 – PCIF1: Pin Change Interrupt Flag 1
When a logic change on any PCINT[11:8] pin triggers an interrupt request, PCIF1 becomes set (one). If the I-bit in SREG
and the PCIE1 bit in GIMSK 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.
z
Bit 4 – PCIF0: Pin Change Interrupt Flag 0
When a logic change on any PCINT[7:0] pin triggers an interrupt request, PCIF becomes set (one). If the I-bit in SREG
and the PCIE0 bit in GIMSK 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.
z
Bits 3:1 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bit 0 – INTF0: External Interrupt Flag 0
When an edge or logic change on the INT0 pin triggers an interrupt request, INTF0 becomes set (one). If the I-bit in
SREG and the INT0 bit in GIMSK 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. This flag
is always cleared when INT0 is configured as a level interrupt.
9.3.4
PCMSK1 – Pin Change Mask Register 1
Bit
0x0A
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
–
R
0
4
–
R
0
3
PCINT11
R/W
0
2
PCINT10
R/W
0
1
PCINT9
R/W
0
0
PCINT8
R/W
0
PCMSK1
Bits 7:4 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bits 3:0 – PCINT[11:8]: Pin Change Enable Mask 11:8
Each PCINT[11:8] bit selects whether pin change interrupt is enabled on the corresponding I/O pin. If PCINT[11:8] is set
and the PCIE1 bit in GIMSK is set, pin change interrupt is enabled on the corresponding I/O pin. If PCINT[11:8] is
cleared, pin change interrupt on the corresponding I/O pin is disabled.
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9.3.5
PCMSK0 – Pin Change Mask Register 0
Bit
0x09
Read/Write
Initial Value
z
7
PCINT7
R/W
0
6
PCINT6
R/W
0
5
PCINT5
R/W
0
4
PCINT4
R/W
0
3
PCINT3
R/W
0
2
PCINT2
R/W
0
1
PCINT1
R/W
0
0
PCINT0
R/W
0
PCMSK0
Bits 7:0 – PCINT[7:0]: Pin Change Enable Mask 7:0
Each PCINT[7:0] bit selects whether pin change interrupt is enabled on the corresponding I/O pin. If PCINT[7:0] is set
and the PCIE0 bit in GIMSK is set, pin change interrupt is enabled on the corresponding I/O pin. If PCINT[7:0] is cleared,
pin change interrupt on the corresponding I/O pin is disabled.
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10.
I/O Ports
10.1
Overview
All AVR ports have true Read-Modify-Write functionality when used as general digital I/O ports. This means that the
direction of one port pin can be changed without unintentionally changing the direction of any other pin with the SBI and
CBI instructions. The same applies when changing drive value (if configured as output) or enabling/disabling of pull-up
resistors. 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 101 on page 42. See “Electrical Characteristics” on page 167 for a complete list of parameters.
Figure 10-1. I/O Pin Equivalent Schematic
Rpu
Logic
Pxn
Cpin
See Figure
"General Digital I/O" for
Details
All registers and bit references in this section are written in general form. A lower case “x” represents the numbering letter
for the port, and a lower case “n” represents the bit number. However, when using the register or bit defines in a program,
the precise form must be used. For example, PORTB3 for bit no. 3 in Port B, here documented generally as PORTxn.
The physical I/O Registers and bit locations are listed in “Register Description” on page 56.
Four I/O memory address locations are allocated for each port, one each for the Data Register – PORTx, Data Direction
Register – DDRx, Pull-up Enable Register – PUEx, and the Port Input Pins – PINx. The Port Input Pins I/O location is
read only, while the Data Register, the Data Direction Register, and the Pull-up Enable 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.
Using the I/O port as General Digital I/O is described in “Ports as General Digital I/O” on page 42. 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 47. 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.
10.2
Ports as General Digital I/O
The ports are bi-directional I/O ports with optional internal pull-ups. Figure 10-2 shows a functional description of one I/Oport pin, here generically called Pxn.
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Figure 10-2. General Digital I/O(1)
REx
Q
D
PUExn
Q CLR
RESET
Q
WEx
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
SLEEP:
clk I/O :
Note:
SLEEP CONTROL
I/O CLOCK
WEx:
REx:
WDx:
RDx:
WRx:
RRx:
RPx:
WPx:
WRITE PUEx
READ PUEx
WRITE DDRx
READ DDRx
WRITE PORTx
READ PORTx REGISTER
READ PORTx PIN
WRITE PINx REGISTER
1. WEx, WRx, WPx, WDx, REx, RRx, RPx, and RDx are common to all pins within the same port. clkI/O, and SLEEP
are common to all ports.
10.2.1 Configuring the Pin
Each port pin consists of four register bits: DDxn, PORTxn, PUExn, and PINxn. As shown in “Register Description” on
page 56, the DDxn bits are accessed at the DDRx I/O address, the PORTxn bits at the PORTx I/O address, the PUExn
bits at the PUEx 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 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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The pull-up resistor is activated, if the PUExn is written logic one. To switch the pull-up resistor off, PUExn has to be
written logic zero.
Table 10-1 summarizes the control signals for the pin value.
Table 10-1. Port Pin Configurations
DDxn
PORTxn
PUExn
I/O
Pull-up
Comment
0
X
0
Input
No
Tri-state (hi-Z)
0
X
1
Input
Yes
Sources current if pulled low externally
1
0
0
Output
No
Output low (sink)
1
0
1
Output
Yes
NOT RECOMMENDED.
Output low (sink) and internal pull-up active. Sources
current through the internal pull-up resistor and consumes
power constantly
1
1
0
Output
No
Output high (source)
1
1
1
Output
Yes
Output high (source) and internal pull-up active
Port pins are tri-stated when a reset condition becomes active, even when no clocks are running.
10.2.2 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.
10.2.3 Break-Before-Make Switching
In Break-Before-Make mode, switching the DDRxn bit from input to output introduces an immediate tri-state period
lasting one system clock cycle, as indicated in Figure 10-3. For example, if the system clock is 4 MHz and the DDRxn is
written to make an output, an immediate tri-state period of 250 ns is introduced before the value of PORTxn is seen on
the port pin.
To avoid glitches it is recommended that the maximum DDRxn toggle frequency is two system clock cycles. The BreakBefore-Make mode applies to the entire port and it is activated by the BBMx bit. For more details, see “PORTCR – Port
Control Register” on page 56.
When switching the DDRxn bit from output to input no immediate tri-state period is introduced.
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Figure 10-3. Switching Between Input and Output in Break-Before-Make-Mode
SYSTEM CLK
r16
0x02
r17
0x01
INSTRUCTIONS
out DDRx, r16
nop
out DDRx, r17
PORTx
DDRx
0x55
0x02
0x01
Px0
Px1
0x01
tri-state
tri-state
tri-state
intermediate tri-state cycle
intermediate tri-state cycle
10.2.4 Reading the Pin Value
Independent of the setting of Data Direction bit DDxn, the port pin can be read through the PINxn Register bit. As shown
in Figure 10-2 on page 43, 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 10-4 shows a timing diagram of the synchronization when reading an externally applied pin value. The maximum
and minimum propagation delays are denoted tpd,max and tpd,min respectively.
Figure 10-4. 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.
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When reading back a software assigned pin value, a nop instruction must be inserted as indicated in Figure 10-5 on page
46. 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 10-5. 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
10.2.5 Digital Input Enable and Sleep Modes
As shown in Figure 10-2 on page 43, 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 and Standby modes 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 47.
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.
10.2.6 Unconnected Pins
If some pins are unused, it is recommended to ensure that these pins have a defined level. Even though most of the
digital inputs are disabled in the deep sleep modes as described above, floating inputs should be avoided to reduce
current consumption in all other modes where the digital inputs are enabled (Reset, Active mode and Idle mode).
The simplest method to ensure a defined level of an unused pin, is to enable the internal pull-up. In this case, the pull-up
will be disabled during reset. If low power consumption during reset is important, it is recommended to use an external
pull-up or pull-down. Connecting unused pins directly to VCC or GND is not recommended, since this may cause
excessive currents if the pin is accidentally configured as an output.
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10.2.7 Program Example
The following code example shows how to set port B pin 0 high, pin 1 low, and define the port pins from 2 to 3 as input
with a pull-up assigned to port pin 2. The resulting pin values are read back again, but as previously discussed, a nop
instruction is included to be able to read back the value recently assigned to some of the pins.
Assembly Code Example
...
; Define pull-ups and set outputs high
; Define directions for port pins
ldi
r16,(1<<PUEB2)
ldi
r17,(1<<PB0)
ldi
r18,(1<<DDB1)|(1<<DDB0)
out
PUEB,r16
out
PORTB,r17
out
DDRB,r18
; Insert nop for synchronization
nop
; Read port pins
in
r16,PINB
...
Note:
10.3
See “Code Examples” on page 7.
Alternate Port Functions
Most port pins have alternate functions in addition to being general digital I/Os. In Figure 10-6 below is shown how the
port pin control signals from the simplified Figure 10-2 on page 43 can be overridden by alternate functions.
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Figure 10-6. Alternate Port Functions(1)
PUOExn
REx
PUOVxn
1
Q
0
D
PUExn
Q CLR
DDOExn
RESET
WEx
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
D
Q
PINxn
L
CLR
Q
CLR
Q
clk
I/O
DIxn
AIOxn
PUOExn:
PUOVxn:
DDOExn:
DDOVxn:
PVOExn:
PVOVxn:
DIEOExn:
DIEOVxn:
SLEEP:
PTOExn:
Note:
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
WEx:
REx:
WDx:
RDx:
RRx:
WRx:
RPx:
WPx:
clk I/O :
DIxn:
AIOxn:
WRITE PUEx
READ PUEx
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. WEx, WRx, WPx, WDx, REx, RRx, RPx, and RDx are common to all pins within the same port. clkI/O, and SLEEP
are common to all ports. All other signals are unique for each pin.
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The illustration in the figure above serves as a generic description applicable to all port pins in the AVR microcontroller
family. Some overriding signals may not be present in all port pins.
Table 10-2 summarizes the function of the overriding signals. The pin and port indexes from Figure 10-6 on page 48 are
not shown in the succeeding tables. The overriding signals are generated internally in the modules having the alternate
function.
Table 10-2. 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 PUExn = 0b1.
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 PUExn Register bit.
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.
10.3.1 Alternate Functions of Port A
The Port A pins with alternate function are shown in Table 10-3.
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Table 10-3. Port A Pins Alternate Functions
Port Pin
PA0
PA1
Alternate Function
ADC0:
ADC Input Channel 0
PCINT0: Pin Change Interrupt 0, Source 0
ADC1:
ADC Input Channel 1
AIN0:
Analog Comparator, Positive Input
PCINT1:Pin Change Interrupt 0, Source 1
PA2
ADC2:
ADC Input Channel 2
AIN1:
Analog Comparator, Negative Input
PCINT2: Pin Change Interrupt 0, Source 2
PA3
PA4
PA5
PA6
ADC3:
ADC Input Channel 3
PCINT3: Pin Change Interrupt 0, Source 3
ADC4:
ADC Input Channel 4
PCINT4: Pin Change Interrupt 0, Source 4
ADC5:
ADC Input Channel 5
PCINT5: Pin Change Interrupt 0, Source 5
ADC6:
ADC Input Channel 6
SS :
SPI Slave Select
PCINT6: Pin Change Interrupt 0, Source 6
ADC7:
ADC Input Channel 7
OC0B:: Timer/Counter0 Compare Match B Output
ICP1:
PA7
Timer/Counter1 Input Capture Pin
T1:
Timer/Counter1 Clock Source
SCL:
TWI Clock
SCK:
SPI Clock
PCINT7: Pin Change Interrupt 0, Source 7
z
z
z
Port A, Bit 0 – ADC0/PCINT0
z
ADC0: Analog to Digital Converter, Channel 0.
z
PCINT0: Pin Change Interrupt source 0. The PA0 pin can serve as an external interrupt source for pin
change interrupt 0.
Port A, Bit 1 – ADC1/AIN0/PCINT1
z
ADC1: Analog to Digital Converter, Channel 1.
z
AIN0: Analog Comparator Positive Input. Configure the port pin as input with the internal pull-up switched off
to avoid the digital port function from interfering with the function of the Analog Comparator.
z
PCINT1: Pin Change Interrupt source 1. The PA1 pin can serve as an external interrupt source for pin
change interrupt 0.
Port A, Bit 2 – ADC2/AIN1/PCINT2
z
ADC2: Analog to Digital Converter, Channel 2.
z
AIN1: Analog Comparator Negative Input. Configure the port pin as input with the internal pull-up switched
off to avoid the digital port function from interfering with the function of the Analog Comparator.
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z
z
z
z
z
z
PCINT2: Pin Change Interrupt source 2. The PA2 pin can serve as an external interrupt source for pin
change interrupt 0.
Port A, Bit 3 – ADC3/PCINT3
z
ADC3: Analog to Digital Converter, Channel 3.
z
PCINT3: Pin Change Interrupt source 3. The PA3 pin can serve as an external interrupt source for pin
change interrupt 0.
Port A, Bit 4 – ADC4/PCINT4
z
ADC4: Analog to Digital Converter, Channel 4.
z
PCINT4: Pin Change Interrupt source 4. The PA4 pin can serve as an external interrupt source for pin
change interrupt 0.
Port A, Bit 5 – ADC5/PCINT5
z
ADC5: Analog to Digital Converter, Channel 5.
z
PCINT5: Pin Change Interrupt source 5. The PA5 pin can serve as an external interrupt source for pin
change interrupt 0.
Port A, Bit 6 – ADC6/SS/PCINT6
z
ADC6: Analog to Digital Converter, Channel 6.
z
SS: Slave Select Input. Regardless of DDA6, this pin is automatically configured as an input when SPI is
enabled as a slave. The data direction of this pin is controlled by DDA6 when SPI is enabled as a master.
z
PCINT6: Pin Change Interrupt source 6. The PA6 pin can serve as an external interrupt source for pin
change interrupt 0.
Port A, Bit 7 – ADC7/OC0B/ICP1/T1/SCL/SCK/PCINT7
z
ADC7: Analog to Digital Converter, Channel 7.
z
OC0B: Output Compare Match output. The PA7 pin can serve as an external output for the Timer/Counter0
Compare Match B. The pin has to be configured as an output (DDA7 set (one)) to serve this function. This is
also the output pin for the PWM mode timer function.
z
ICP1: Input Capture Pin. The PA7 pin can act as an Input Capture Pin for Timer/Counter1.
z
T1: Timer/Counter1 counter source.
z
SCL: TWI Clock. The pin is disconnected from the port and becomes the serial clock for the TWI when
TWEN in TWSCRA is set. In this mode of operation, the pin is driven by an open drain driver with slew rate
limitation and a spike filter.
z
SCK: SPI Master Clock Output / Slave Clock Input. Regardless of DDA7, this pin is automatically configured
as an input when SPI is enabled as a slave. The data direction of the pin is controlled by DDA7 when SPI is
enabled as a master.
z
PCINT7: Pin Change Interrupt source 7. The PA7 pin can serve as an external interrupt source for pin
change interrupt 0.
Table 10-4 and Table 10-5 relate the alternate functions of Port A to the overriding signals shown in Figure 10-6 on page
48.
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Table 10-4. Overriding Signals for Alternate Functions in PA[7:5]
Signal
Name
PA7/ADC7/OC0B/ICP1/
T1/SCL/SCK/PCINT7
PA6/ADC6/SS/PCINT6
PA5/ADC5/PCINT5
PUOE
0
0
0
PUOV
0
0
0
DDOE
TWEN + (SPE • MSTR)
SPE • MSTR
0
DDOV
TWEN • SCL_OUT
0
0
PVOE
TWEN + (SPE • MSTR) +
OC0B_ENABLE
0
0
PVOV
TWEN • (SPE • MSTR • SCK_OUT
+ (SPE + MSTR) • OC0B)
0
0
PTOE
0
0
0
DIEOE
PCINT7 • PCIE0 + ADC7D
PCINT6 • PCIE0 + ADC6D
PCINT5 • PCIE0 + ADC5D
DIEOV
PCINT7 • PCIE0
PCINT6 • PCIE0
PCINT5 • PCIE0
ICP1 / SCK / T1 / SCL / PCINT7
Input
SPI SS / PCINT6 Input
PCINT5 Input
ADC7 / SCL Input
ADC6 Input
ADC5 Input
DI
AIO
Note:
When TWI is enabled the slew rate control and spike filter are activated on PA7. This is not illustrated in Figure 10-6 on
page 48. The spike filter is connected between AIOxn and the TWI module.
Table 10-5. Overriding Signals for Alternate Functions in PA[4:2]
Signal
Name
PA4/ADC4/PCINT4
PA3/ADC3/PCINT3
PA2/ADC2/AIN1/PCINT2
PUOE
0
0
0
PUOV
0
0
0
DDOE
0
0
0
DDOV
0
0
0
PVOE
0
0
0
PVOV
0
0
0
PTOE
0
0
0
DIEOE
(PCINT4 • PCIE0) + ADC4D
(PCINT3 • PCIE0) + ADC3D
(PCINT2 • PCIE0) + ADC2D
DIEOV
(PCINT4 • PCIE0)
PCINT3 • PCIE0
PCINT3 • PCIE0
PCINT4 input
PCINT1 Input
PCINT0 Input
ADC4 Input
ADC3 Input
ADC2 / Analog Comparator
Negative Input
DI
AIO
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Table 10-6. Overriding Signals for Alternate Functions in PA[1:0]
Signal Name
PA1/ADC1/AIN0/PCINT1
PA0/ADC0/PCINT0
PUOE
0
0
PUOV
0
0
DDOE
0
0
DDOV
0
0
PVOE
0
0
PVOV
0
0
PTOE
0
0
DIEOE
PCINT1 • PCIE0 + ADC1D
PCINT0 • PCIE0 + ADC0D
DIEOV
PCINT1 • PCIE0
PCINT0 • PCIE0
PCINT1 Input
PCINT0 Input
ADC1 / Analog Comparator Positive Input
ADC1 Input
DI
AIO
10.3.2 Alternate Functions of Port B
The Port B pins with alternate function are shown in Table 10-7.
Table 10-7. Port B Pins Alternate Functions
Port Pin
PB0
Alternate Function
T0:
Timer/Counter0 Clock Source
CLKI:
External Clock Input
TPICLK: Serial Programming Clock
PCINT8: Pin Change Interrupt 1, Source 8
OC1A: Timer/Counter1 Compare Match A output
PB1
SDA:
TWI Data Input/Output
MOSI:
SPI Master Output / Slave Input
TPIDATA:Serial Programming Data
PCINT9: Pin Change Interrupt 1, Source 9
INT0:
External Interrupt 0 Input
OC0A: Timer/Counter0 Compare Match A output
PB2
OC1B: Timer/Counter1 Compare Match B output
MISO:
SPI Master Input / Slave Output
CKOUT: System Clock Output
PCINT10:Pin Change Interrupt 1, Source 10
PB3
RESET: Reset pin
PCINT11:Pin Change Interrupt 1, Source 11.
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z
z
z
z
Port B, Bit 0 – T0/CLKI/TPICLK/PCINT8
z
T0: Timer/Counter0 Clock Source.
z
CLKI: Clock Input from an external clock source, see “External Clock” on page 18.
z
TPICLK: Serial Programming Clock.
z
PCINT8: Pin Change Interrupt source 8. The PB0 pin can serve as an external interrupt source for pin
change interrupt 1.
Port B, Bit 1 – OC1A/SDA/MOSI/TPIDATA/PCINT9
z
OC1A: Output Compare Match output. Provided that the pin has been configured as an output it serves as
an external output for Timer/Counter1 Compare Match A. This pin is also the output for the timer/counter
PWM mode function.
z
SDA: TWI Data. The pin is disconnected from the port and becomes the serial data for the TWI when TWEN
in TWSCRA is set. In this mode of operation, the pin is driven by an open drain driver with slew rate
limitation and a spike filter.
z
MOSI: SPI Master Output / Slave Input. Regardless of DDB1, this pin is automatically configured as an input
when SPI is enabled as a slave. The data direction of this pin is controlled by DDB1 when SPI is enabled as
a master.
z
TPIDATA: Serial Programming Data.
z
PCINT9: Pin Change Interrupt source 9. The PB1 pin can serve as an external interrupt source for pin
change interrupt 1.
Port B, Bit 2 – INT0/OC0A/OC1B/MISO/CKOUT/PCINT10
z
INT0: External Interrupt Request 0.
z
OC0A: Output Compare Match output. Provided that the pin has been configured as an output it serves as
an external output for Timer/Counter0 Compare Match A. This pin is also the output for the timer/counter
PWM mode function.
z
OC1B: Output Compare Match output. Provided that the pin has been configured as an output it serves as
an external output for Timer/Counter1 Compare Match B. This pin is also the output for the timer/counter
PWM mode function.
z
MISO: SPI Master Input / Slave Output. Regardless of DDB2, this pin is automatically configured as an input
when SPI is enabled as a master. The data direction of this pin is controlled by DDB2 when SPI is enabled
as a slave.
z
CKOUT - System Clock Output: The system clock can be output on the PB2 pin. The system clock will be
output if the CKOUT Fuse is programmed, regardless of the PORTB2 and DDB2 settings. It will also be
output during reset.
z
PCINT10: Pin Change Interrupt source 10. The PB2 pin can serve as an external interrupt source for pin
change interrupt 1.
Port B, Bit 3 – RESET/PCINT11
z
RESET: External Reset input is active low and enabled by unprogramming (“1”) the RSTDISBL Fuse. Pullup is activated and output driver and digital input are deactivated when the pin is used as the RESET pin.
z
PCINT11: Pin Change Interrupt source 11. The PB3 pin can serve as an external interrupt source for pin
change interrupt 1.
Table 10-8 and Table 10-9 relate the alternate functions of Port B to the overriding signals shown in Figure 10-6 on page
48.
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Table 10-8. Overriding Signals for Alternate Functions in PB[3:2]
Signal
PB3/RESET/PCINT11
PB2/INT0/OC0A/OC1B/MISO/CKOUT/PCINT10
PUOE
RSTDISBL (1)
CKOUT (2)
PUOV
1
0
DDOE
RSTDISBL(1)
CKOUT(2) + (SPE • MSTR)
DDOV
0
CKOUT(2)
PVOE
RSTDISBL(1)
CKOUT + OC0A_ENABLE + OC1B_ENABLE + (SPE • MSTR)
0
CKOUT(2) • System Clock + CKOUT • SPE • MSTR •
SPI_SLAVE_OUT + CKOUT • (SPE + MSTR) • OC1B_ENABLE •
OC1B + CKOUT • (SPE + MSTR) • OC1B_ENABLE • OC0A
0
0
PVOV
PTOE
DIEOE
DIEOV
DI
RSTDISBL
(1)
+ (PCINT11 • PCIE1)
(PCINT10 • PCIE1) + INT0
RSTDISBL(1) • PCINT11 • PCIE1
(PCINT10 • PCIE1) + INT0
PCINT11 Input
INT0 / PCINT10 / SPI Master Input
AIO
1.
RSTDISBL is 1 when the configuration bit is “0” (programmed)
2.
CKOUT is 1 when the configuration bit is “0” (programmed)
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Table 10-9. Overriding Signals for Alternate Functions in PB[1:0]
Signal
PB1/OC1A/SDA/MOSI/PCINT9
PB0/T0/CLKI/PCINT8
PUOE
0
EXT_CLOCK (1)
PUOV
0
0
DDOE
(SPE • MSTR) + TWEN
EXT_CLOCK (1)
DDOV
TWEN • SDA_OUT
0
PVOE
TWEN + (SPE • MSTR) + OC1A_ENABLE
EXT_CLOCK(1)
PVOV
TWEN • SPE • MSTR • SPI_MASTER_OUT + TWEN •
(SPE + MSTR) • OC1A
0
PTOE
0
0
DIEOE
PCINT9 • PCIE1
EXT_CLOCK(1) + (PCINT8 • PCIE1)
DIEOV
PCINT9 • PCIE1
DI
(EXT_CLOCK(1) • PCINT8 • PCIE1)
PCINT9 / SPI Slave Input
AIO
10.4
( EXT_CLOCK(1) • PWR_DOWN ) +
CLOCK / PCINT8 / T0 Input
SDA Input
1.
EXT_CLOCK = external clock is selected as system clock.
Note:
When TWI is enabled the slew rate control and spike filter are activate on PB1. This is not illustrated in Figure 10-6 on
page 48. The spike filter is connected between AIOxn and the TWI.
Register Description
10.4.1 PORTCR – Port Control Register
Bit
0x08
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
–
R
0
4
–
R
0
3
–
R
0
2
–
R
0
1
BBMB
R/W
0
0
BBMA
R/W
0
PORTCR
Bits 7:2 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bit 1 – BBMB: Break-Before-Make Mode Enable
When this bit is set the Break-Before-Make mode is activated for the entire Port B. The intermediate tri-state cycle is then
inserted when writing DDRBn to make an output. For further information, see “Break-Before-Make Switching” on page
44.
z
Bit 0 – BBMA: Break-Before-Make Mode Enable
When this bit is set the Break-Before-Make mode is activated for the entire Port A. The intermediate tri-state cycle is then
inserted when writing DDRAn to make an output. For further information, see “Break-Before-Make Switching” on page
44.
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10.4.2 PUEA – Port A Pull-up Enable Control Register
Bit
0x03
Read/Write
Initial Value
7
PUEA7
R/W
0
6
PUEA6
R/W
0
5
PUEA5
R/W
0
4
PUEA4
R/W
0
3
PUEA3
R/W
0
2
PUEA2
R/W
0
1
PUEA1
R/W
0
0
PUEA0
R/W
0
5
PORTA5
R/W
0
4
PORTA4
R/W
0
3
PORTA3
R/W
0
2
PORTA2
R/W
0
1
PORTA1
R/W
0
0
PORTA0
R/W
0
PUEA
10.4.3 PORTA – Port A Data Register
Bit
0x02
Read/Write
Initial Value
7
PORTA7
R/W
0
6
PORTA6
R/W
0
PORTA
10.4.4 DDRA – Port A Data Direction Register
Bit
0x01
Read/Write
Initial Value
7
DDA7
R/W
0
6
DDA6
R/W
0
5
DDA5
R/W
0
4
DDA4
R/W
0
3
DDA3
R/W
0
2
DDA2
R/W
0
1
DDA1
R/W
0
0
DDA0
R/W
0
6
PINA6
R/W
N/A
5
PINA5
R/W
N/A
4
PINA4
R/W
N/A
3
PINA3
R/W
N/A
2
PINA2
R/W
N/A
1
PINA1
R/W
N/A
0
PINA0
R/W
N/A
5
–
R
0
4
–
R
0
3
PUEB3
R/W
0
2
PUEB2
R/W
0
1
PUEB1
R/W
0
0
PUEB0
R/W
0
5
–
R
0
4
–
R
0
3
PORTB3
R/W
0
2
PORTB2
R/W
0
1
PORTB1
R/W
0
0
PORTB0
R/W
0
5
–
R
0
4
–
R
0
3
DDB3
R/W
0
2
DDB2
R/W
0
1
DDB1
R/W
0
0
DDB0
R/W
0
DDRA
10.4.5 PINA – Port A Input Pins
Bit
0x00
Read/Write
Initial Value
7
PINA7
R/W
N/A
PINA
10.4.6 PUEB – Port B Pull-up Enable Control Register
Bit
0x07
Read/Write
Initial Value
7
–
R
0
6
–
R
0
PUEB
10.4.7 PORTB – Port B Data Register
Bit
0x06
Read/Write
Initial Value
7
–
R
0
6
–
R
0
PORTB
10.4.8 DDRB – Port B Data Direction Register
Bit
0x05
Read/Write
Initial Value
7
–
R
0
6
–
R
0
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10.4.9 PINB – Port B Input Pins
Bit
0x04
Read/Write
Initial Value
7
–
R
0
6
–
R
0
5
–
R
0
4
–
R
0
3
PINB3
R/W
N/A
2
PINB2
R/W
N/A
1
PINB1
R/W
N/A
0
PINB0
R/W
N/A
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11.
8-bit Timer/Counter0 with PWM
11.1
Features
z Two Independent Output Compare Units
z Double Buffered Output Compare Registers
z Clear Timer on Compare Match (Auto Reload)
z Glitch Free, Phase Correct Pulse Width Modulator (PWM)
z Variable PWM Period
z Frequency Generator
z Three Independent Interrupt Sources (TOV0, OCF0A, and OCF0B)
Overview
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.
Figure 11-1. 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
OCRnA
DATA BUS
11.2
Fixed
TOP
Value
OCnB
(Int.Req.)
Waveform
Generation
=
OCnB
OCRnB
TCCRnA
TCCRnB
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A simplified block diagram of the 8-bit Timer/Counter is shown in Figure 11-1 on page 59. For the actual placement of I/O
pins, refer to Figure 1-1 on page 2. CPU accessible I/O Registers, including I/O bits and I/O pins, are shown in bold. The
device-specific I/O Register and bit locations are listed in the “Register Description” on page 69.
11.2.1 Registers
The Timer/Counter (TCNT0) and Output Compare Registers (OCR0A and OCR0B) are 8-bit registers. Interrupt request
(abbreviated to Int.Req. in Figure 11-1) signals are all visible in the Timer Interrupt Flag Register (TIFR). All interrupts are
individually masked with the Timer Interrupt Mask Register (TIMSK). TIFR and TIMSK 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).
The double buffered Output Compare Registers (OCR0A and OCR0B) is 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 61 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.
11.2.2 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, i.e., TCNT0 for
accessing Timer/Counter0 counter value and so on.
The definitions in Table 11-1 are also used extensively throughout the document.
Table 11-1. Definitions
11.3
Constant
Description
BOTTOM
The counter reaches 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 depends on the mode of operation
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 (CS0[2:0]) bits located in the Timer/Counter Control Register
(TCCR0B). For details on clock sources and prescaler, see “Timer/Counter Prescaler” on page 103.
11.4
Counter Unit
The main part of the 8-bit Timer/Counter is the programmable bi-directional counter unit. Figure 11-2 on page 61 shows
a block diagram of the counter and its surroundings.
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Figure 11-2. Counter Unit Block Diagram
TOVn
(Int.Req.)
DATA BUS
Clock Select
count
clear
TCNTn
Control Logic
clkTn
Edge
Detector
Tn
direction
( From Prescaler )
bottom
top
Signal description (internal signals):
count
direction
clear
clkTn
top
bottom
Increment or decrement TCNT0 by 1.
Select between increment and decrement.
Clear TCNT0 (set all bits to zero).
Timer/Counter clock, referred to as clkT0 in the following.
Signalize that TCNT0 has reached maximum value.
Signalize that TCNT0 has reached minimum value (zero).
Depending of the mode of operation used, the counter is cleared, incremented, or decremented at each timer clock
(clkT0). clkT0 can be generated from an external or internal clock source, selected by the Clock Select bits (CS0[2:0]).
When no clock source is selected (CS0[2:0] = 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 output OC0A. For more details about advanced counting sequences and waveform generation, see “Modes of
Operation” on page 64.
The Timer/Counter Overflow Flag (TOV0) is set according to the mode of operation selected by the WGM0[1:0] bits.
TOV0 can be used for generating a CPU interrupt.
11.5
Output Compare Unit
The 8-bit comparator continuously compares TCNT0 with the Output Compare Registers (OCR0A and OCR0B).
Whenever TCNT0 equals OCR0A or OCR0B, the comparator signals a match. A match will set the Output Compare Flag
(OCF0A or OCF0B) at the next timer clock cycle. If the corresponding interrupt is enabled, the Output Compare Flag
generates an Output Compare interrupt. The Output Compare Flag is automatically cleared when the interrupt is
executed. Alternatively, the flag can be cleared by software by writing a 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 WGM0[2:0] bits and
Compare Output mode (COM0x[1:0]) bits. The max and bottom signals are used by the Waveform Generator for
handling the special cases of the extreme values in some modes of operation. See “Modes of Operation” on page 64.
Figure 11-3 on page 62 shows a block diagram of the Output Compare unit.
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Figure 11-3. Output Compare Unit, Block Diagram
DATA BUS
OCRnx
TCNTn
8-BIT COMPARATOR
OCFnx (Int.Req.)
top
bottom
WAVEFORM GENERATOR
OCnx
FOCn
WGMn[2:0]
COMnX[1:0]
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 glitchfree.
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.
11.5.1 Force Output Compare
In non-PWM waveform generation modes, the match output of the comparator can be forced by writing a one to the
Force Output Compare (0x) 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 COM0x[1:0] bits settings define whether the
OC0x pin is set, cleared or toggled).
11.5.2 Compare Match Blocking by TCNT0 Write
All CPU write operations to the TCNT0 Register will block any Compare Match that occur in the next timer clock cycle,
even when the timer is stopped. This feature allows OCR0x to be initialized to the same value as TCNT0 without
triggering an interrupt when the Timer/Counter clock is enabled.
11.5.3 Using the Output Compare Unit
Since writing TCNT0 in any mode of operation will block all Compare Matches for one timer clock cycle, there are risks
involved when changing TCNT0 when using the Output Compare Unit, independently of whether the Timer/Counter is
running or not. If the value written to TCNT0 equals the OCR0x value, the Compare Match will be missed, resulting in
incorrect waveform generation. Similarly, do not write the TCNT0 value equal to BOTTOM when the counter is downcounting.
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 (0x) strobe bits in Normal mode. The OC0x
Registers keep their values even when changing between Waveform Generation modes.
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Be aware that the COM0x[1:0] bits are not double buffered together with the compare value. Changing the COM0x[1:0]
bits will take effect immediately.
11.6
Compare Match Output Unit
The Compare Output mode (COM0x[1:0]) bits have two functions. The Waveform Generator uses the COM0x[1:0] bits
for defining the Output Compare (OC0x) state at the next Compare Match. Also, the COM0x[1:0] bits control the OC0x
pin output source. Figure 11-4 on page 63 shows a simplified schematic of the logic affected by the COM0x[1:0] bit
setting. The I/O Registers, I/O bits, and I/O pins in the figure are shown in bold. Only the parts of the general I/O Port
Control Registers (DDR and PORT) that are affected by the COM0x[1:0] 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 11-4. Compare Match Output Unit, Schematic
COMnx1
COMnx0
FOCn
Waveform
Generator
D
Q
1
OCnx
DATA BUS
D
0
OCn
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
COM0x[1:0] bits are set. However, the OC0x pin direction (input or output) is still controlled by the Data Direction
Register (DDR) for the port pin. 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 COM0x[1:0] bit settings are reserved for certain modes of operation, see “Register Description” on page 69
11.6.1 Compare Output Mode and Waveform Generation
The Waveform Generator uses the COM0x[1:0] bits differently in Normal, CTC, and PWM modes. For all modes, setting
the COM0x[1:0] = 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 the non-PWM modes refer to Table 11-2 on page 70. For fast PWM
mode, refer to Table 11-3 on page 70, and for phase correct PWM refer to Table 11-4 on page 70.
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A change of the COM0x[1:0] bits state will have effect at the first Compare Match after the bits are written. For non-PWM
modes, the action can be forced to have immediate effect by using the Force Output Compare bits. See “TCCR0B –
Timer/Counter Control Register B” on page 72.
11.7
Modes of Operation
The mode of operation, i.e., the behavior of the Timer/Counter and the Output Compare pins, is defined by the
combination of the Waveform Generation mode (WGM[2:0]) and Compare Output mode (COM0x[1:0]) bits. The
Compare Output mode bits do not affect the counting sequence, while the Waveform Generation mode bits do. The
COM0x[1:0] bits control whether the PWM output generated should be inverted or not (inverted or non-inverted PWM).
For non-PWM modes the COM0x[1:0] bits control whether the output should be set, cleared, or toggled at a Compare
Match (See “Modes of Operation” on page 64).
For detailed timing information refer to Figure 11-8 on page 68, Figure 11-9 on page 68, Figure 11-10 on page 69 and
Figure 11-11 on page 69 in “Timer/Counter Timing Diagrams” on page 68.
11.7.1 Normal Mode
The simplest mode of operation is the Normal mode (WGM0[2:0] = 0). In this mode the counting direction is always up
(incrementing), and no counter clear is performed. The counter simply overruns when it passes its maximum 8-bit value
(TOP = 0xFF) and then restarts from the bottom (0x00). In normal operation the Timer/Counter Overflow Flag (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.
11.7.2 Clear Timer on Compare Match (CTC) Mode
In Clear Timer on Compare or CTC mode (WGM0[2:0] = 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 11-5 on page 64. The counter value (TCNT0) increases until a
Compare Match occurs between TCNT0 and OCR0A, and then counter (TCNT0) is cleared.
Figure 11-5. CTC Mode, Timing Diagram
OCnx Interrupt Flag Set
TCNTn
OCnA
(Toggle)
Period
(COMnA[1:0] = 1)
1
2
3
4
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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 (COM0A[1:0] = 1). The OC0A value will not be visible on
the port pin unless the data direction for the pin is set to output. When OCR0A is set to zero (0x00) the waveform
generated will have a maximum frequency of fclk_I/O/2. The waveform frequency is defined by the following equation:
f clk_I/O
f OCnx = -------------------------------------------------2 ⋅ N ⋅ ( 1 + OCRnA )
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.
11.7.3 Fast PWM Mode
The fast Pulse Width Modulation or fast PWM mode (WGM0[2:0] = 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 WGM0[2:0] = 3, and OCR0A when
WGM0[2:0] = 7. In non-inverting 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 PWM mode is shown in Figure 11-6 on page 66.
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.
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Figure 11-6. Fast PWM Mode, Timing Diagram
OCRnx Interrupt Flag Set
OCRnx Update and
TOVn Interrupt Flag Set
TCNTn
OCnx
(COMnx[1:0] = 2)
OCnx
(COMnx[1:0] = 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 COM0x[1:0]
bits to two will produce a non-inverted PWM and an inverted PWM output can be generated by setting the COM0x[1:0] to
three: Setting the COM0A[1:0] 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 11-3 on page 70). 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 ⋅ ( TOP + 1 )
The N variable represents the prescale factor (1, 8, 64, 256, or 1024).
The extreme values for the OCR0x Register represents special cases when generating a PWM waveform output in the
fast PWM mode. If OCR0x is set equal to BOTTOM, the output will be a narrow spike for each TOP+1 timer clock cycle.
Setting the OCR0x equal to TOP will result in a constantly high or low output (depending on the polarity of the output set
by the COM0x[1:0] bits.)
A frequency (with 50% duty cycle) waveform output in fast PWM mode can be achieved by setting OC0A to toggle its
logical level on each Compare Match (COM0A[1:0] = 1). The waveform generated will have a maximum frequency of
fclk_I/O/2 when OCR0A is set to zero. This 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.
11.7.4 Phase Correct PWM Mode
The phase correct PWM mode (WGM0[2:0] = 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 WGM0[2:0] = 1, and OCR0A when WGM0[2:0] =
5. In non-inverting Compare Output mode, the Output Compare (OC0x) is cleared on the Compare Match between
TCNT0 and OCR0x while upcounting, and set on the Compare Match while down-counting. In inverting Output Compare
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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.
Figure 11-7. Phase Correct PWM Mode, Timing Diagram
OCnx Interrupt Flag Set
OCRnx Update
TOVn Interrupt Flag Set
TCNTn
OCnx
(COMnx[1:0] = 2)
OCxn
(COMnx[1:0] = 3)
Period
1
2
3
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 11-7. 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.
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
COM0x[1:0] bits to two will produce a non-inverted PWM. An inverted PWM output can be generated by setting the
COM0x[1:0] to three: Setting the COM0A0 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 11-4 on page 70). 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 = ------------------------------2 × N × TOP
The N variable represents the prescale factor (1, 8, 64, 256, or 1024).
The extreme values for the OCR0x Register represent special cases when generating a PWM waveform output in the
phase correct PWM mode. If the OCR0x is set equal to BOTTOM, the output will be continuously low and if set equal to
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TOP 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 11-7 on page 67 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.
11.8
z
OCR0x changes its value from TOP, like in Figure 11-7 on page 67. When the OCR0x value is TOP the OCnx pin
value is the same as the result of a down-counting Compare Match. To ensure symmetry around BOTTOM the
OCnx value at TOP must correspond to the result of an up-counting Compare Match.
z
The timer starts counting from a value higher than the one in OCR0x, and for that reason misses the Compare
Match and hence the OCnx change that would have happened on the way up.
Timer/Counter Timing Diagrams
The Timer/Counter is a synchronous design and the timer clock (clkT0) is therefore shown as a clock enable signal in the
following figures. The figures include information on when Interrupt Flags are set. Figure 11-8 on page 68 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 11-8. Timer/Counter Timing Diagram, no Prescaling
clkI/O
clkTn
(clkI/O /1)
TCNTn
MAX - 1
MAX
BOTTOM
BOTTOM + 1
TOVn
Figure 11-9 on page 68 shows the same timing data, but with the prescaler enabled.
Figure 11-9. 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 11-10 on page 69 shows the setting of OCF0B in all modes and OCF0A in all modes except CTC mode and PWM
mode, where OCR0A is TOP.
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Figure 11-10.Timer/Counter Timing Diagram, Setting of OCF0x, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
OCRnx - 1
TCNTn
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx Value
OCRnx
OCFnx
Figure 11-11 on page 69 shows the setting of OCF0A and the clearing of TCNT0 in CTC mode and fast PWM mode
where OCR0A is TOP.
Figure 11-11.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
11.9
Register Description
11.9.1 TCCR0A – Timer/Counter Control Register A
Bit
0x19
Read/Write
Initial Value
z
7
COM0A1
R/W
0
6
COM0A0
R/W
0
5
COM0B1
R/W
0
4
COM0B0
R/W
0
3
–
R
0
2
–
R
0
1
WGM01
R/W
0
0
WGM00
R/W
0
TCCR0A
Bits 7:6 – COM0A[1:0]: Compare Match Output A Mode
These bits control the Output Compare pin (OC0A) behavior. If one or both of the COM0A[1:0] bits are set, the OC0A
output overrides the normal port functionality of the I/O pin it is connected to. However, note that the Data Direction
Register (DDR) bit corresponding to the OC0A pin must be set in order to enable the output driver.
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When OC0A is connected to the pin, the function of the COM0A[1:0] bits depends on the WGM0[2:0] bit setting. Table
11-2 shows the COM0A[1:0] bit functionality when the WGM0[2:0] bits are set to a normal or CTC mode (non-PWM).
Table 11-2. 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 11-3 shows COM0A[1:0] bit functionality when WGM0[2:0] bits are set to fast PWM mode.
Table 11-3. Compare Output Mode, Fast PWM Mode
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 BOTTOM (non-inverting mode)
1
1
Note:
Description
Set OC0A on Compare Match
Clear OC0A at BOTTOM (inverting mode)
A special case occurs when OCR0A equals TOP and COM0A1 is set. In this case, the Compare Match is
ignored, but the set or clear is done at BOTTOM. See “Fast PWM Mode” on page 65 for more details.
Table 11-4 shows COM0A[1:0] bit functionality when WGM0[2:0] bits are set to phase correct PWM mode.
Table 11-4. Compare Output Mode, Phase Correct PWM Mode
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:
z
Description
When OCR0A equals TOP and COM0A1 is set, the Compare Match is ignored, but the set or clear is done at
TOP. See “Phase Correct PWM Mode” on page 66 for more details.
Bits 5:4 – COM0B[1:0]: Compare Match Output B Mode
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These bits control the Output Compare pin (OC0B) behavior. If one or both of COM0B[1:0] bits are set, the OC0B output
overrides the normal port functionality of the I/O pin it is connected to. 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 COM0B[1:0] bits depend on WGM0[2:0] bit setting. Table 11-5
shows COM0B[1:0] bit functionality when WGM0[2:0] bits are set to normal or CTC mode (non-PWM).
Table 11-5. Compare Output Mode, non-PWM Mode
COM0B1
COM0B0
Description
0
0
Normal port operation, OC0B disconnected.
0
1
Toggle OC0B on Compare Match
1
0
Clear OC0B on Compare Match
1
1
Set OC0B on Compare Match
Table 11-6 shows COM0B[1:0] bit functionality when WGM0[2:0] bits are set to fast PWM mode.
Table 11-6. Compare Output Mode, Fast PWM Mode
COM0B1
COM0B0
0
0
Normal port operation, OC0B disconnected.
0
1
Reserved
1
0
Clear OC0B on Compare Match, set OC0B at BOTTOM
(non-inverting mode)
1
1
Set OC0B on Compare Match, clear OC0B at BOTTOM
(inverting mode)
Note:
Description
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 BOTTOM. See “Fast PWM Mode” on page 65 for more details.
Table 11-7 shows the COM0B[1:0] bit functionality when the WGM0[2:0] bits are set to phase correct PWM mode.
Table 11-7. Compare Output Mode, Phase Correct PWM Mode
COM0B1
COM0B0
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
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 66 for more details.
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z
Bits 3:2 – Res: Reserved Bits
These bits are reserved and will always read zero.
z
Bits 1:0 – WGM0[1:0]: 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 11-8. 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 64).
Table 11-8. Waveform Generation Mode Bit Description
Timer/Counter
Mode of Operation
TOP
Update of
OCRx at
TOV Flag
Set on(1)
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
BOTTOM
MAX
4
1
0
0
Reserved
–
–
–
5
1
0
1
PWM, Phase
Correct
OCRA
TOP
BOTTOM
6
1
1
0
Reserved
–
–
–
7
1
1
1
Fast PWM
OCRA
BOTTOM
TOP
Mode
WGM02
WGM01
WGM00
0
0
0
1
0
2
Note:
1.
MAX
= 0xFF
BOTTOM = 0x00
11.9.2 TCCR0B – Timer/Counter Control Register B
Bit
0x18
Read/Write
Initial Value
z
7
FOC0A
W
0
6
FOC0B
W
0
5
–
R
0
4
–
R
0
3
WGM02
R/W
0
2
CS02
R/W
0
1
CS01
R/W
0
0
CS00
R/W
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 COM0A[1:0] bits setting. Note that the FOC0A
bit is implemented as a strobe. Therefore it is the value present in the COM0A[1:0] bits that determines the effect of the
forced compare.
A FOC0A strobe will not generate any interrupt, nor will it clear the timer in CTC mode using OCR0A as TOP.
The FOC0A bit always reads as zero.
z
Bit 6 – FOC0B: Force Output Compare B
The FOC0B bit is only active when the WGM bits specify a non-PWM mode.
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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 COM0B[1:0] bits setting. Note that the FOC0B
bit is implemented as a strobe. Therefore it is the value present in the COM0B[1:0] bits that determines the effect of the
forced compare.
A FOC0B strobe will not generate any interrupt, nor will it clear the timer in CTC mode using OCR0B as TOP.
The FOC0B bit always reads as zero.
z
Bits 5:4 – Res: Reserved Bits
These bits are reserved bits in the ATtiny20 and will always read as zero.
z
Bit 3 – WGM02: Waveform Generation Mode
See the description in the “TCCR0A – Timer/Counter Control Register A” on page 69.
z
Bits 2:0 – CS0[2:0]: Clock Select
The three Clock Select bits select the clock source to be used by the Timer/Counter.
Table 11-9. 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.
11.9.3 TCNT0 – Timer/Counter Register
Bit
0x17
Read/Write
Initial Value
7
6
5
R/W
0
R/W
0
R/W
0
4
3
TCNT0[7:0]
R/W
R/W
0
0
2
1
0
R/W
0
R/W
0
R/W
0
TCNT0
The Timer/Counter Register gives direct access, both for read and write operations, to the Timer/Counter unit 8-bit
counter. Writing to the TCNT0 Register blocks (removes) the Compare Match on the following timer clock. Modifying the
counter (TCNT0) while the counter is running, introduces a risk of missing a Compare Match between TCNT0 and the
OCR0x Registers.
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11.9.4 OCR0A – Output Compare Register A
Bit
0x16
Read/Write
Initial Value
7
6
5
R/W
0
R/W
0
R/W
0
4
3
OCR0A[7:0]
R/W
R/W
0
0
2
1
0
R/W
0
R/W
0
R/W
0
OCR0A
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.
11.9.5 OCR0B – Output Compare Register B
Bit
0x15
Read/Write
Initial Value
7
6
5
R/W
0
R/W
0
R/W
0
4
3
OCR0B[7:0]
R/W
R/W
0
0
2
1
0
R/W
0
R/W
0
R/W
0
OCR0B
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.
11.9.6 TIMSK – Timer/Counter Interrupt Mask Register
Bit
0x26
Read/Write
Initial Value
z
7
ICIE1
R/W
0
6
–
R
0
5
OCIE1B
R/W
0
4
OCIE1A
R/W
0
3
TOIE1
R/W
0
2
OCIE0B
R/W
0
1
OCIE0A
R/W
0
0
TOIE0
R/W
0
TIMSK
Bit 6 – Res: Reserved Bit
This bit is reserved and will always read as zero.
z
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, i.e., when the
OCF0B bit is set in the Timer/Counter Interrupt Flag Register – TIFR.
z
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, i.e., when
the OCF0A bit is set in the Timer/Counter Interrupt Flag Register – TIFR.
z
Bit 0 – TOIE0: Timer/Counter0 Overflow Interrupt Enable
When the TOIE0 bit is written to one, and the I-bit in the Status Register is set, the Timer/Counter0 Overflow interrupt is
enabled. The corresponding interrupt is executed if an overflow in Timer/Counter0 occurs, i.e., when the TOV0 bit is set
in the Timer/Counter Interrupt Flag Register – TIFR.
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11.9.7 TIFR – Timer/Counter Interrupt Flag Register
Bit
0x25
Read/Write
Initial Value
z
7
ICF1
R/W
0
6
–
R
0
5
OCF1B
R/W
0
4
OCF1A
R/W
0
3
TOV1
R/W
0
2
OCF0B
R/W
0
1
OCF0A
R/W
0
0
TOV0
R/W
0
TIFR
Bit 6 – Res: Reserved Bit
This bit is reserved and will always read as zero.
z
Bit 2 – OCF0B: Output Compare Flag 0 B
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.
z
Bit 1 – OCF0A: Output Compare Flag 0 A
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.
z
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 WGM0[2:0] bit setting. See Table 11-8 on page 72 and Table 12-5 on page 98.
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12.
16-bit Timer/Counter1
12.1
Features
z True 16-bit Design (i.e., Allows 16-bit PWM)
z Two independent Output Compare Units
z Double Buffered Output Compare Registers
z One Input Capture Unit
z Input Capture Noise Canceler
z Clear Timer on Compare Match (Auto Reload)
z Glitch-free, Phase Correct Pulse Width Modulator (PWM)
z Variable PWM Period
z Frequency Generator
z External Event Counter
z Four independent interrupt Sources (TOV1, OCF1A, OCF1B, and ICF1)
Overview
The 16-bit Timer/Counter unit allows accurate program execution timing (event management), wave generation, and
signal timing measurement.
A simplified block diagram of the 16-bit Timer/Counter is shown in Figure 12-1 on page 76. For actual placement of I/O
pins, refer to “SOIC/TSSOP” on page 2. 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 section “Register Description” on page 96.
Figure 12-1. 16-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
OCRnA
DATA BUS
12.2
OCnB
(Int.Req.)
Fixed
TOP
Values
Waveform
Generation
=
OCRnB
OCnB
( From Analog
Comparator Ouput )
ICFn (Int.Req.)
Edge
Detector
ICRn
Noise
Canceler
ICPn
TCCRnA
TCCRnB
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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, i.e., TCNT1 for accessing Timer/Counter1 counter value and so on.
12.2.1 Registers
The Timer/Counter (TCNT1), Output Compare Registers (OCR1A/B), and Input Capture Register (ICR1) are all 16-bit
registers. Special procedures must be followed when accessing the 16-bit registers. These procedures are described in
section “Accessing 16-bit Registers” on page 93. The Timer/Counter Control Registers (TCCR1A/B) are 8-bit registers
and have no CPU access restrictions. Interrupt requests (abbreviated to Int.Req. in the figure) signals are all visible in the
Timer Interrupt Flag Register (TIFR). All interrupts are individually masked with the Timer Interrupt Mask Register
(TIMSK). TIFR and TIMSK are not shown in the figure.
The Timer/Counter can be clocked internally, via the prescaler, or by an external clock source on the T1 pin. The Clock
Select logic block controls which clock source and edge the Timer/Counter uses to increment (or decrement) its value.
The Timer/Counter is inactive when no clock source is selected. The output from the Clock Select logic is referred to as
the timer clock (clkT1).
The double buffered Output Compare Registers (OCR1A/B) are compared with the Timer/Counter value at all time. The
result of the compare can be used by the Waveform Generator to generate a PWM or variable frequency output on the
Output Compare pin (OC1A/B). See “Output Compare Units” on page 80. The compare match event will also set the
Compare Match Flag (OCF1A/B) which can be used to generate an Output Compare interrupt request.
The Input Capture Register can capture the Timer/Counter value at a given external (edge triggered) event on either the
Input Capture pin (ICP1) or on the Analog Comparator pins (See “Analog Comparator” on page 105). The Input Capture
unit includes a digital filtering unit (Noise Canceler) for reducing the chance of capturing noise spikes.
The TOP value, or maximum Timer/Counter value, can in some modes of operation be defined by either the OCR1A
Register, the ICR1 Register, or by a set of fixed values. When using OCR1A as TOP value in a PWM mode, the OCR1A
Register can not be used for generating a PWM output. However, the TOP value will in this case be double buffered
allowing the TOP value to be changed in run time. If a fixed TOP value is required, the ICR1 Register can be used as an
alternative, freeing the OCR1A to be used as PWM output.
12.2.2 Definitions
The following definitions are used extensively throughout the section:
Table 12-1. Definitions
12.3
Constant
Description
BOTTOM
The counter reaches BOTTOM when it becomes 0x00
MAX
The counter reaches its MAXimum when it becomes 0xFF (decimal 255)
TOP
The counter reaches 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), the value stored in the OCR1A register, or the
value stored in the ICR1 register. The assignment depends 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 (CS1[2:0]) bits located in the Timer/Counter control Register B
(TCCR1B). For details on clock sources and prescaler, see “Timer/Counter Prescaler” on page 103.
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12.4
Counter Unit
The main part of the 16-bit Timer/Counter is the programmable 16-bit bi-directional counter unit. Figure 12-2 shows a
block diagram of the counter and its surroundings.
Figure 12-2. Counter Unit Block Diagram
DATA BUS
(8-bit)
TOVn
(Int.Req.)
TEMP (8-bit)
Clock Select
Count
TCNTnH (8-bit)
TCNTnL (8-bit)
TCNTn (16-bit Counter)
Clear
Direction
Control Logic
Edge
Detector
clkTn
Tn
( From Prescaler )
TOP
BOTTOM
Description of internal signals used in Figure 12-2:
Count
Direction
Clear
clkT1
TOP
BOTTOM
Increment or decrement TCNT1 by 1.
Select between increment and decrement.
Clear TCNT1 (set all bits to zero).
Timer/Counter1 clock.
Signalize that TCNT1 has reached maximum value.
Signalize that TCNT1 has reached minimum value (zero).
The 16-bit counter is mapped into two 8-bit I/O memory locations: Counter High (TCNT1H) containing the upper eight
bits of the counter, and Counter Low (TCNT1L) containing the lower eight bits. The TCNT1H Register can only be
indirectly accessed by the CPU. When the CPU does an access to the TCNT1H I/O location, the CPU accesses the high
byte temporary register (TEMP). The temporary register is updated with the TCNT1H value when the TCNT1L is read,
and TCNT1H is updated with the temporary register value when TCNT1L is written. This allows the CPU to read or write
the entire 16-bit counter value within one clock cycle via the 8-bit data bus. It is important to notice that there are special
cases of writing to the TCNT1 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
(clkT1). The clkT1 can be generated from an external or internal clock source, selected by the Clock Select bits (CS1[2:0]).
When no clock source is selected (CS1[2:0] = 0) the timer is stopped. However, the TCNT1 value can be accessed by
the CPU, independent of whether clkT1 is present or not. A CPU write overrides (has priority over) all counter clear or
count operations.
The counting sequence is determined by the setting of the Waveform Generation mode bits (WGM1[3:0]) located in the
Timer/Counter Control Registers A and B (TCCR1A and TCCR1B). There are close connections between how the
counter behaves (counts) and how waveforms are generated on the Output Compare outputs OC1x. For more details
about advanced counting sequences and waveform generation, see “Modes of Operation” on page 83.
The Timer/Counter Overflow Flag (TOV1) is set according to the mode of operation selected by the WGM1[3:0] bits.
TOV1 can be used for generating a CPU interrupt.
12.5
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 ICP1 pin
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or alternatively, via the analog-comparator unit. The time-stamps can then be used to calculate frequency, duty-cycle,
and other features of the signal applied. Alternatively the 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 12-3. 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 12-3. 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
ACIC*
TCNTnL (8-bit)
TCNTn (16-bit Counter)
ICNCn
ICES1
Noise
Canceler
Edge
Detector
ICFn (Int.Req.)
ICPn
When a change of the logic level (an event) occurs on the Input Capture pin (ICP1), 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 (TCNT1) is written to the Input Capture Register (ICR1). The Input
Capture Flag (ICF1) is set at the same system clock as the TCNT1 value is copied into ICR1 Register. If enabled (ICIE1
= 1), the Input Capture Flag generates an Input Capture interrupt. The ICF1 flag is automatically cleared when the
interrupt is executed. Alternatively the ICF1 flag can be cleared by software by writing a logical one to its I/O bit location.
Reading the 16-bit value in the Input Capture Register (ICR1) is done by first reading the low byte (ICR1L) and then the
high byte (ICR1H). When the low byte is read the high byte is copied into the high byte temporary register (TEMP). When
the CPU reads the ICR1H I/O location it will access the TEMP Register.
The ICR1 Register can only be written when using a Waveform Generation mode that utilizes the ICR1 Register for
defining the counter’s TOP value. In these cases the Waveform Generation mode (WGM1[3:0]) bits must be set before
the TOP value can be written to the ICR1 Register. When writing the ICR1 Register the high byte must be written to the
ICR1H I/O location before the low byte is written to ICR1L.
For more information on how to access the 16-bit registers refer to “Accessing 16-bit Registers” on page 93.
12.5.1 Input Capture Trigger Source
The main trigger source for the Input Capture unit is the Input Capture pin (ICP1). Timer/Counter1 can alternatively use
the Analog Comparator output as trigger source for the Input Capture unit. The Analog Comparator is selected as trigger
source by setting the Analog Comparator Input Capture (ACIC) bit in the Analog Comparator Control and Status Register
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(ACSR). Be aware that changing trigger source can trigger a capture. The Input Capture Flag must therefore be cleared
after the change.
Both the Input Capture pin (ICP1) and the Analog Comparator output (ACO) inputs are sampled using the same
technique as for the T1 pin (Figure 13-1 on page 103). 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 ICR1 to define TOP.
An Input Capture can be triggered by software by controlling the port of the ICP1 pin.
12.5.2 Noise Canceler
The noise canceler uses a simple digital filtering technique to improve noise immunity. Consecutive samples are
monitored in a pipeline four units deep. The signal going to the edge detector is allowed to change only when all four
samples are equal.
The noise canceler is enabled by setting the Input Capture Noise Canceler (ICNC1) bit in Timer/Counter Control Register
B (TCCR1B). When enabled, the noise canceler introduces an additional delay of four system clock cycles to a change
applied to the input and before ICR1 is updated.
The noise canceler uses the system clock directly and is therefore not affected by the prescaler.
12.5.3 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 ICR1 Register
before the next event occurs, the ICR1 will be overwritten with a new value. In this case the result of the capture will be
incorrect.
When using the Input Capture interrupt, the ICR1 Register should be read as early in the interrupt handler routine as
possible. Even though the Input Capture interrupt has relatively high priority, the maximum interrupt response time is
dependent on the maximum number of clock cycles it takes to handle any of the other interrupt requests.
Using the Input Capture unit in any mode of operation when the TOP value (resolution) is actively changed during
operation, is not recommended.
Measurement of an external signal’s duty cycle requires that the trigger edge is changed after each capture. Changing
the edge sensing must be done as early as possible after the ICR1 Register has been read. After a change of the edge,
the Input Capture Flag (ICF1) must be cleared by software (writing a logical one to the I/O bit location). For measuring
frequency only, the clearing of the ICF1 flag is not required (if an interrupt handler is used).
12.6
Output Compare Units
The 16-bit comparator continuously compares TCNT1 with the Output Compare Register (OCR1x). If TCNT equals
OCR1x the comparator signals a match. A match will set the Output Compare Flag (OCF1x) at the next timer clock cycle.
If enabled (OCIE1x = 1), the Output Compare Flag generates an Output Compare interrupt. The OCF1x flag is
automatically cleared when the interrupt is executed. Alternatively the OCF1x flag can be cleared by software by writing
a logical one to its I/O bit location. The Waveform Generator uses the match signal to generate an output according to
operating mode set by the Waveform Generation mode (WGM1[3:0]) bits and Compare Output mode (COM1x[1:0]) 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 (“Modes of Operation” on page 83).
A special feature of Output Compare unit A allows it to define the Timer/Counter TOP value (i.e., counter resolution). In
addition to the counter resolution, the TOP value defines the period time for waveforms generated by the Waveform
Generator.
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Figure 12-4. Output Compare Unit, Block Diagram
DATA BUS
(8-bit)
TEMP (8-bit)
OCRnxH Buf. (8-bit)
OCRnxL Buf. (8-bit)
TCNTnH (8-bit)
OCRnx Buffer (16-bit Register)
OCRnxH (8-bit)
TCNTnL (8-bit)
TCNTn (16-bit Counter)
OCRnxL (8-bit)
OCRnx (16-bit Register)
= (16-bit Comparator )
OCFnx (Int.Req.)
TOP
BOTTOM
Waveform Generator
WGMn[3:0]
OCnx
COMnx[1:0]
Figure 12-4 on page 81 shows a block diagram of the Output Compare unit. The small “n” in the register and bit names
indicates the device number (n = 1 for Timer/Counter 1), and the “x” indicates Output Compare unit (A/B). The elements
of the block diagram that are not directly a part of the Output Compare unit are gray shaded.
The OCR1x Register is double buffered when using any of the twelve Pulse Width Modulation (PWM) modes. For the
Normal and Clear Timer on Compare (CTC) modes of operation, the double buffering is disabled. The double buffering
synchronizes the update of the OCR1x Compare Register to either TOP or BOTTOM of the counting sequence. The
synchronization prevents the occurrence of odd-length, non-symmetrical PWM pulses, thereby making the output glitchfree.
The OCR1x Register access may seem complex, but this is not case. When the double buffering is enabled, the CPU
has access to the OCR1x Buffer Register, and if double buffering is disabled the CPU will access the OCR1x directly.
The content of the OCR1x (Buffer or Compare) Register is only changed by a write operation (the Timer/Counter does
not update this register automatically as the TCNT1 and ICR1 Register). Therefore OCR1x is not read via the high byte
temporary register (TEMP). However, it is a good practice to read the low byte first as when accessing other 16-bit
registers. Writing the OCR1x Registers must be done via the TEMP Register since the compare of all 16 bits is done
continuously. The high byte (OCR1xH) has to be written first. When the high byte I/O location is written by the CPU, the
TEMP Register will be updated by the value written. Then when the low byte (OCR1xL) is written to the lower eight bits,
the high byte will be copied into the upper 8-bits of either the OCR1x buffer or OCR1x Compare Register in the same
system clock cycle.
For more information of how to access the 16-bit registers refer to “Accessing 16-bit Registers” on page 93.
12.6.1 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 (1x) bit. Forcing compare match will not set the OCF1x flag or reload/clear the timer, but the
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OC1x pin will be updated as if a real compare match had occurred (the COM1[1:0] bits settings define whether the OC1x
pin is set, cleared or toggled).
12.6.2 Compare Match Blocking by TCNT1 Write
All CPU writes to the TCNT1 Register will block any compare match that occurs in the next timer clock cycle, even when
the timer is stopped. This feature allows OCR1x to be initialized to the same value as TCNT1 without triggering an
interrupt when the Timer/Counter clock is enabled.
12.6.3 Using the Output Compare Unit
Since writing TCNT1 in any mode of operation will block all compare matches for one timer clock cycle, there are risks
involved when changing TCNT1 when using any of the Output Compare channels, independent of whether the
Timer/Counter is running or not. If the value written to TCNT1 equals the OCR1x value, the compare match will be
missed, resulting in incorrect waveform generation. Do not write the TCNT1 equal to TOP in PWM modes with variable
TOP values. The compare match for the TOP will be ignored and the counter will continue to 0xFFFF. Similarly, do not
write the TCNT1 value equal to BOTTOM when the counter is downcounting.
The setup of the OC1x should be performed before setting the Data Direction Register for the port pin to output. The
easiest way of setting the OC1x value is to use the Force Output Compare (1x) strobe bits in Normal mode. The OC1x
Register keeps its value even when changing between Waveform Generation modes.
Be aware that the COM1x[1:0] bits are not double buffered together with the compare value. Changing the COM1x[1:0]
bits will take effect immediately.
12.7
Compare Match Output Unit
The Compare Output Mode (COM1x[1:0]) bits have two functions. The Waveform Generator uses the COM1x[1:0] bits
for defining the Output Compare (OC1x) state at the next compare match. Secondly the COM1x[1:0] bits control the
OC1x pin output source. Figure 12-5 shows a simplified schematic of the logic affected by the COM1x[1:0] bit setting.
The I/O Registers, I/O bits, and I/O pins in the figure are shown in bold. Only the parts of the general I/O port control
registers (DDR and PORT) that are affected by the COM1x[1:0] bits are shown. When referring to the OC1x state, the
reference is for the internal OC1x Register, not the OC1x pin. If a system reset occur, the OC1x Register is reset to “0”.
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Figure 12-5. Compare Match Output Unit, Schematic (non-PWM Mode)
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 (OC1x) from the Waveform Generator if either of the
COM1x[1:0] bits are set. However, the OC1x pin direction (input or output) is still controlled by the Data Direction
Register (DDR) for the port pin. The Data Direction Register bit for the OC1x pin (DDR_OC1x) must be set as output
before the OC1x value is visible on the pin. The port override function is generally independent of the Waveform
Generation mode, but there are some exceptions. See Table 12-2 on page 97, Table 12-3 on page 97 and Table 12-4 on
page 97 for details.
The design of the Output Compare pin logic allows initialization of the OC1x state before the output is enabled. Note that
some COM1x[1:0] bit settings are reserved for certain modes of operation. See “Register Description” on page 96
The COM1x[1:0] bits have no effect on the Input Capture unit.
12.7.1 Compare Output Mode and Waveform Generation
The Waveform Generator uses the COM1x[1:0] bits differently in normal, CTC, and PWM modes. For all modes, setting
the COM1x[1:0] = 0 tells the Waveform Generator that no action on the OC1x Register is to be performed on the next
compare match. For compare output actions in the non-PWM modes refer to Table 12-2 on page 97. For fast PWM mode
refer to Table 12-3 on page 97, and for phase correct and phase and frequency correct PWM refer to Table 12-4 on page
97.
A change of the COM1x[1:0] bits state will have effect at the first compare match after the bits are written. For non-PWM
modes, the action can be forced to have immediate effect by using the FOC1x strobe bits.
12.8
Modes of Operation
The mode of operation, i.e., the behavior of the Timer/Counter and the Output Compare pins, is defined by the
combination of the Waveform Generation mode (WGM1[3:0]) and Compare Output mode (COM1x[1:0]) bits. The
Compare Output mode bits do not affect the counting sequence, while the Waveform Generation mode bits do. The
COM1x[1:0] bits control whether the PWM output generated should be inverted or not (inverted or non-inverted PWM).
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For non-PWM modes the COM1x[1:0] bits control whether the output should be set, cleared or toggle at a compare
match (“Compare Match Output Unit” on page 82)
For detailed timing information refer to “Timer/Counter Timing Diagrams” on page 91.
12.8.1 Normal Mode
The simplest mode of operation is the Normal mode (WGM1[3:0] = 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
(TOV1) will be set in the same timer clock cycle as the TCNT1 becomes zero. The TOV1 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 TOV1 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.
12.8.2 Clear Timer on Compare Match (CTC) Mode
In Clear Timer on Compare or CTC mode (WGM1[3:0] = 4 or 12), the OCR1A or ICR1 Register are used to manipulate
the counter resolution. In CTC mode the counter is cleared to zero when the counter value (TCNT1) matches either the
OCR1A (WGM1[3:0] = 4) or the ICR1 (WGM1[3:0] = 12). The OCR1A or ICR1 define the top value for the counter, hence
also its resolution. This mode allows greater control of the compare match output frequency. It also simplifies the
operation of counting external events.
The timing diagram for the CTC mode is shown in Figure 12-6 on page 84. The counter value (TCNT1) increases until a
compare match occurs with either OCR1A or ICR1, and then counter (TCNT1) is cleared.
Figure 12-6. CTC Mode, Timing Diagram
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)
TCNTn
OCnA
(Toggle)
Period
(COMnA[1:0] = 1)
1
2
3
4
An interrupt can be generated at each time the counter value reaches the TOP value by either using the OCF1A or ICF1
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 OCR1A or ICR1 is lower than the current value of TCNT1, 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
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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 OCR1A for defining TOP (WGM1[3:0] = 15) since the OCR1A then will be double buffered.
For generating a waveform output in CTC mode, the OC1A output can be set to toggle its logical level on each compare
match by setting the Compare Output mode bits to toggle mode (COM1A[1:0] = 1). The OC1A value will not be visible on
the port pin unless the data direction for the pin is set to output (DDR_OC1A = 1). The waveform generated will have a
maximum frequency of fclk_I/O/2 when OCR1A 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 TOV1 flag is set in the same timer clock cycle that the counter counts from MAX
to 0x0000.
12.8.3 Fast PWM Mode
The fast Pulse Width Modulation or fast PWM mode (WGM1[3:0] = 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
(OC1x) is cleared on the compare match between TCNT1 and OCR1x, and set at BOTTOM. In inverting Compare
Output mode output is set on compare match and cleared at BOTTOM. Due to the single-slope operation, the operating
frequency of the fast PWM mode can be twice as high as the phase correct and phase and frequency correct PWM
modes that use dual-slope operation. This high frequency makes the fast PWM mode well suited for power regulation,
rectification, and DAC applications. High frequency allows physically small sized external components (coils, capacitors),
hence reduces total system cost.
The PWM resolution for fast PWM can be fixed to 8-, 9-, or 10-bit, or defined by either ICR1 or OCR1A. The minimum
resolution allowed is 2-bit (ICR1 or OCR1A set to 0x0003), and the maximum resolution is 16-bit (ICR1 or OCR1A set to
MAX). The PWM resolution in bits can be calculated by using the following equation:
( TOP + 1 )R FPWM = log
--------------------------------log ( 2 )
In fast PWM mode the counter is incremented until the counter value matches either one of the fixed values 0x00FF,
0x01FF, or 0x03FF (WGM1[3:0] = 5, 6, or 7), the value in ICR1 (WGM1[3:0] = 14), or the value in OCR1A (WGM1[3:0] =
15). The counter is then cleared at the following timer clock cycle. The timing diagram for the fast PWM mode is shown in
Figure 12-7 on page 86. The figure shows fast PWM mode when OCR1A or ICR1 is used to define TOP. The TCNT1
value is in the timing diagram shown as a histogram for illustrating the single-slope operation. The diagram includes noninverted and inverted PWM outputs. The small horizontal line marks on the TCNT1 slopes represent compare matches
between OCR1x and TCNT1. The OC1x interrupt flag will be set when a compare match occurs.
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Figure 12-7. Fast PWM Mode, Timing Diagram
OCRnx/TOP Update and
TOVn Interrupt Flag Set and
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)
TCNTn
OCnx
(COMnx[1:0] = 2)
OCnx
(COMnx[1:0] = 3)
Period
1
2
3
4
5
6
7
8
The Timer/Counter Overflow Flag (TOV1) is set each time the counter reaches TOP. In addition the OC1A or ICF1 flag is
set at the same timer clock cycle as TOV1 is set when either OCR1A or ICR1 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 TCNT1 and the OCR1x. Note that when using fixed TOP values the unused bits are masked to zero when
any of the OCR1x Registers are written.
The procedure for updating ICR1 differs from updating OCR1A when used for defining the TOP value. The ICR1 Register
is not double buffered. This means that if ICR1 is changed to a low value when the counter is running with none or a low
prescaler value, there is a risk that the new ICR1 value written is lower than the current value of TCNT1. 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 OCR1A Register
however, is double buffered. This feature allows the OCR1A I/O location to be written anytime. When the OCR1A I/O
location is written the value written will be put into the OCR1A Buffer Register. The OCR1A Compare Register will then
be updated with the value in the Buffer Register at the next timer clock cycle the TCNT1 matches TOP. The update is
done at the same timer clock cycle as the TCNT1 is cleared and the TOV1 flag is set.
Using the ICR1 Register for defining TOP works well when using fixed TOP values. By using ICR1, the OCR1A Register
is free to be used for generating a PWM output on OC1A. However, if the base PWM frequency is actively changed (by
changing the TOP value), using the OCR1A as TOP is clearly a better choice due to its double buffer feature.
In fast PWM mode, the compare units allow generation of PWM waveforms on the OC1x pins. Setting the COM1x[1:0]
bits to two will produce a non-inverted PWM and an inverted PWM output can be generated by setting the COM1x[1:0] to
three (see Table 12-3 on page 97). The actual OC1x value will only be visible on the port pin if the data direction for the
port pin is set as output (DDR_OC1x). The PWM waveform is generated by setting (or clearing) the OC1x Register at the
compare match between OCR1x and TCNT1, and clearing (or setting) the OC1x Register at the timer clock cycle the
counter is cleared (changes from TOP to BOTTOM).
The PWM frequency for the output can be calculated by the following equation:
f clk_I/O
f OCnxPWM = ---------------------------------N ⋅ ( 1 + TOP )
The N variable represents the prescaler divider (1, 8, 64, 256, or 1024).
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The extreme values for the OCR1x Register represents special cases when generating a PWM waveform output in the
fast PWM mode. If the OCR1x is set equal to BOTTOM (0x0000) the output will be a narrow spike for each TOP+1 timer
clock cycle. Setting the OCR1x equal to TOP will result in a constant high or low output (depending on the polarity of the
output set by the COM1x[1:0] bits.)
A frequency (with 50% duty cycle) waveform output in fast PWM mode can be achieved by setting OC1A to toggle its
logical level on each compare match (COM1A[1:0] = 1). The waveform generated will have a maximum frequency of
fclk_I/O/2 when OCR1A is set to zero (0x0000). This feature is similar to the OC1A toggle in CTC mode, except the double
buffer feature of the Output Compare unit is enabled in the fast PWM mode.
12.8.4 Phase Correct PWM Mode
The phase correct Pulse Width Modulation or phase correct PWM mode (WGM1[3:0] = 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 dual-slope operation. The counter counts repeatedly from BOTTOM (0x0000)
to TOP and then from TOP to BOTTOM. In non-inverting Compare Output mode, the Output Compare (OC1x) is cleared
on the compare match between TCNT1 and OCR1x while 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 ICR1 or
OCR1A. The minimum resolution allowed is 2-bit (ICR1 or OCR1A set to 0x0003), and the maximum resolution is 16-bit
(ICR1 or OCR1A set to MAX). The PWM resolution in bits can be calculated by using the following equation:
( 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 (WGM1[3:0] = 1, 2, or 3), the value in ICR1 (WGM1[3:0] = 10), or the value in OCR1A
(WGM1[3:0] = 11). The counter has then reached the TOP and changes the count direction. The TCNT1 value will be
equal to TOP for one timer clock cycle. The timing diagram for the phase correct PWM mode is shown on Figure 12-8.
The figure shows phase correct PWM mode when OCR1A or ICR1 is used to define TOP. The TCNT1 value is in the
timing diagram shown as a histogram for illustrating the dual-slope operation. The diagram includes non-inverted and
inverted PWM outputs. The small horizontal line marks on the TCNT1 slopes represent compare matches between
OCR1x and TCNT1. The OC1x interrupt flag will be set when a compare match occurs.
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Figure 12-8. Phase Correct PWM Mode, Timing Diagram
OCRnx/TOP Update and
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)
TOVn Interrupt Flag Set
(Interrupt on Bottom)
TCNTn
OCnx
(COMnx[1:0] = 2)
OCnx
(COMnx[1:0] = 3)
Period
1
2
3
4
The Timer/Counter Overflow Flag (TOV1) is set each time the counter reaches BOTTOM. When either OCR1A or ICR1
is used for defining the TOP value, the OC1A or ICF1 flag is set accordingly at the same timer clock cycle as the OCR1x
Registers are updated with the double buffer value (at TOP). The interrupt flags can be used to generate an interrupt
each time the counter reaches the TOP or BOTTOM value.
When changing the TOP value the program must ensure that the new TOP value is higher or equal to the value of all of
the Compare Registers. If the TOP value is lower than any of the Compare Registers, a compare match will never occur
between the TCNT1 and the OCR1x. Note that when using fixed TOP values, the unused bits are masked to zero when
any of the OCR1x Registers are written. As the third period shown in Figure 12-8 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 OCR1x Register. Since the OCR1x update occurs at TOP, the PWM period
starts and ends at TOP. This implies that the length of the falling slope is determined by the previous TOP value, while
the length of the rising slope is determined by the new TOP value. When these two values differ the two slopes of the
period will differ in length. The difference in length gives the unsymmetrical result on the output.
It is recommended to use the phase and frequency correct mode instead of the phase correct mode when changing the
TOP value while the Timer/Counter is running. When using a static TOP value there are practically no differences
between the two modes of operation.
In phase correct PWM mode, the compare units allow generation of PWM waveforms on the OC1x pins. Setting the
COM1x[1:0] bits to two will produce a non-inverted PWM and an inverted PWM output can be generated by setting the
COM1x[1:0] to three (See Table 12-4 on page 97). The actual OC1x value will only be visible on the port pin if the data
direction for the port pin is set as output (DDR_OC1x). The PWM waveform is generated by setting (or clearing) the
OC1x Register at the compare match between OCR1x and TCNT1 when the counter increments, and clearing (or
setting) the OC1x Register at compare match between OCR1x and TCNT1 when the counter decrements. The PWM
frequency for the output when using phase 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).
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The extreme values for the OCR1x Register represent special cases when generating a PWM waveform output in the
phase correct PWM mode. If the OCR1x is set equal to BOTTOM the output will be continuously low and if set equal to
TOP the output will be continuously high for non-inverted PWM mode. For inverted PWM the output will have the
opposite logic values.
12.8.5 Phase and Frequency Correct PWM Mode
The phase and frequency correct Pulse Width Modulation, or phase and frequency correct PWM mode (WGM1[3:0] = 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 (OC1x) is cleared on the compare match between TCNT1 and OCR1x while upcounting, and
set on the compare match while downcounting. In inverting Compare Output mode, the operation is inverted. The dualslope operation gives a lower maximum operation frequency compared to the single-slope operation. However, due to
the symmetric feature of the dual-slope PWM modes, these modes are preferred for motor control applications.
The main difference between the phase correct, and the phase and frequency correct PWM mode is the time the OCR1x
Register is updated by the OCR1x Buffer Register, (see Figure 12-8 on page 88 and Figure 12-9 on page 90).
The PWM resolution for the phase and frequency correct PWM mode can be defined by either ICR1 or OCR1A. The
minimum resolution allowed is 2-bit (ICR1 or OCR1A set to 0x0003), and the maximum resolution is 16-bit (ICR1 or
OCR1A set to MAX). The PWM resolution in bits can be calculated using the following equation:
( TOP + 1 )R PFCPWM = log
--------------------------------log ( 2 )
In phase and frequency correct PWM mode the counter is incremented until the counter value matches either the value
in ICR1 (WGM1[3:0] = 8), or the value in OCR1A (WGM1[3:0] = 9). The counter has then reached the TOP and changes
the count direction. The TCNT1 value will be equal to TOP for one timer clock cycle. The timing diagram for the phase
correct and frequency correct PWM mode is shown on Figure 12-9. The figure shows phase and frequency correct PWM
mode when OCR1A or ICR1 is used to define TOP. The TCNT1 value is in the timing diagram shown as a histogram for
illustrating the dual-slope operation. The diagram includes non-inverted and inverted PWM outputs. The small horizontal
line marks on the TCNT1 slopes represent compare matches between OCR1x and TCNT1. The OC1x interrupt flag will
be set when a compare match occurs.
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Figure 12-9. Phase and Frequency Correct PWM Mode, Timing Diagram
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)
OCRnx/TOP Updateand
TOVn Interrupt Flag Set
(Interrupt on Bottom)
TCNTn
OCnx
(COMnx[1:0] = 2)
OCnx
(COMnx[1:0] = 3)
Period
1
2
3
4
The Timer/Counter Overflow Flag (TOV1) is set at the same timer clock cycle as the OCR1x Registers are updated with
the double buffer value (at BOTTOM). When either OCR1A or ICR1 is used for defining the TOP value, the OC1A or
ICF1 flag set when TCNT1 has reached TOP. The interrupt flags can then be used to generate an interrupt each time the
counter reaches the TOP or BOTTOM value.
When changing the TOP value the program must ensure that the new TOP value is higher or equal to the value of all of
the Compare Registers. If the TOP value is lower than any of the Compare Registers, a compare match will never occur
between the TCNT1 and the OCR1x.
As Figure 12-9 shows the output generated is, in contrast to the phase correct mode, symmetrical in all periods. Since
the OCR1x Registers are updated at BOTTOM, the length of the rising and the falling slopes will always be equal. This
gives symmetrical output pulses and is therefore frequency correct.
Using the ICR1 Register for defining TOP works well when using fixed TOP values. By using ICR1, the OCR1A Register
is free to be used for generating a PWM output on OC1A. However, if the base PWM frequency is actively changed by
changing the TOP value, using the OCR1A as TOP is clearly a better choice due to its double buffer feature.
In phase and frequency correct PWM mode, the compare units allow generation of PWM waveforms on the OC1x pins.
Setting the COM1x[1:0] bits to two will produce a non-inverted PWM and an inverted PWM output can be generated by
setting the COM1x[1:0] to three (See Table 12-4 on page 97). The actual OC1x value will only be visible on the port pin if
the data direction for the port pin is set as output (DDR_OC1x). The PWM waveform is generated by setting (or clearing)
the OC1x Register at the compare match between OCR1x and TCNT1 when the counter increments, and clearing (or
setting) the OC1x Register at compare match between OCR1x and TCNT1 when the counter decrements. The PWM
frequency for the output when using phase and frequency correct PWM can be calculated by the following equation:
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 OCR1x Register represents special cases when generating a PWM waveform output in the
phase correct PWM mode. If the OCR1x is set equal to BOTTOM the output will be continuously low and if set equal to
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TOP the output will be set to high for non-inverted PWM mode. For inverted PWM the output will have the opposite logic
values.
12.9
Timer/Counter Timing Diagrams
The Timer/Counter is a synchronous design and the timer clock (clkT1) is therefore shown as a clock enable signal in the
following figures. The figures include information on when interrupt flags are set, and when the OCR1x Register is
updated with the OCR1x buffer value (only for modes utilizing double buffering). Figure 12-10 shows a timing diagram for
the setting of OCF1x.
Figure 12-10.Timer/Counter Timing Diagram, Setting of OCF1x, 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 12-11 shows the same timing data, but with the prescaler enabled.
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Figure 12-11.Timer/Counter Timing Diagram, Setting of OCF1x, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
TCNTn
OCRnx - 1
OCRnx
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx Value
OCFnx
Figure 12-12 shows the count sequence close to TOP in various modes. When using phase and frequency correct PWM
mode the OCR1x Register is updated at BOTTOM. The timing diagrams will be the same, but TOP should be replaced
by BOTTOM, TOP-1 by BOTTOM+1 and so on. The same renaming applies for modes that set the TOV1 flag at
BOTTOM.
Figure 12-12.Timer/Counter Timing Diagram, no Prescaling
clkI/O
clkTn
(clkI/O /1)
TCNTn
OCRnx
OCRnx - 1
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx Value
OCFnx
Figure 12-13 shows the same timing data, but with the prescaler enabled.
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Figure 12-13.Timer/Counter Timing Diagram, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
TCNTn
OCRnx - 1
OCRnx
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx Value
OCFnx
12.10 Accessing 16-bit Registers
The TCNT1, OCR1A/B, and ICR1 are 16-bit registers that can be accessed by the AVR CPU via the 8-bit data bus. The
16-bit register must be 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 16-bit access. The same temporary register is shared between all 16-bit
registers within each 16-bit 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 OCR1A/B 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 OCR1A/B and ICR1 Registers. Note that
when using “C”, the compiler handles the 16-bit access.
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Assembly Code Example
...
; Set TCNT1 to 0x01FF
ldi
r17,0x01
ldi
r16,0xFF
out
TCNT1H,r17
out
TCNT1L,r16
; Read TCNT1 into r17:r16
in
r16,TCNT1L
in
r17,TCNT1H
...
C Code Example
unsigned int i;
...
/* Set TCNT1 to 0x01FF */
TCNT1 = 0x1FF;
/* Read TCNT1 into i */
i = TCNT1;
...
Note:
See “Code Examples” on page 7.
The assembly code example returns the TCNT1 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.
The following code examples show how to do an atomic read of the TCNT1 Register contents. Reading any of the
OCR1A/B or ICR1 Registers can be done by using the same principle.
Assembly Code Example
TIM16_ReadTCNT1:
; Save global interrupt flag
in
r18,SREG
; Disable interrupts
cli
; Read TCNT1 into r17:r16
in
r16,TCNT1L
in
r17,TCNT1H
; Restore global interrupt flag
out
SREG,r18
ret
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C Code Example
unsigned int TIM16_ReadTCNT1( void )
{
unsigned char sreg;
unsigned int i;
/* Save global interrupt flag */
sreg = SREG;
/* Disable interrupts */
_CLI();
/* Read TCNT1 into i */
i = TCNT1;
/* Restore global interrupt flag */
SREG = sreg;
return i;
}
Note:
See “Code Examples” on page 7.
The assembly code example returns the TCNT1 value in the r17:r16 register pair.
The following code examples show how to do an atomic write of the TCNT1 Register contents. Writing any of the
OCR1A/B or ICR1 Registers can be done by using the same principle.
Assembly Code Example
TIM16_WriteTCNT1:
; Save global interrupt flag
in
r18,SREG
; Disable interrupts
cli
; Set TCNT1 to r17:r16
out
TCNT1H,r17
out
TCNT1L,r16
; Restore global interrupt flag
out
SREG,r18
ret
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95
C Code Example
void TIM16_WriteTCNT1( unsigned int i )
{
unsigned char sreg;
unsigned int i;
/* Save global interrupt flag */
sreg = SREG;
/* Disable interrupts */
_CLI();
/* Set TCNT1 to i */
TCNT1 = i;
/* Restore global interrupt flag */
SREG = sreg;
}
Note:
See “Code Examples” on page 7.
The assembly code example requires that the r17:r16 register pair contains the value to be written to TCNT1.
12.10.1 Reusing the Temporary High Byte Register
If writing to more than one 16-bit register where the high byte is the same for all registers written, 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.
12.11 Register Description
12.11.1 TCCR1A – Timer/Counter1 Control Register A
Bit
0x24
Read/Write
Initial Value
7
COM1A1
R/W
0
6
COM1A0
R/W
0
5
COM1B1
R/W
0
4
COM1B0
R/W
0
3
–
R
0
z
Bits 7:6 – COM1A[1:0]: Compare Output Mode for Channel A
z
Bits 5:4 – COM1B[1:0]: Compare Output Mode for Channel B
2
–
R
0
1
WGM11
R/W
0
0
WGM10
R/W
0
TCCR1A
The COM1A[1:0] and COM1B[1:0] control the Output Compare pins (OC1A and OC1B respectively) behavior. If one or
both of the COM1A[1:0] bits are written to one, the OC1A output overrides the normal port functionality of the I/O pin it is
connected to. If one or both of the COM1B[1:0] bit are written to one, the OC1B output overrides the normal port
functionality of the I/O pin it is connected to. However, note that the Data Direction Register (DDR) bit corresponding to
the OC1A or OC1B pin must be set in order to enable the output driver.
When the OC1A or OC1B is connected to the pin, the function of the COM1x[1:0] bits is dependent of the WGM1[3:0] bits
setting.
Table 12-2 shows COM1x[1:0] bit functionality when WGM1[3:0] bits are set to a Normal or a CTC mode (non-PWM).
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Table 12-2. Compare Output Mode, non-PWM
COM1A1
COM1B1
COM1A0
COM1B0
0
0
Normal port operation, OC1A/OC1B disconnected
0
1
Toggle OC1A/OC1B on Compare Match
1
0
Clear OC1A/OC1B on Compare Match
(Set output to low level)
1
1
Set OC1A/OC1B on Compare Match
(Set output to high level).
Description
Table 12-3 shows COM1x[1:0] bit functionality when WGM1[3:0] bits are set to fast PWM mode.
Table 12-3. Compare Output Mode, Fast PWM
Note:
COM1A1
COM1B1
COM1A0
COM1B0
0
0
Normal port operation, OC1A/OC1B disconnected
0
1
WGM13=0: Normal port operation, OC1A/OC1B disconnected
WGM13=1: Toggle OC1A on Compare Match, OC1B reserved
1
0
Clear OC1A/OC1B on Compare Match, set OC1A/OC1B at BOTTOM (noninverting mode)
1
1
Set OC1A/OC1B on Compare Match, clear OC1A/OC1B at BOTTOM
(inverting mode)
Description
A special case occurs when OCR1A/OCR1B equals TOP and COM1A1/COM1B1 is set. In this case the compare match is ignored, but the set or clear is done at BOTTOM. See “Fast PWM Mode” on page 85 for more
details.
Table 12-4 shows COM1x[1:0] bit functionality when WGM1[3:0] bits are set to phase correct or phase and frequency
correct PWM mode.
Table 12-4. Compare Output Mode, Phase Correct and Phase & Frequency Correct PWM
Note:
COM1A1
COM1B1
COM1A0
COM1B0
0
0
Normal port operation, OC1A/OC1B disconnected
0
1
WGM13=0: Normal port operation, OC1A/OC1B disconnected
WGM13=1: Toggle OC1A on Compare Match, OC1B reserved
1
0
Clear OC1A/OC1B on Compare Match when up-counting
Set OC1A/OC1B on Compare Match when downcounting
1
1
Set OC1A/OC1B on Compare Match when up-counting
Clear OC1A/OC1B on Compare Match when downcounting
Description
A special case occurs when OCR1A/OCR1B equals TOP and COM1A1/COM1B1 is set. “Phase Correct PWM
Mode” on page 87 for more details.
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z
Bits 1:0 – WGM1[1:0]: Waveform Generation Mode
Combined with the WGM1[3:2] bits found in the TCCR1B Register, these bits control the counting sequence of the
counter, the source for maximum (TOP) counter value, and what type of waveform generation to be used, see Table 125. 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. (“Modes of Operation” on page 83).
Table 12-5. Waveform Generation Modes
Mode of Operation
TOP
UpdateOCR1x at
TOV1 Set on
0000
Normal
0xFFFF
Immediate
MAX
1
0001
PWM, Phase Correct, 8-bit
0x00FF
TOP
BOTTOM
2
0010
PWM, Phase Correct, 9-bit
0x01FF
TOP
BOTTOM
3
0011
PWM, Phase Correct, 10-bit
0x03FF
TOP
BOTTOM
4
0100
CTC (Clear Timer on Compare)
OCR1A
Immediate
MAX
5
0101
Fast PWM, 8-bit
0x00FF
TOP
TOP
6
0110
Fast PWM, 9-bit
0x01FF
TOP
TOP
7
0111
Fast PWM, 10-bit
0x03FF
TOP
TOP
8
1000
PWM, Phase & Freq. Correct
ICR1
BOTTOM
BOTTOM
9
1001
PWM, Phase & Freq. Correct
OCR1A
BOTTOM
BOTTOM
10
1010
PWM, Phase Correct
ICR1
TOP
BOTTOM
11
1011
PWM, Phase Correct
OCR1A
TOP
BOTTOM
12
1100
CTC (Clear Timer on Compare)
ICR1
Immediate
MAX
13
1101
(Reserved)
–
–
–
14
1110
Fast PWM
ICR1
TOP
TOP
15
1111
Fast PWM
OCR1A
TOP
TOP
Mode
WGM1[3:0]
0
12.11.2 TCCR1B – Timer/Counter1 Control Register B
Bit
0x23
Read/Write
Initial Value
z
7
ICNC1
R/W
0
6
ICES1
R/W
0
5
–
R
0
4
WGM13
R/W
0
3
WGM12
R/W
0
2
CS12
R/W
0
1
CS11
R/W
0
0
CS10
R/W
0
TCCR1B
Bit 7 – ICNC1: 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 (ICP1) is filtered. The filter function requires four successive equal valued samples of the ICP1 pin
for changing its output. The Input Capture is therefore delayed by four Oscillator cycles when the noise canceler is
enabled.
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z
Bit 6 – ICES1: Input Capture Edge Select
This bit selects which edge on the Input Capture pin (ICP1) that is used to trigger a capture event. When the ICES1 bit is
written to zero, a falling (negative) edge is used as trigger, and when the ICES1 bit is written to one, a rising (positive)
edge will trigger the capture.
When a capture is triggered according to the ICES1 setting, the counter value is copied into the Input Capture Register
(ICR1). The event will also set the Input Capture Flag (ICF1), and this can be used to cause an Input Capture Interrupt, if
this interrupt is enabled.
When the ICR1 is used as TOP value (see description of the WGM1[3:0] bits located in the TCCR1A and the TCCR1B
Register), the ICP1 is disconnected and consequently the Input Capture function is disabled.
z
Bit 5 – Res: Reserved Bit
This bit is reserved for future use. For ensuring compatibility with future devices, this bit must be written to zero when
TCCR1B is written.
z
Bits 4:3 – WGM1[3:2]: Waveform Generation Mode
See TCCR1A Register description.
z
Bits 2:0 – CS1[2:0]: Clock Select
The three Clock Select bits select the clock source to be used by the Timer/Counter, see Figure 12-10 on page 91 and
Figure 12-11 on page 92.
Table 12-6. Clock Select Bit Description
CS12
CS11
CS10
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 T1 pin. Clock on falling edge.
1
1
1
External clock source on T1 pin. Clock on rising edge.
If external pin modes are used for the Timer/Counter1, transitions on the T1 pin will clock the counter even if the pin is
configured as an output. This feature allows software control of the counting.
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12.11.3 TCCR1C – Timer/Counter1 Control Register C
Bit
0x22
Read/Write
Initial Value
7
FOC1A
W
0
6
FOC1B
W
0
5
–
R
0
4
–
R
0
z
Bit 7 – FOC1A: Force Output Compare for Channel A
z
Bit 6 – FOC1B: Force Output Compare for Channel B
3
–
R
0
2
–
R
0
1
–
R
0
0
–
R
0
TCCR1C
The FOC1A/FOC1B bits are only active when the WGM1[3:0] bits specifies a non-PWM mode. However, for ensuring
compatibility with future devices, these bits must be set to zero when TCCR1A is written when operating in a PWM mode.
When writing a logical one to the FOC1A/FOC1B bit, an immediate compare match is forced on the Waveform
Generation unit. The OC1A/OC1B output is changed according to its COM1x[1:0] bits setting. Note that the
FOC1A/FOC1B bits are implemented as strobes. Therefore it is the value present in the COM1x[1:0] bits that determine
the effect of the forced compare.
A FOC1A/FOC1B strobe will not generate any interrupt nor will it clear the timer in Clear Timer on Compare match (CTC)
mode using OCR1A as TOP.
The FOC1A/FOC1B bits are always read as zero.
z
Bits 5:0 – Res: Reserved Bit
These bits are reserved for future use. To ensure compatibility with future devices, these bits must be set to zero when
the register is written.
12.11.4 TCNT1H and TCNT1L – Timer/Counter1
Bit
0x21
0x20
Read/Write
Initial Value
7
R/W
0
6
R/W
0
5
R/W
0
4
3
TCNT1[15:8]
TCNT1[7:0]
R/W
R/W
0
0
2
1
0
TCNT1H
TCNT1L
R/W
0
R/W
0
R/W
0
The two Timer/Counter I/O locations (TCNT1H and TCNT1L, combined TCNT1) give direct access, both for read and for
write operations, to the Timer/Counter unit 16-bit counter. To ensure that both the high and low bytes are read and
written simultaneously when the CPU accesses these registers, the access is performed using an 8-bit temporary high
byte register (TEMP). This temporary register is shared by all the other 16-bit registers. See “Accessing 16-bit Registers”
on page 93.
Modifying the counter (TCNT1) while the counter is running introduces a risk of missing a compare match between
TCNT1 and one of the OCR1x Registers.
Writing to the TCNT1 Register blocks (removes) the compare match on the following timer clock for all compare units.
12.11.5 OCR1AH and OCR1AL – Output Compare Register 1 A
Bit
0x1F
0x1E
Read/Write
Initial Value
7
R/W
0
6
R/W
0
5
R/W
0
4
3
OCR1A[15:8]
OCR1A[7:0]
R/W
R/W
0
0
2
1
0
OCR1AH
OCR1AL
R/W
0
R/W
0
R/W
0
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12.11.6 OCR1BH and OCR1BL – Output Compare Register 1 B
Bit
0x1D
0x1C
Read/Write
Initial Value
7
R/W
0
6
R/W
0
5
R/W
0
4
3
OCR1B[15:8]
OCR1B[7:0]
R/W
R/W
0
0
2
1
0
OCR1BH
OCR1BL
R/W
0
R/W
0
R/W
0
The Output Compare Registers contain a 16-bit value that is continuously compared with the counter value (TCNT1). A
match can be used to generate an Output Compare interrupt, or to generate a waveform output on the OC1x pin.
The Output Compare Registers are 16-bit in size. To ensure that both the high and low bytes are written simultaneously
when the CPU writes to these registers, the access is performed using an 8-bit temporary high byte register (TEMP). This
temporary register is shared by all the other 16-bit registers. See “Accessing 16-bit Registers” on page 93.
12.11.7 ICR1H and ICR1L – Input Capture Register 1
Bit
0x1B
0x1A
Read/Write
Initial Value
7
6
5
4
3
2
1
0
ICR1[15:8]
ICR1[7:0]
R/W
0
R/W
0
R/W
0
R/W
0
ICR1H
ICR1L
R/W
0
R/W
0
R/W
0
R/W
0
The Input Capture is updated with the counter (TCNT1) value each time an event occurs on the ICP1 pin (or optionally on
the Analog Comparator output for Timer/Counter1). The Input Capture can be used for defining the counter TOP value.
The Input Capture Register is 16-bit in size. To ensure that both the high and low bytes are read simultaneously when the
CPU accesses these registers, the access is performed using an 8-bit temporary high byte register (TEMP). This
temporary register is shared by all the other 16-bit registers. “Accessing 16-bit Registers” on page 93.
12.11.8 TIMSK – Timer/Counter Interrupt Mask Register
Bit
0x26
Read/Write
Initial Value
z
7
ICIE1
R/W
0
6
–
R
0
5
OCIE1B
R/W
0
4
OCIE1A
R/W
0
3
TOIE1
R/W
0
2
OCIE0B
R/W
0
1
OCIE0A
R/W
0
0
TOIE0
R/W
0
TIMSK
Bit 7 – ICIE1: Timer/Counter1, 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/Counter Input Capture interrupt is enabled. The corresponding Interrupt Vector (See “Interrupts” on page
66.) is executed when the ICF1 Flag, located in TIFR, is set.
z
Bit 5 – OCIE1B: Timer/Counter1, 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/Counter1 Output Compare B Match interrupt is enabled. The corresponding Interrupt Vector (see “Interrupts” on
page 36) is executed when the OCF1B flag, located in TIFR, is set.
z
Bit 4 – OCIE1A: Timer/Counter1, 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/Counter1 Output Compare A Match interrupt is enabled. The corresponding Interrupt Vector (see “Interrupts” on
page 36) is executed when the OCF1A flag, located in TIFR, is set.
z
Bit 3 – TOIE1: Timer/Counter1, Overflow Interrupt Enable
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When this bit is written to one, and the I-flag in the Status Register is set (interrupts globally enabled), the
Timer/Counter1 Overflow interrupt is enabled. The corresponding Interrupt Vector (see “Interrupts” on page 36) is
executed when the TOV1 flag, located in TIFR, is set.
12.11.9 TIFR – Timer/Counter Interrupt Flag Register
Bit
0x25
Read/Write
Initial Value
z
7
ICF1
R/W
0
6
–
R
0
5
OCF1B
R/W
0
4
OCF1A
R/W
0
3
TOV1
R/W
0
2
OCF0B
R/W
0
1
OCF0A
R/W
0
0
TOV0
R/W
0
TIFR
Bit 7 – ICF1: Timer/Counter1, Input Capture Flag
This flag is set when a capture event occurs on the ICP1 pin. When the Input Capture Register (ICR1) is set by the
WGM1[3:0] to be used as the TOP value, the ICF1 flag is set when the counter reaches the TOP value.
ICF1 is automatically cleared when the Input Capture Interrupt Vector is executed. Alternatively, ICF1 can be cleared by
writing a logic one to its bit location.
z
Bit 5 – OCF1B: Timer/Counter1, Output Compare B Match Flag
This flag is set in the timer clock cycle after the counter (TCNT1) value matches the Output Compare Register B
(OCR1B).
Note that a Forced Output Compare (1B) strobe will not set the OCF1B flag.
OCF1B is automatically cleared when the Output Compare Match B Interrupt Vector is executed. Alternatively, OCF1B
can be cleared by writing a logic one to its bit location.
z
Bit 4 – OCF1A: Timer/Counter1, Output Compare A Match Flag
This flag is set in the timer clock cycle after the counter (TCNT1) value matches the Output Compare Register A
(OCR1A).
Note that a Forced Output Compare (1A) strobe will not set the OCF1A flag.
OCF1A is automatically cleared when the Output Compare Match A Interrupt Vector is executed. Alternatively, OCF1A
can be cleared by writing a logic one to its bit location.
z
Bit 3 – TOV1: Timer/Counter1, Overflow Flag
The setting of this flag is dependent of the WGM1[3:0] bits setting. In Normal and CTC modes, the TOV1 flag is set when
the timer overflows. See Table 12-5 on page 98 for the TOV1 flag behavior when using another WGM1[3:0] bit setting.
TOV1 is automatically cleared when the Timer/Counter1 Overflow Interrupt Vector is executed. Alternatively, TOV1 can
be cleared by writing a logic one to its bit location.
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13.
Timer/Counter Prescaler
Timer/Counter0 and Timer/Counter1 share the same prescaler module, but the Timer/Counters can have different
prescaler settings. The description below applies to both Timer/Counters. Tn is used as a general name, n = 0, 1.
The Timer/Counter can be clocked directly by the system clock (by setting the CSn[2:0] = 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.
13.1
Prescaler Reset
The prescaler is free running, i.e., operates independently of the Clock Select logic of the Timer/Counter, and it is shared
by 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 artifacts occurs
when the timer is enabled and clocked by the prescaler (CSn[2:0] = 2, 3, 4, or 5). 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.
13.2
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 clkT0 pulse for each positive (CSn[2:0] = 7) or negative (CSn[2:0] = 6) edge it detects.
Figure 13-1. 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.
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.
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Figure 13-2. Prescaler for Timer/Counter0
clk I/O
Clear
PSR
T0
Synchronization
clkT0
Note:
13.3
1. The synchronization logic on the input pins (T0) is shown in Figure 13-1 on page 103.
Register Description
13.3.1 GTCCR – General Timer/Counter Control Register
Bit
0x27
Read/Write
Initial Value
z
7
TSM
R/W
0
6
–
R
0
5
–
R
0
4
–
R
0
3
–
R
0
2
–
R
0
1
–
R
0
0
PSR
R/W
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 PSR bit is kept, hence keeping the Prescaler Reset signal asserted. This ensures that the Timer/Counter is halted
and can be configured without the risk of advancing during configuration. When the TSM bit is written to zero, the PSR bit
is cleared by hardware, and the Timer/Counter start counting.
z
Bit 0 – PSR: Prescaler Reset
When this bit is one, the Timer/Counter prescaler will be Reset. This bit is normally cleared immediately by hardware,
except if the TSM bit is set.
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14.
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 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 14-1.
Figure 14-1. Analog Comparator Block Diagram
BANDGAP
REFERENCE
ACBG
ACIC
ACME
HSEL
To T/C1 Capture
Trigger MUX
HLEV
ADC MULTIPLEXER
OUTPUT (1)
Note:
1.
ACO
See Table 14-1.
See Figure 1-1 on page 2 and Table 10-9 on page 56 for Analog Comparator pin placement.
The ADC Power Reduction bit, PRADC, must be disabled in order to use the ADC input multiplexer. This is done by
clearing the PRADC bit in the Power Reduction Register, PRR. See “PRR – Power Reduction Register” on page 27 for
more details.
14.1
Analog Comparator Multiplexed Input
When the Analog to Digital Converter (ADC) is configurated as single ended input channel, it is possible to select any of
the ADC[7:0] pins to replace the negative input to the Analog Comparator. The ADC multiplexer is used to select this
input. If the Analog Comparator Multiplexer Enable bit (ACME in ADCSRB) is set, MUX bits in ADMUX select the input
pin to replace the negative input to the analog comparator.
Table 14-1. Analog Comparator Multiplexed Input
ACME
MUX[3:0]
Analog Comparator Negative Input
0
XXXX
AIN1
1
0000
ADC0
1
0001
ADC1
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14.2
ACME
MUX[3:0]
Analog Comparator Negative Input
1
0010
ADC2
1
0011
ADC3
1
0100
ADC4
1
0101
ADC5
1
0110
ADC6
1
0111
ADC7
Register Description
14.2.1 ACSRA – Analog Comparator Control and Status Register
Bit
0x14
Read/Write
Initial Value
z
7
ACD
R/W
0
6
ACBG
R/W
0
5
ACO
R
N/A
4
ACI
R/W
0
3
ACIE
R/W
0
2
ACIC
R/W
0
1
ACIS1
R/W
0
0
ACIS0
R/W
0
ACSRA
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.
z
Bit 6 – ACBG: Analog Comparator Bandgap Select
When this bit is set, a fixed, internal 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.
z
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.
z
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.
z
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.
z
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 then 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.
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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
(TIMSK) must be set.
z
Bits 1:0 – ACIS[1:0]: Analog Comparator Interrupt Mode Select
These bits determine which comparator events that trigger the Analog Comparator interrupt. The different settings are
shown in Table 14-2.
Table 14-2. 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.
14.2.2 ACSRB – Analog Comparator Control and Status Register B
Bit
0x13
Read/Write
Initial Value
z
7
HSEL
R/W
0
6
HLEV
R/W
0
5
ACLP
R/W
0
4
–
R
0
3
ACCE
R/W
0
2
ACME
R/W
0
1
ACIRS1
R/W
0
0
ACIRS0
R/W
0
ACSRB
Bit 7 – HSEL: Hysteresis Select
When this bit is written logic one, the hysteresis of the analog comparator is enabled. The level of hysteresis is selected
by the HLEV bit.
z
Bit 6 – HLEV: Hysteresis Level
When enabled via the HSEL bit, the level of hysteresis can be set using the HLEV bit, as shown in Table 14-3.
Table 14-3. Selecting Level of Analog Comparator Hysteresis
HSEL
HLEV
0
X
Not enabled
0
20 mV
1
50 mV
1
z
Hysteresis of Analog Comparator
Bit 5 – ACLP
This bit is reserved for QTouch, always write as zero.
z
Bit 4 – Res: Reserved Bit
This bit is reserved and will always read as zero.
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z
Bit 3 – ACCE
This bit is reserved for QTouch, always write as zero.
z
Bit 2 – 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 105.
z
Bit 1 – ACIRS1
This bit is reserved for QTouch, always write as zero.
z
Bit 0 – ACIRS0
This bit is reserved for QTouch, always write as zero.
14.2.3 DIDR0 – Digital Input Disable Register 0
Bit
0x0D
Read/Write
Initial Value
z
7
ADC7D
R/W
0
6
ADC6D
R/W
0
5
ADC5D
R/W
0
4
ADC4D
R/W
0
3
ADC3D
R/W
0
2
ADC2D
R/W
0
1
ADC1D
R/W
0
0
ADC0D
R/W
0
DIDR0
Bits 2:1 – ADC2D, ADC1D: ADC 2/1 Digital input buffer 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 used as an analog input but not required as a digital input the power
consumption in the digital input buffer can be reduced by writing this bit to logic one.
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15.
Analog to Digital Converter
15.1
Features
z 10-bit Resolution
z 1 LSB Integral Non-linearity
z ± 2 LSB Absolute Accuracy
z 13μs Conversion Time
z 15 kSPS at Maximum Resolution
z Eight Multiplexed Single Ended Input Channels
z Temperature Sensor Input Channel
z Optional Left Adjustment for ADC Result Readout
z 0 - VCC ADC Input Voltage Range
z 1.1V ADC Reference Voltage
z Free Running or Single Conversion Mode
z ADC Start Conversion by Auto Triggering on Interrupt Sources
z Interrupt on ADC Conversion Complete
z Sleep Mode Noise Canceler
15.2
Overview
ATtiny20 features a 10-bit, successive approximation Analog-to-Digital Converter (ADC). The ADC is wired to a ninechannel analog multiplexer, which allows the ADC to measure the voltage at eight single-ended input pins, or from one
internal, single-ended voltage channel coming from the internal temperature sensor. Voltage inputs are referred to 0V
(GND).
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 15-1 on page 110.
Internal reference voltage of nominally 1.1V is provided on-chip. Alternatively, VCC can be used as reference voltage for
single ended channels.
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Figure 15-1. Analog to Digital Converter Block Schematic
ADCH+ADCL
ADIE
ADEN
ADPS0
ADPS1
ADPS2
ADATE
ADCSRA
ADSC
ADTS[2:0]
ADCSRB
ADC IRQ
TRIGGER
SELECT
PRESCALER
ADIF
CHANNEL
START
DECODER
ADC9:0
ADLAR
MUX[3:0]
REFS
ADMUX
INTERRUPT FLAGS
8-BIT DATA BUS
CONVERSION LOGIC
VCC
10-BIT DAC
INTERNAL
REFERENCE
+
SAMPLE & HOLD
COMPARATOR
TEMPERATURE
SENSOR
ADC7
ADC6
ADC MUX OUTPUT
ADC5
INPUT
MUX
ADC4
ADC3
ADC2
ADC1
ADC0
AGND
15.3
Operation
In order to be able to use the ADC the Power Reduction bit, PRADC, in the Power Reduction Register must be disabled.
This is done by clearing the PRADC bit. See “PRR – Power Reduction Register” on page 27 for more details.
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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 converts an analog input voltage to a 10-bit digital value using successive approximation. The minimum value
represents GND and the maximum value represents the reference voltage. The ADC voltage reference is selected by
writing the REFS bit in the ADMUX register. Alternatives are the VCC supply pin and the internal 1.1V voltage reference.
The analog input channel is selected by writing to the MUX bits in ADMUX. Any of the ADC input pins can be selected as
single ended inputs to the ADC.
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 ADCSRB.
If the result is left adjusted and no more than 8-bit precision is required, it is sufficient to read ADCH, only. 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. When ADC access to the data
registers is prohibited between reading of ADCH and ADCL, the interrupt will trigger even if the result is lost.
15.4
Starting a Conversion
Make sure the ADC is powered by clearing the ADC Power Reduction bit, PRADC, in the Power Reduction Register,
PRR (see “PRR – Power Reduction Register” on page 27).
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 still is set when the conversion completes, a new conversion will not be
started. If another positive edge occurs on the trigger signal during conversion, the edge will be ignored. Note that an
Interrupt Flag will be set even if the specific interrupt is disabled or the Global Interrupt Enable bit in 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.
Figure 15-2. ADC Auto Trigger Logic
ADTS[2:0]
PRESCALER
START
ADIF
CLKADC
ADATE
SOURCE 1
.
.
.
.
SOURCE n
CONVERSION
LOGIC
EDGE
DETECTOR
ADSC
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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.
Prescaling and Conversion Timing
By default, the successive approximation circuitry requires an input clock frequency between 50 kHz and 200 kHz to get
maximum resolution. If a lower resolution than 10 bits is needed, the input clock frequency to the ADC can be higher than
200 kHz to get a higher sample rate. It is not recommended to use a higher input clock frequency than 1 MHz.
Figure 15-3. ADC Prescaler
ADEN
START
Reset
7-BIT ADC PRESCALER
CK/64
CK/128
CK/32
CK/8
CK/16
CK/4
CK
CK/2
15.5
ADPS0
ADPS1
ADPS2
ADC CLOCK SOURCE
The ADC module contains a prescaler, as illustrated in Figure 15-3 on page 112, which generates an acceptable ADC
clock frequency from any CPU frequency above 100 kHz. 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 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.
A normal conversion takes 13 ADC clock cycles, as summarized in Table 15-1 on page 115. 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, as
shown in Figure 15-4 below.
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Figure 15-4. 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
24
23
25
1
2
3
ADC Clock
ADEN
ADSC
ADIF
Sign and MSB of Result
ADCH
LSB of Result
ADCL
MUX and REFS
Update
Conversion
Complete
Sample & Hold
MUX and REFS
Update
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 a first conversion. See Figure 15-5. 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.
Figure 15-5. 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
When Auto Triggering is used, the prescaler is reset when the trigger event occurs, as shown in Figure 15-6 below. 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.
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Figure 15-6. 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
In Free Running mode, a new conversion will be started immediately after the conversion completes, while ADSC
remains high. See Figure 15-7.
Figure 15-7. ADC Timing Diagram, Free Running Conversion
One Conversion
Cycle Number
12
13
Next Conversion
14
1
2
3
4
ADC Clock
ADSC
ADIF
ADCH
Sign and MSB of Result
ADCL
LSB of Result
Conversion
Complete
Sample & Hold
MUX and REFS
Update
For a summary of conversion times, see Table 15-1.
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Table 15-1. ADC Conversion Time
Condition
Sample & Hold (Cycles from Start of Conversion)
Conversion Time (Cycles)
First conversion
13.5
25
Normal conversions
1.5
13
2
13.5
2.5
14
Auto Triggered conversions
Free Running conversion
15.6
Changing Channel or Reference Selection
The MUX and REFS 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:
z
When ADATE or ADEN is cleared.
z
During conversion, minimum one ADC clock cycle after the trigger event.
z
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.
15.6.1 ADC Input Channels
When changing channel selections, the user should observe the following guidelines to ensure that the correct channel is
selected:
z
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.
z
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.
15.6.2 ADC Voltage Reference
The ADC reference voltage (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 VCC, or internal 1.1V reference. The internal 1.1V
reference is generated from the internal bandgap reference (VBG) through an internal amplifier.
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The first ADC conversion result after switching reference voltage source may be inaccurate, and the user is advised to
discard this result.
15.7
ADC Noise Canceler
The ADC features a noise canceler that enables conversion during sleep mode. This reduces 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:
z
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.
z
Enter ADC Noise Reduction mode (or Idle mode). The ADC will start a conversion once the CPU has been halted.
z
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 automatically be 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.
15.8
Analog Input Circuitry
The analog input circuitry for single ended channels is illustrated in Figure 15-8. 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, which can vary widely. The user is recommended to only
use low impedance sources with slowly varying signals, since this minimizes the required charge transfer to the S/H
capacitor.
In order to avoid distortion from unpredictable signal convolution, signal components higher than the Nyquist frequency
(fADC/2) should not be present. The user is advised to remove high frequency components with a low-pass filter before
applying the signals as inputs to the ADC.
Figure 15-8. Analog Input Circuitry
IIH
ADCn
1..100 kohm
CS/H= 14 pF
IIL
VCC/2
Note:
The capacitor in the figure depicts the total capacitance, including the sample/hold capacitor and any stray or parasitic
capacitance inside the device. The value given is worst case.
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15.9
Noise Canceling Techniques
Digital circuitry inside and outside the device generates EMI which might affect the accuracy of analog measurements.
When conversion accuracy is critical, the noise level can be reduced by applying the following techniques:
z
Keep analog signal paths as short as possible.
z
Make sure analog tracks run over the analog ground plane.
z
Keep analog tracks well away from high-speed switching digital tracks.
z
If any port pin is used as a digital output, it mustn’t switch while a conversion is in progress.
z
Place bypass capacitors as close to VCC and GND pins as possible.
Where high ADC accuracy is required it is recommended to use ADC Noise Reduction Mode, as described in Section
15.7 on page 116. This is especially the case when system clock frequency is above 1 MHz, or when the ADC is used for
reading the internal temperature sensor, as described in Section 15.12 on page 119. A good system design with properly
placed, external bypass capacitors does reduce the need for using ADC Noise Reduction Mode
15.10 ADC Accuracy Definitions
An n-bit single-ended ADC converts a voltage linearly between GND and VREF in 2n steps (LSBs). The lowest code is
read as 0, and the highest code is read as 2n-1.
Several parameters describe the deviation from the ideal behavior, as follows:
z
Offset: The deviation of the first transition (0x000 to 0x001) compared to the ideal transition (at 0.5 LSB). Ideal
value: 0 LSB.
Figure 15-9. Offset Error
Output Code
Ideal ADC
Actual ADC
Offset
Error
VREF Input Voltage
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z
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 15-10.Gain Error
Gain
Error
Output Code
Ideal ADC
Actual ADC
VREF Input Voltage
z
Integral Non-linearity (INL): After adjusting for offset and gain error, the INL is the maximum deviation of an actual
transition compared to an ideal transition for any code. Ideal value: 0 LSB.
Figure 15-11.Integral Non-linearity (INL)
Output Code
INL
Ideal ADC
Actual ADC
VREF
Input Voltage
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z
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 15-12.Differential Non-linearity (DNL)
Output Code
0xFF
1 LSB
DNL
0x00
0
VREF
Input Voltage
z
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.
z
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.
15.11 ADC Conversion Result
After the conversion is complete (ADIF is high), the conversion result can be found in the ADC Data Registers (ADCL,
ADCH). The result is, as follows:
V IN ⋅ 1024
ADC = -------------------------V REF
where VIN is the voltage on the selected input pin and VREF the selected voltage reference (see Table 15-3 on page 120
and Table 15-4 on page 121). 0x000 represents analog ground, and 0x3FF represents the selected reference voltage
minus one LSB. The result is presented in one-sided form, from 0x3FF to 0x000.
15.12 Temperature Measurement
The temperature measurement is based on an on-chip temperature sensor that is coupled to a single ended ADC
channel. The temperature sensor is measured via channel ADC8 and is enabled by writing MUX bits in ADMUX register
to “1010”. The internal 1.1V reference must also be selected for the ADC reference source in the temperature sensor
measurement. When the temperature sensor is enabled, the ADC converter can be used in single conversion mode to
measure the voltage over the temperature sensor.
The measured voltage has a linear relationship to the temperature as described in Table 15-2 The sensitivity is
approximately 1 LSB / °C and the accuracy depends on the method of user calibration. Typically, the measurement
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accuracy after a single temperature calibration is ±10°C, assuming calibration at room temperature. Better accuracies
are achieved by using two temperature points for calibration.
Table 15-2. Temperature vs. Sensor Output Voltage (Typical Case)
Temperature
ADC
-40°C
+25°C
+85°C
235 LSB
300 LSB
360 LSB
The values described in Table 15-2 are typical values. However, due to process variation the temperature sensor output
voltage varies from one chip to another. To be capable of achieving more accurate results the temperature measurement
can be calibrated in the application software. The software calibration can be done using the formula:
T = k * [(ADCH << 8) | ADCL] + TOS
where ADCH and ADCL are the ADC data registers, k is the fixed slope coefficient and TOS is the temperature sensor
offset. Typically, k is very close to 1.0 and in single-point calibration the coefficient may be omitted. Where higher
accuracy is required the slope coefficient should be evaluated based on measurements at two temperatures.
15.13 Register Description
15.13.1 ADMUX – ADC Multiplexer Selection Register
Bit
0x10
Read/Write
Initial Value
z
7
–
R
0
6
REFS
R/W
0
5
REFEN
R/W
0
4
ADC0EN
R/W
0
3
MUX3
R/W
0
2
MUX2
R/W
0
1
MUX1
R/W
0
0
MUX0
R/W
0
ADMUX
Bit 7 – Res: Reserved Bit
This bit is reserved and will always read as zero.
z
Bit 6 – REFS: Reference Selection Bit
This bits selects the voltage reference for the ADC, as shown in Table 15-3.
Table 15-3. Voltage Reference Selections for ADC
REFS
Voltage Reference Selection
0
VCC used as analog reference
1
Internal 1.1V voltage reference
If this bit is changed during a conversion, the change will not go in effect until this conversion is complete (ADIF in
ADCSR is set). Also note, that when these bits are changed, the next conversion will take 25 ADC clock cycles.
z
Bit 5 – REFEN
This bit is reserved for QTouch, always write as zero.
z
Bit 4 – ADC0EN
This bit is reserved for QTouch, always write as zero.
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z
Bits 3:0 – MUX[3:0]: Analog Channel and Gain Selection Bits
The value of these bits selects which analog input is connected to the ADC, as shown in Table 15-4. Selecting channel
ADC8 enables temperature measurement.
Table 15-4. Single-Ended Input channel Selections
Single Ended Input
MUX[3:0]
ADC0 (PA0)
0000
ADC1 (PA1)
0001
ADC2 (PA2)
0010
ADC3 (PA3)
0011
ADC4 (PA4)
0100
ADC5 (PA5)
0101
ADC6 (PA6)
0110
ADC7 (PA7)
0111
0V (AGND)
1000
Internal 1.1V Voltage Reference (1)
1001
ADC8 (Temperature Sensor)(2)
1010
Reserved
Notes: 1.
2.
1011 – 1111
After switching to internal voltage reference the ADC requires a settling time of 1ms before measurements
are stable. Conversions starting before this may not be reliable. The ADC must be enabled during the settling time.
See “Temperature Measurement” on page 119.
If these bits are changed during a conversion, the change will not go into effect until this conversion is complete (ADIF in
ADCSRA is set).
15.13.2 ADCL and ADCH – ADC Data Register
15.13.2.1ADLAR = 0
Bit
0x0F
0x0E
Read/Write
Initial Value
15
–
ADC7
7
R
R
0
0
14
–
ADC6
6
R
R
0
0
13
–
ADC5
5
R
R
0
0
12
–
ADC4
4
R
R
0
0
11
–
ADC3
3
R
R
0
0
10
–
ADC2
2
R
R
0
0
9
ADC9
ADC1
1
R
R
0
0
8
ADC8
ADC0
0
R
R
0
0
ADCH
ADCL
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15.13.2.2ADLAR = 1
Bit
0x0F
0x0E
Read/Write
Initial Value
15
ADC9
ADC1
7
R
R
0
0
14
ADC8
ADC0
6
R
R
0
0
13
ADC7
–
5
R
R
0
0
12
ADC6
–
4
R
R
0
0
11
ADC5
–
3
R
R
0
0
10
ADC4
–
2
R
R
0
0
9
ADC3
–
1
R
R
0
0
8
ADC2
–
0
R
R
0
0
ADCH
ADCL
When an ADC conversion is complete, the result is found in these two registers.
When ADCL is read, the ADC Data Register is not updated until ADCH is read. Consequently, if the result is left adjusted
and no more than 8-bit precision is required, it is sufficient to read ADCH. Otherwise, ADCL must be read first, then
ADCH.
The ADLAR bit in ADCSRB, and the MUX 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.
z
ADC[9:0]: ADC Conversion Result
These bits represent the result from the conversion, as detailed in “ADC Conversion Result” on page 119.
15.13.3 ADCSRA – ADC Control and Status Register A
Bit
0x12
Read/Write
Initial Value
z
7
ADEN
R/W
0
6
ADSC
R/W
0
5
ADATE
R/W
0
4
ADIF
R/W
0
3
ADIE
R/W
0
2
ADPS2
R/W
0
1
ADPS1
R/W
0
0
ADPS0
R/W
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.
z
Bit 6 – ADSC: ADC Start Conversion
In Single Conversion mode, write this bit to one to start each conversion. In Free Running mode, write this bit to one to
start the first conversion. The first conversion after ADSC has been written after the ADC has been enabled, or if ADSC
is written at the same time as the ADC is enabled, will take 25 ADC clock cycles instead of the normal 13. This first
conversion performs initialization of the ADC.
ADSC will read as one as long as a conversion is in progress. When the conversion is complete, it returns to zero.
Writing zero to this bit has no effect.
z
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.
z
Bit 4 – ADIF: ADC Interrupt Flag
This bit is set when an ADC conversion completes and the data registers are updated. The ADC Conversion Complete
Interrupt is executed if the ADIE bit and the I-bit in SREG are set. ADIF is cleared by hardware when executing the
corresponding interrupt handling vector. Alternatively, ADIF is cleared by writing a logical one to the flag.
Beware that if doing a Read-Modify-Write on ADCSRA, a pending interrupt can be disabled.
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z
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.
z
Bits 2:0 – ADPS[2:0]: ADC Prescaler Select Bits
These bits determine the division factor between the system clock frequency and the input clock to the ADC.
Table 15-5. 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
15.13.4 ADCSRB – ADC Control and Status Register B
Bit
0x11
Read/Write
Initial Value
z
7
VDEN
R/W
0
6
VDPD
R/W
0
5
–
R
0
4
–
R
0
3
ADLAR
R/W
0
2
ADTS2
R/W
0
1
ADTS1
R/W
0
0
ADTS0
R/W
0
ADCSRB
Bit 7 – VDEN
This bit is reserved for QTouch, always write as zero.
z
Bit 6 – VDPD
This bit is reserved for QTouch, always write as zero.
z
Bits 5:4 – Res: Reserved Bits
These are reserved bits. For compatibility with future devices always write these bits to zero.
z
Bit 3 – 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 – ADC
Data Register” on page 121.
z
Bits 2:0 – ADTS[2:0]: 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 ADTS[2:0] settings will have no effect. A conversion will be triggered by the rising edge of the
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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 15-6. 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 A
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
15.13.5 DIDR0 – Digital Input Disable Register 0
Bit
0x0D
Read/Write
Initial Value
z
7
ADC7D
R/W
0
6
ADC6D
R/W
0
5
ADC5D
R/W
0
4
ADC4D
R/W
0
3
ADC3D
R/W
0
2
ADC2D
R/W
0
1
ADC1D
R/W
0
0
ADC0D
R/W
0
DIDR0
Bits 7:0 – ADC7D:ADC0D: ADC[7:0] Digital Input Disable
When a 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 ADC[7:0] 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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16.
SPI – Serial Peripheral Interface
16.1
Features
z Full-duplex, Three-wire Synchronous Data Transfer
z Master or Slave Operation
z LSB First or MSB First Data Transfer
z Seven Programmable Bit Rates
z End of Transmission Interrupt Flag
z Write Collision Flag Protection
z Wake-up from Idle Mode
z Double Speed (CK/2) Master SPI Mode
16.2
Overview
The Serial Peripheral Interface (SPI) allows high-speed synchronous data transfer between the ATtiny20 and peripheral
devices or between several AVR devices. The SPI module is illustrated in Figure 16-1.
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Figure 16-1. SPI Block Diagram
CLKIO
DIVIDER
/2/4/8/16/32/64/128
SPI2X
SPI2X
SS
Note:
Refer to Figure 1-1 on page 2, and Table 16-1 on page 127 for SPI pin placement.
To enable the SPI module, the PRSPI bit in the Power Reduction Register must be written to zero. See “PRR – Power
Reduction Register” on page 27.
The interconnection between Master and Slave CPUs with SPI is shown in Figure 16-2 on page 127. The system
consists of two shift Registers, and a Master clock generator. The SPI Master initiates the communication cycle when
pulling low the Slave Select SS pin of the desired Slave. Master and Slave prepare the data to be sent in their respective
shift Registers, and the Master generates the required clock pulses on the SCK line to interchange data. Data is always
shifted from Master to Slave on the Master Out – Slave In, MOSI, line, and from Slave to Master on the Master In – Slave
Out, MISO, line. After each data packet, the Master will synchronize the Slave by pulling high the Slave Select, SS, line.
When configured as a Master, the SPI interface has no automatic control of the SS line. This must be handled by user
software before communication can start. When this is done, writing a byte to the SPI Data Register starts the SPI clock
generator, and the hardware shifts the eight bits into the Slave. After shifting one byte, the SPI clock generator stops,
setting the end of Transmission Flag (SPIF). If the SPI Interrupt Enable bit (SPIE) in the SPCR Register is set, an
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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 16-2. SPI Master-Slave Interconnection
SHIFT
ENABLE
The system is single buffered in the transmit direction and double buffered in the receive direction. This means that bytes
to be transmitted cannot be written to the SPI Data Register before the entire shift cycle is completed. When receiving
data, however, a received character must be read from the SPI Data Register before the next character has been
completely shifted in. Otherwise, the first byte is lost.
In SPI Slave mode, the control logic will sample the incoming signal of the SCK pin. To ensure correct sampling of the
clock signal, the minimum low and high periods should be:
Low periods: Longer than 2 CPU clock cycles.
High periods: Longer than 2 CPU clock cycles.
When the SPI is enabled, the data direction of the MOSI, MISO, SCK, and SS pins is overridden according to Table 161. For more details on automatic port overrides, refer to “Alternate Port Functions” on page 47.
Table 16-1. SPI Pin Overrides
Pin
Note:
Direction, Master SPI
Direction, Slave SPI
MOSI
User Defined
Input
MISO
Input
User Defined
SCK
User Defined
Input
SS
User Defined
Input
See “Alternate Functions of Port B” on page 53 for a detailed description of how to define the direction of the
user defined SPI pins.
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The following code examples show how to initialize the SPI as a Master and how to perform a simple transmission.
DDR_SPI in the examples must be replaced by the actual Data Direction Register controlling the SPI pins. DD_MOSI,
DD_MISO and DD_SCK must be replaced by the actual data direction bits for these pins. E.g. if MOSI is placed on pin
PB5, replace DD_MOSI with DDB5 and DDR_SPI with DDRB.
Assembly Code Example
SPI_MasterInit:
; Set MOSI and SCK output, all others input
ldi
r17,(1<<DD_MOSI)|(1<<DD_SCK)
out
DDR_SPI,r17
; Enable SPI, Master, set clock rate fck/16
ldi
r17,(1<<SPE)|(1<<MSTR)|(1<<SPR0)
out
SPCR,r17
ret
SPI_MasterTransmit:
; Start transmission of data (r16)
out
SPDR,r16
Wait_Transmit:
; Wait for transmission complete
in
r16, SPSR
sbrs
r16, SPIF
rjmp
Wait_Transmit
ret
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C Code Example
void SPI_MasterInit(void)
{
/* Set MOSI and SCK output, all others input */
DDR_SPI = (1<<DD_MOSI)|(1<<DD_SCK);
/* Enable SPI, Master, set clock rate fck/16 */
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
}
void SPI_MasterTransmit(char cData)
{
/* Start transmission */
SPDR = cData;
/* Wait for transmission complete */
while(!(SPSR & (1<<SPIF)))
;
}
Note:
See ”Code Examples” on page 7.
The following code examples show how to initialize the SPI as a Slave and how to perform a simple reception.
Assembly Code Example
SPI_SlaveInit:
; Set MISO output,
ldi
out
; Enable SPI
ldi
out
ret
all others input
r17,(1<<DD_MISO)
DDR_SPI,r17
r17,(1<<SPE)
SPCR,r17
SPI_SlaveReceive:
; Wait for reception complete
in
r16, SPSR
sbrs
r16, SPIF
rjmp
SPI_SlaveReceive
; Read received data and return
in
r16,SPDR
ret
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C Code Example
void SPI_SlaveInit(void)
{
/* Set MISO output, all others input */
DDR_SPI = (1<<DD_MISO);
/* Enable SPI */
SPCR = (1<<SPE);
}
char SPI_SlaveReceive(void)
{
/* Wait for reception complete */
while(!(SPSR & (1<<SPIF)))
;
/* Return Data Register */
return SPDR;
}
Note:
16.3
See ”Code Examples” on page 7.
SS Pin Functionality
16.3.1 Slave Mode
When the SPI is configured as a Slave, the Slave Select (SS) pin is always input. When SS is held low, the SPI is
activated, and MISO becomes an output if configured so by the user. All other pins are inputs. When SS is driven high, all
pins are inputs, and the SPI is passive, which means that it will not receive incoming data. 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.
16.3.2 Master Mode
When the SPI is configured as a Master (MSTR in SPCR is set), the user can determine the direction of the SS pin.
If SS is configured as an output, the pin is a general output pin which does not affect the SPI system. Typically, the pin
will be driving the SS pin of the SPI Slave.
If SS is configured as an input, it must be held high to ensure Master SPI operation. If the SS pin is driven low by
peripheral circuitry when the SPI is configured as a Master with the SS pin defined as an input, the SPI system interprets
this as another master selecting the SPI as a slave and starting to send data to it. To avoid bus contention, the SPI
system takes the following actions:
1.
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.
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16.4
Data Modes
There are four combinations of SCK phase and polarity with respect to serial data, which are determined by control bits
CPHA and CPOL. The SPI data transfer formats are shown in Figure 16-3 on page 131 and Figure 16-4 on page 131.
Figure 16-3. 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 16-4. 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)
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
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 shown in Table 16-2, which is a summary of Table 16-3 and Table 16-4.
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Table 16-2. SPI Modes
SPI Mode
16.5
Conditions
Leading Edge
Trailing eDge
0
CPOL=0, CPHA=0
Sample (Rising)
Setup (Falling)
1
CPOL=0, CPHA=1
Setup (Rising)
Sample (Falling)
2
CPOL=1, CPHA=0
Sample (Falling)
Setup (Rising)
3
CPOL=1, CPHA=1
Setup (Falling)
Sample (Rising)
Register Description
16.5.1 SPCR – SPI Control Register
Bit
0x30
Read/Write
Initial Value
z
7
SPIE
R/W
0
6
SPE
R/W
0
5
DORD
R/W
0
4
MSTR
R/W
0
3
CPOL
R/W
0
2
CPHA
R/W
0
1
SPR1
R/W
0
0
SPR0
R/W
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.
z
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.
z
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.
z
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.
z
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 16-3 and Figure 16-4 for an example. The CPOL functionality is summarized below:
Table 16-3. CPOL Functionality
z
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 16-3 and Figure 16-4 for an example. The CPOL functionality is summarized below:
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Table 16-4. CPHA Functionality
z
CPHA
Leading Edge
Trailing Edge
0
Sample
Setup
1
Setup
Sample
Bits 1:0 – SPR[1:0]: 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 I/O clock frequency fclk_I/O is shown in the following table:
Table 16-5. Relationship Between SCK and the I/O Clock Frequency
SPI2X
SPR1
SPR0
SCK Frequency
0
0
0
fclk_I/O/4
0
0
1
fclk_I/O/16
0
1
0
fclk_I/O/64
0
1
1
fclk_I/O/128
1
0
0
fclk_I/O/2
1
0
1
fclk_I/O/8
1
1
0
fclk_I/O/32
1
1
1
fclk_I/O/64
16.5.2 SPSR – SPI Status Register
Bit
0x2F
Read/Write
Initial Value
z
7
SPIF
R/W
0
6
WCOL
R/W
0
5
–
R
0
4
–
R
0
3
–
R
0
2
–
R
0
1
–
R
0
0
SPI2X
R/W
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 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).
z
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.
z
Bits 5:1 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
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 16-5). This means that the minimum SCK period will be two I/O clock periods. When the SPI is configured as
Slave, the SPI is only guaranteed to work at fclk_I/O/4 or lower.
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16.5.3 SPDR – SPI Data Register
Bit
0x2E
Read/Write
Initial Value
7
MSB
R/W
X
6
5
4
3
2
1
R/W
X
R/W
X
R/W
X
R/W
X
R/W
X
R/W
X
0
LSB
R/W
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.
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17.
TWI – Two Wire Slave Interface
17.1
Features
z Phillips I2C compatible
z SMBus compatible (with reservations)
z 100 kHz and 400 kHz support at low system clock frequencies
z Slew-Rate Limited Output Drivers
z Input Filter provides noise suppression
z 7-bit, and General Call Address Recognition in Hardware
z Address mask register for address masking or dual address match
z 10-bit addressing supported
z Optional Software Address Recognition Provides Unlimited Number of Slave Addresses
z Slave can operate in all sleep modes, including Power Down
z Slave Arbitration allows support for SMBus Address Resolve Protocol (ARP)
17.2
Overview
The Two Wire Interface (TWI) is a bi-directional, bus communication interface, which uses only two wires. The TWI is I2C
compatible and, with reservations, SMBus compatible (see “Compatibility with SMBus” on page 141).
A device connected to the bus must act as a master or slave.The master initiates a data transaction by addressing a
slave on the bus, and telling whether it wants to transmit or receive data. One bus can have several masters, and an
arbitration process handles priority if two or more masters try to transmit at the same time.
The TWI module in ATtiny20 implements slave functionality, only. Lost arbitration, errors, collisions and clock holds on
the bus are detected in hardware and indicated in separate status flags.
Both 7-bit and general address call recognition is implemented in hardware. 10-bit addressing is also supported. A
dedicated address mask register can act as a second address match register or as a mask register for the slave address
to match on a range of addresses. The slave logic continues to operate in all sleep modes, including Power down. This
enables the slave to wake up from sleep on TWI address match. It is possible to disable the address matching and let
this be handled in software instead. This allows the slave to detect and respond to several addresses. Smart Mode can
be enabled to auto trigger operations and reduce software complexity.
The TWI module includes bus state logic that collects information to detect START and STOP conditions, bus collision
and bus errors. The bus state logic continues to operate in all sleep modes including Power down.
17.3
General TWI Bus Concepts
The Two-Wire Interface (TWI) provides a simple two-wire bi-directional bus consisting of a serial clock line (SCL) and a
serial data line (SDA). The two lines are open collector lines (wired-AND), and pull-up resistors (Rp) are the only external
components needed to drive the bus. The pull-up resistors will provide a high level on the lines when none of the
connected devices are driving the bus. A constant current source can be used as an alternative to the pull-up resistors.
The TWI bus is a simple and efficient method of interconnecting multiple devices on a serial bus. A device connected to
the bus can be a master or slave, where the master controls the bus and all communication.
Figure 17-1 illustrates the TWI bus topology.
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Figure 17-1. TWI Bus Topology
A unique address is assigned to all slave devices connected to the bus, and the master will use this to address a slave
and initiate a data transaction. 7-bit or 10-bit addressing can be used.
Several masters can be connected to the same bus, and this is called a multi-master environment. An arbitration
mechanism is provided for resolving bus ownership between masters since only one master device may own the bus at
any given time.
A device can contain both master and slave logic, and can emulate multiple slave devices by responding to more than
one address.
A master indicates the start of transaction by issuing a START condition (S) on the bus. An address packet with a slave
address (ADDRESS) and an indication whether the master wishes to read or write data (R/W), is then sent. After all data
packets (DATA) are transferred, the master issues a STOP condition (P) on the bus to end the transaction. The receiver
must acknowledge (A) or not-acknowledge (A) each byte received.
Figure 17-2 shows a TWI transaction.
Figure 17-2. Basic TWI Transaction Diagram Topology
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The master provides the clock signal for the transaction, but a device connected to the bus is allowed to stretch the low
level period of the clock to decrease the clock speed.
17.3.1 Electrical Characteristics
The TWI follows the electrical specifications and timing of I2C and SMBus. See “Compatibility with SMBus” on page 141.
17.3.2 START and STOP Conditions
Two unique bus conditions are used for marking the beginning (START) and end (STOP) of a transaction. The master
issues a START condition(S) by indicating a high to low transition on the SDA line while the SCL line is kept high. The
master completes the transaction by issuing a STOP condition (P), indicated by a low to high transition on the SDA line
while SCL line is kept high.
Figure 17-3. START and STOP Conditions
Multiple START conditions can be issued during a single transaction. A START condition not directly following a STOP
condition, are named a Repeated START condition (Sr).
17.3.3 Bit Transfer
As illustrated by Figure 17-4 a bit transferred on the SDA line must be stable for the entire high period of the SCL line.
Consequently the SDA value can only be changed during the low period of the clock. This is ensured in hardware by the
TWI module.
Figure 17-4. Data Validity
Combining bit transfers results in the formation of address and data packets. These packets consist of 8 data bits (one
byte) with the most significant bit transferred first, plus a single bit not-acknowledge (NACK) or acknowledge (ACK)
response. The addressed device signals ACK by pulling the SCL line low, and NACK by leaving the line SCL high during
the ninth clock cycle.
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17.3.4 Address Packet
After the START condition, a 7-bit address followed by a read/write (R/W) bit is sent. This is always transmitted by the
Master. A slave recognizing its address will ACK the address by pulling the data line low the next SCL cycle, while all
other slaves should keep the TWI lines released, and wait for the next START and address. The 7-bit address, the R/W
bit and the acknowledge bit combined is the address packet. Only one address packet for each START condition is
given, also when 10-bit addressing is used.
The R/W specifies the direction of the transaction. If the R/W bit is low, it indicates a Master Write transaction, and the
master will transmit its data after the slave has acknowledged its address. Opposite, for a Master Read operation the
slave will start to transmit data after acknowledging its address.
17.3.5 Data Packet
Data packets succeed an address packet or another data packet. All data packets are nine bits long, consisting of one
data byte and an acknowledge bit. The direction bit in the previous address packet determines the direction in which the
data is transferred.
17.3.6 Transaction
A transaction is the complete transfer from a START to a STOP condition, including any Repeated START conditions in
between. The TWI standard defines three fundamental transaction modes: Master Write, Master Read, and combined
transaction.
Figure 17-5 illustrates the Master Write transaction. The master initiates the transaction by issuing a START condition (S)
followed by an address packet with direction bit set to zero (ADDRESS+W).
Figure 17-5. Master Write Transaction
Given that the slave acknowledges the address, the master can start transmitting data (DATA) and the slave will ACK or
NACK (A/A) each byte. If no data packets are to be transmitted, the master terminates the transaction by issuing a STOP
condition (P) directly after the address packet. There are no limitations to the number of data packets that can be
transferred. If the slave signal a NACK to the data, the master must assume that the slave cannot receive any more data
and terminate the transaction.
Figure 17-6 illustrates the Master Read transaction. The master initiates the transaction by issuing a START condition
followed by an address packet with direction bit set to one (ADRESS+R). The addressed slave must acknowledge the
address for the master to be allowed to continue the transaction.
Figure 17-6. Master Read Transaction
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Given that the slave acknowledges the address, the master can start receiving data from the slave. There are no
limitations to the number of data packets that can be transferred. The slave transmits the data while the master signals
ACK or NACK after each data byte. The master terminates the transfer with a NACK before issuing a STOP condition.
Figure 17-7 illustrates a combined transaction. A combined transaction consists of several read and write transactions
separated by a Repeated START conditions (Sr).
Figure 17-7. Combined Transaction
17.3.7 Clock and Clock Stretching
All devices connected to the bus are allowed to stretch the low period of the clock to slow down the overall clock
frequency or to insert wait states while processing data. A device that needs to stretch the clock can do this by
holding/forcing the SCL line low after it detects a low level on the line.
Three types of clock stretching can be defined as shown in Figure 17-8.
Figure 17-8. Clock Stretching
If the device is in a sleep mode and a START condition is detected the clock is stretched during the wake-up period for
the device.
A slave device can slow down the bus frequency by stretching the clock periodically on a bit level. This allows the slave
to run at a lower system clock frequency. However, the overall performance of the bus will be reduced accordingly. Both
the master and slave device can randomly stretch the clock on a byte level basis before and after the ACK/NACK bit.
This provides time to process incoming or prepare outgoing data, or performing other time critical tasks.
In the case where the slave is stretching the clock the master will be forced into a wait-state until the slave is ready and
vice versa.
17.3.8 Arbitration
A master can only start a bus transaction if it has detected that the bus is idle. As the TWI bus is a multi master bus, it is
possible that two devices initiate a transaction at the same time. This results in multiple masters owning the bus
simultaneously. This is solved using an arbitration scheme where the master loses control of the bus if it is not able to
transmit a high level on the SDA line. The masters who lose arbitration must then wait until the bus becomes idle (i.e.
wait for a STOP condition) before attempting to reacquire bus ownership. Slave devices are not involved in the arbitration
procedure.
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Figure 17-9. TWI Arbitration
Figure 17-9 shows an example where two TWI masters are contending for bus ownership. Both devices are able to issue
a START condition, but DEVICE1 loses arbitration when attempting to transmit a high level (bit 5) while DEVICE2 is
transmitting a low level.
Arbitration between a repeated START condition and a data bit, a STOP condition and a data bit, or a repeated START
condition and STOP condition are not allowed and will require special handling by software.
17.3.9 Synchronization
A clock synchronization algorithm is necessary for solving situations where more than one master is trying to control the
SCL line at the same time. The algorithm is based on the same principles used for clock stretching previously described.
Figure 17-10 shows an example where two masters are competing for the control over the bus clock. The SCL line is the
wired-AND result of the two masters clock outputs.
Figure 17-10.Clock Synchronization
A high to low transition on the SCL line will force the line low for all masters on the bus and they start timing their low
clock period. The timing length of the low clock period can vary between the masters. When a master (DEVICE1 in this
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case) has completed its low period it releases the SCL line. However, the SCL line will not go high before all masters
have released it. Consequently the SCL line will be held low by the device with the longest low period (DEVICE2).
Devices with shorter low periods must insert a wait-state until the clock is released. All masters start their high period
when the SCL line is released by all devices and has become high. The device which first completes its high period
(DEVICE1) forces the clock line low and the procedure are then repeated. The result of this is that the device with the
shortest clock period determines the high period while the low period of the clock is determined by the longest clock
period.
17.3.10 Compatibility with SMBus
As with any other I2C-compliant interface there are known compatibility issues the designer should be aware of before
connecting a TWI device to SMBus devices. For use in SMBus environments, the following should be noted:
17.4
z
All I/O pins of an AVR, including those of the two-wire interface, have protection diodes to both supply voltage and
ground. See Figure 10-1 on page 42. This is in contradiction to the requirements of the SMBus specifications. As a
result, supply voltage mustn’t be removed from the AVR or the protection diodes will pull the bus lines down.
Power down and sleep modes is not a problem, provided supply voltages remain.
z
The data hold time of the TWI is lower than specified for SMBus. The TWSHE bit of TWSCRA can be used to
increase the hold time. See “TWSCRA – TWI Slave Control Register A” on page 143.
z
SMBus has a low speed limit, while I2C hasn’t. As a master in an SMBus environment, the AVR must make sure
bus speed does not drop below specifications, since lower bus speeds trigger timeouts in SMBus slaves. If the
AVR is configured a slave there is a possibility of a bus lockup, since the TWI module doesn't identify timeouts.
TWI Slave Operation
The TWI slave is byte-oriented with optional interrupts after each byte. There are separate interrupt flags for Data
Interrupt and Address/Stop Interrupt. Interrupt flags can be set to trigger the TWI interrupt, or be used for polled
operation. There are dedicated status flags for indicating ACK/NACK received, clock hold, collision, bus error and
read/write direction.
When an interrupt flag is set, the SCL line is forced low. This will give the slave time to respond or handle any data, and
will in most cases require software interaction. Figure 17-11. shows the TWI slave operation. The diamond shapes
symbols (SW) indicate where software interaction is required.
Figure 17-11.TWI Slave Operation
The number of interrupts generated is kept at a minimum by automatic handling of most conditions. Quick Command can
be enabled to auto trigger operations and reduce software complexity.
Promiscuous Mode can be enabled to allow the slave to respond to all received addresses.
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17.4.1 Receiving Address Packets
When the TWI slave is properly configured, it will wait for a START condition to be detected. When this happens, the
successive address byte will be received and checked by the address match logic, and the slave will ACK the correct
address. If the received address is not a match, the slave will not acknowledge the address and wait for a new START
condition.
The slave Address/Stop Interrupt Flag is set when a START condition succeeded by a valid address packet is detected.
A general call address will also set the interrupt flag.
A START condition immediately followed by a STOP condition, is an illegal operation and the Bus Error flag is set.
The R/W Direction flag reflects the direction bit received with the address. This can be read by software to determine the
type of operation currently in progress.
Depending on the R/W direction bit and bus condition one of four distinct cases (1 to 4) arises following the address
packet. The different cases must be handled in software.
17.4.1.1 Case 1: Address packet accepted - Direction bit set
If the R/W Direction flag is set, this indicates a master read operation. The SCL line is forced low, stretching the bus
clock. If ACK is sent by the slave, the slave hardware will set the Data Interrupt Flag indicating data is needed for
transmit. If NACK is sent by the slave, the slave will wait for a new START condition and address match.
17.4.1.2 Case 2: Address packet accepted - Direction bit cleared
If the R/W Direction flag is cleared this indicates a master write operation. The SCL line is forced low, stretching the bus
clock. If ACK is sent by the slave, the slave will wait for data to be received. Data, Repeated START or STOP can be
received after this. If NACK is indicated the slave will wait for a new START condition and address match.
17.4.1.3 Case 3: Collision
If the slave is not able to send a high level or NACK, the Collision flag is set and it will disable the data and acknowledge
output from the slave logic. The clock hold is released. A START or repeated START condition will be accepted.
17.4.1.4 Case 4: STOP condition received.
Operation is the same as case 1 or 2 above with one exception. When the STOP condition is received, the Slave
Address/Stop flag will be set indicating that a STOP condition and not an address match occurred.
17.4.2 Receiving Data Packets
The slave will know when an address packet with R/W direction bit cleared has been successfully received. After
acknowledging this, the slave must be ready to receive data. When a data packet is received the Data Interrupt Flag is
set, and the slave must indicate ACK or NACK. After indicating a NACK, the slave must expect a STOP or Repeated
START condition.
17.4.3 Transmitting Data Packets
The slave will know when an address packet, with R/W direction bit set, has been successfully received. It can then start
sending data by writing to the Slave Data register. When a data packet transmission is completed, the Data Interrupt Flag
is set. If the master indicates NACK, the slave must stop transmitting data, and expect a STOP or Repeated START
condition.
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17.5
Register Description
17.5.1 TWSCRA – TWI Slave Control Register A
Bit
0x2D
Read/Write
Initial Value
z
7
TWSHE
R/W
0
6
–
R
0
5
TWDIE
R/W
0
4
TWASIE
R/W
0
3
TWEN
R/W
0
2
TWSIE
R/W
0
1
TWPME
R/W
0
0
TWSME
R/W
0
TWSCRA
Bit 7 – TWSHE: TWI SDA Hold Time Enable
When this bit is set each negative transition of SCL triggers an additional internal delay, before the device is allowed to
change the SDA line. The added delay is approximately 50ns in length.
This may be useful in SMBus systems.
z
Bit 6 – Res: Reserved Bit
This bit is reserved and will always read as zero.
z
Bit 5 – TWDIE: TWI Data Interrupt Enable
When this bit is set and interrupts are enabled, a TWI interrupt will be generated when the data interrupt flag (TWDIF) in
TWSSRA is set.
z
Bit 4 – TWASIE: TWI Address/Stop Interrupt Enable
When this bit is set and interrupts are enabled, a TWI interrupt will be generated when the address/stop interrupt flag
(TWASIF) in TWSSRA is set.
z
Bit 3 – TWEN: Two-Wire Interface Enable
When this bit is set the slave Two-Wire Interface is enabled.
z
Bit 2 – TWSIE: TWI Stop Interrupt Enable
Setting the Stop Interrupt Enable (TWSIE) bit will set the TWASIF in the TWSSRA register when a STOP condition is
detected.
z
Bit 1 – TWPME: TWI Promiscuous Mode Enable
When this bit is set the address match logic of the slave TWI responds to all received addresses. When this bit is cleared
the address match logic uses the TWSA register to determine which address to recognize as its own.
z
Bit 0 – TWSME: TWI Smart Mode Enable
When this bit is set the TWI slave enters Smart Mode, where the Acknowledge Action is sent immediately after the TWI
data register (TWSD) has been read. Acknowledge Action is defined by the TWAA bit in TWSCRB.
When this bit is cleared the Acknowledge Action is sent after TWCMDn bits in TWSCRB are written to 1X.
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17.5.2 TWSCRB – TWI Slave Control Register B
Bit
0x2C
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
–
R
0
4
–
R
0
3
–
R
0
2
TWAA
R/W
0
1
TWCMD1
W
0
0
TWCMD0
W
0
TWSCRB
Bits 7:3 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bit 2 – TWAA: TWI Acknowledge Action
This bit defines the slave's acknowledge behavior after an address or data byte has been received from the master.
Depending on the TWSME bit in TWSCRA the Acknowledge Action is executed either when a valid command has been
written to TWCMDn bits, or when the data register has been read. Acknowledge action is also executed if clearing
TWAIF flag after address match or TWDIF flag during master transmit. See Table 17-1 for details.
Table 17-1. Acknowledge Action of TWI Slave
TWAA
z
Action
TWSME
0
Send ACK
1
Send NACK
When
0
When TWCMDn bits are written to 10 or 11
1
When TWSD is read
0
When TWCMDn bits are written to 10 or 11
1
When TWSD is read
Bits 1:0 – TWCMD[1:0]: TWI Command
Writing these bits triggers the slave operation as defined by Table 17-2. The type of operation depends on the TWI slave
interrupt flags, TWDIF and TWASIF. The Acknowledge Action is only executed when the slave receives data bytes or
address byte from the master.
Table 17-2. TWI Slave Command
TWCMD[1:0]
TWDIR
Operation
00
X
No action
01
X
Reserved
0
Execute Acknowledge Action, then wait for any
START (S/Sr) condition
1
Wait for any START (S/Sr) condition
0
Execute Acknowledge Action, then receive next byte
1
Execute Acknowledge Action, then set TWDIF
0
Execute Acknowledge Action, then wait for next byte
1
No action
10
11
Use
None
To complete transaction
In response to an Address Byte
(TWASIF is set)
In response to a Data Byte (TWDIF
is set)
Writing the TWCMD bits will automatically release the SCL line and clear the TWCH and slave interrupt flags.
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TWAA and TWCMDn bits can be written at the same time. Acknowledge Action will then be executed before the
command is triggered.
The TWCMDn bits are strobed and always read zero.
17.5.3 TWSSRA – TWI Slave Status Register A
Bit
0x2B
Read/Write
Initial Value
z
7
TWDIF
R/W
0
6
TWASIF
R/W
0
5
TWCH
R
0
4
TWRA
R
0
3
TWC
R/W
0
2
TWBE
R/W
0
1
TWDIR
R/W
0
0
TWAS
R/W
0
TWSSRA
Bit 7 – TWDIF: TWI Data Interrupt Flag
This flag is set when a data byte has been successfully received, i.e. no bus errors or collisions have occurred during the
operation. When this flag is set the slave forces the SCL line low, stretching the TWI clock period. The SCL line is
released by clearing the interrupt flags.
Writing a one to this bit will clear the flag. This flag is also automatically cleared when writing a valid command to the
TWCMDn bits in TWSCRB.
z
Bit 6 – TWASIF: TWI Address/Stop Interrupt Flag
This flag is set when the slave detects that a valid address has been received, or when a transmit collision has been
detected. When this flag is set the slave forces the SCL line low, stretching the TWI clock period. The SCL line is
released by clearing the interrupt flags.
If TWASIE in TWSCRA is set, a STOP condition on the bus will also set TWASIF. STOP condition will set the flag only if
system clock is faster than the minimum bus free time between STOP and START.
Writing a one to this bit will clear the flag. This flag is also automatically cleared when writing a valid command to the
TWCMDn bits in TWSCRB.
z
Bit 5 – TWCH: TWI Clock Hold
This bit is set when the slave is holding the SCL line low.
This bit is read-only, and set when TWDIF or TWASIF is set. The bit can be cleared indirectly by clearing the interrupt
flags and releasing the SCL line.
z
Bit 4 – TWRA: TWI Receive Acknowledge
This bit contains the most recently received acknowledge bit from the master.
This bit is read-only. When zero, the most recent acknowledge bit from the maser was ACK and, when one, the most
recent acknowledge bit was NACK.
z
Bit 3 – TWC: TWI Collision
This bit is set when the slave was not able to transfer a high data bit or a NACK bit. When a collision is detected, the
slave will commence its normal operation, and disable data and acknowledge output. No low values are shifted out onto
the SDA line.
This bit is cleared by writing a one to it. The bit is also cleared automatically when a START or Repeated START
condition is detected.
z
Bit 2 – TWBE: TWI Bus Error
This bit is set when an illegal bus condition has occurred during a transfer. An illegal bus condition occurs if a Repeated
START or STOP condition is detected, and the number of bits from the previous START condition is not a multiple of
nine.
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This bit is cleared by writing a one to it.
For bus errors to be detected, the system clock frequency must be at least four times the SCL frequency.
z
Bit 1 – TWDIR: TWI Read/Write Direction
This bit indicates the direction bit from the last address packet received from a master. When this bit is one, a master
read operation is in progress. When the bit is zero a master write operation is in progress.
z
Bit 0 – TWAS: TWI Address or Stop
This bit indicates why the TWASIF bit was last set. If zero, a stop condition caused TWASIF to be set. If one, address
detection caused TWASIF to be set.
17.5.4 TWSA – TWI Slave Address Register
Bit
0x2A
Read/Write
Initial Value
7
6
5
R/W
0
R/W
0
R/W
0
4
3
TWSA[7:0]
R/W
R/W
0
0
2
1
0
R/W
0
R/W
0
R/W
0
TWSA
The slave address register contains the TWI slave address used by the slave address match logic to determine if a
master has addressed the slave. When using 7-bit or 10-bit address recognition mode, the high seven bits of the address
register (TWSA[7:1]) represent the slave address. The least significant bit (TWSA0) is used for general call address
recognition. Setting TWSA0 enables general call address recognition logic.
When using 10-bit addressing the address match logic only support hardware address recognition of the first byte of a
10-bit address. If TWSA[7:1] is set to "0b11110nn", 'nn' will represent bits 9 and 8 of the slave address. The next byte
received is then bits 7 to 0 in the 10-bit address, but this must be handled by software.
When the address match logic detects that a valid address byte has been received, the TWASIF is set and the TWDIR
flag is updated.
If TWPME in TWSCRA is set, the address match logic responds to all addresses transmitted on the TWI bus. TWSA is
not used in this mode.
17.5.5 TWSD – TWI Slave Data Register
Bit
0x28
Read/Write
Initial Value
7
6
5
R/W
0
R/W
0
R/W
0
4
3
TWSD[7:0]
R/W
R/W
0
0
2
1
0
R/W
0
R/W
0
R/W
0
TWSD
The data register is used when transmitting and received data. During transfer, data is shifted from/to the TWSD register
and to/from the bus. Therefore, the data register cannot be accessed during byte transfers. This is protected in hardware.
The data register can only be accessed when the SCL line is held low by the slave, i.e. when TWCH is set.
When a master reads data from a slave, the data to be sent must be written to the TWSD register. The byte transfer is
started when the master starts to clock the data byte from the slave. It is followed by the slave receiving the acknowledge
bit from the master. The TWDIF and the TWCH bits are then set.
When a master writes data to a slave, the TWDIF and the TWCH flags are set when one byte has been received in the
data register. If Smart Mode is enabled, reading the data register will trigger the bus operation, as set by the TWAA bit in
TWSCRB. Accessing TWSD in Smart Mode will clear the slave data interrupt flag and the TWCH bit.
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17.5.6 TWSAM – TWI Slave Address Mask Register
Bit
0x29
Read/Write
Initial Value
z
7
6
5
R/W
0
R/W
0
R/W
0
4
TWSAM[7:1]
R/W
0
3
2
1
R/W
0
R/W
0
R/W
0
0
TWAE
R/W
0
TWSAM
Bits 7:1 – TWSAM[7:1]: TWI Address Mask
These bits can act as a second address match register, or an address mask register, depending on the TWAE setting.
If TWAE is set to zero, TWSAM can be loaded with a 7-bit slave address mask. Each bit in TWSAM can mask (disable)
the corresponding address bit in the TWSA register. If the mask bit is one the address match between the incoming
address bit and the corresponding bit in TWSA is ignored. In other words, masked bits will always match.
If TWAE is set to one, TWSAM can be loaded with a second slave address in addition to the TWSA register. In this
mode, the slave will match on 2 unique addresses, one in TWSA and the other in TWSAM.
z
Bit 0 – TWAE: TWI Address Enable
By default, this bit is zero and the TWSAM bits acts as an address mask to the TWSA register. If this bit is set to one, the
slave address match logic responds to the two unique addresses in TWSA and TWSAM.
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18.
Programming Interface
18.1
Features
z Physical Layer:
z
z
z
z
z
z
Synchronous Data Transfer
Bi-directional, Half-duplex Receiver And Transmitter
Fixed Frame Format With One Start Bit, 8 Data Bits, One Parity Bit And 2 Stop Bits
Parity Error Detection, Frame Error Detection And Break Character Detection
Parity Generation And Collision Detection
Automatic Guard Time Insertion Between Data Reception And Transmission
z Access Layer:
z
z
z
z
z
z
18.2
Communication Based On Messages
Automatic Exception Handling Mechanism
Compact Instruction Set
NVM Programming Access Control
Tiny Programming Interface Control And Status Space Access Control
Data Space Access Control
Overview
The Tiny Programming Interface (TPI) supports external programming of all Non-Volatile Memories (NVM). Memory
programming is done via the NVM Controller, by executing NVM controller commands as described in “Memory
Programming” on page 159.
The Tiny Programming Interface (TPI) provides access to the programming facilities. The interface consists of two layers:
the access layer and the physical layer. The layers are illustrated in Figure 18-1.
Figure 18-1. The Tiny Programming Interface and Related Internal Interfaces
TINY PROGRAMMING INTERFACE (TPI)
RESET
TPICLK
TPIDATA
PHYSICAL
LAYER
ACCESS
LAYER
NVM
CONTROLLER
NON-VOLATILE
MEMORIES
DATA BUS
Programming is done via the physical interface. This is a 3-pin interface, which uses the RESET pin as enable, the
TPICLK pin as the clock input, and the TPIDATA pin as data input and output.
NVM can be programmed at 5V, only.
18.3
Physical Layer of Tiny Programming Interface
The TPI physical layer handles the basic low-level serial communication. The TPI physical layer uses a bi-directional,
half-duplex serial receiver and transmitter. The physical layer includes serial-to-parallel and parallel-to-serial data
conversion, start-of-frame detection, frame error detection, parity error detection, parity generation and collision
detection.
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The TPI is accessed via three pins, as follows:
RESET:
TPICLK:
TPIDATA:
Tiny Programming Interface enable input
Tiny Programming Interface clock input
Tiny Programming Interface data input/output
In addition, the VCC and GND pins must be connected between the external programmer and the device.
18.3.1 Enabling
The following sequence enables the Tiny Programming Interface:
z
Apply 5V between VCC and GND
z
Depending on the method of reset to be used:
z
Either: wait tTOUT (see Table 20-4 on page 170) and then set the RESET pin low. This will reset the device
and enable the TPI physical layer. The RESET pin must then be kept low for the entire programming
session
z
Or: if the RSTDISBL configuration bit has been programmed, apply 12V to the RESET pin. The RESET pin
must be kept at 12V for the entire programming session
z
Wait tRST (see Table 20-4 on page 170)
z
Keep the TPIDATA pin high for 16 TPICLK cycles
See Figure 18-2 for guidance.
Figure 18-2. Sequence for enabling the Tiny Programming Interface
t
16 x TPICLK CYCLES
RST
RESET
TPICLK
TPIDATA
18.3.2 Disabling
Provided that the NVM enable bit has been cleared, the TPI is automatically disabled if the RESET pin is released to
inactive high state or, alternatively, if VHV is no longer applied to the RESET pin.
If the NVM enable bit is not cleared a power down is required to exit TPI programming mode.
See NVMEN bit in “TPISR – Tiny Programming Interface Status Register” on page 158.
18.3.3 Frame Format
The TPI physical layer supports a fixed frame format. A frame consists of one character, eight bits in length, and one start
bit, a parity bit and two stop bits. Data is transferred with the least significant bit first.
Figure 18-3. Serial frame format.
TPICLK
TPIDATA
IDLE
ST
D0
D1
D7
P
SP1
SP2
IDLE/ST
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Symbols used in Figure 18-3:
ST:
D0-D7:
P:
SP1:
SP2:
Start bit (always low)
Data bits (least significant bit sent first)
Parity bit (using even parity)
Stop bit 1 (always high)
Stop bit 2 (always high)
18.3.4 Parity Bit Calculation
The parity bit is always calculated using even parity. The value of the bit is calculated by doing an exclusive-or of all the
data bits, as follows:
P = D0 ⊗ D1 ⊗ D2 ⊗ D3 ⊗ D4 ⊗ D5 ⊗ D6 ⊗ D7 ⊗ 0
where:
P:
D0-D7:
Parity bit using even parity
Data bits of the character
18.3.5 Supported Characters
The BREAK character is equal to a 12 bit long low level. It can be extended beyond a bit-length of 12.
The IDLE character is equal to a 12 bit long high level. It can be extended beyond a bit-length of 12.
Figure 18-4. Supported characters.
DATA CHARACTER
TPIDATA
IDLE
ST
D0
D1
D7
P
SP1
SP2
IDLE/ST
BREAK CHARACTER
TPIDATA
IDLE
IDLE/ST
IDLE CHARACTER
TPIDATA
IDLE
IDLE/ST
18.3.6 Operation
The TPI physical layer operates synchronously on the TPICLK provided by the external programmer. The dependency
between the clock edges and data sampling or data change is shown in Figure 18-5. Data is changed at falling edges
and sampled at rising edges.
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Figure 18-5. Data changing and Data sampling.
TPICLK
TPIDATA
SAMPLE
SETUP
The TPI physical layer supports two modes of operation: Transmit and Receive. By default, the layer is in Receive mode,
waiting for a start bit. The mode of operation is controlled by the access layer.
18.3.7 Serial Data Reception
When the TPI physical layer is in receive mode, data reception is started as soon as a start bit has been detected. Each
bit that follows the start bit will be sampled at the rising edge of the TPICLK and shifted into the shift register until the
second stop bit has been received. When the complete frame is present in the shift register the received data will be
available for the TPI access layer.
There are three possible exceptions in the receive mode: frame error, parity error and break detection. All these
exceptions are signalized to the TPI access layer, which then enters the error state and puts the TPI physical layer into
receive mode, waiting for a BREAK character.
z
Frame Error Exception. The frame error exception indicates the state of the stop bit. The frame error exception is
set if the stop bit was read as zero.
z
Parity Error Exception. The parity of the data bits is calculated during the frame reception. After the frame is
received completely, the result is compared with the parity bit of the frame. If the comparison fails the parity error
exception is signalized.
z
Break Detection Exception. The Break detection exception is given when a complete frame of all zeros has been
received.
18.3.8 Serial Data Transmission
When the TPI physical layer is ready to send a new frame it initiates data transmission by loading the shift register with
the data to be transmitted. When the shift register has been loaded with new data, the transmitter shifts one complete
frame out on the TPIDATA line at the transfer rate given by TPICLK.
If a collision is detected during transmission, the output driver is disabled. The TPI access layer enters the error state and
the TPI physical layer is put into receive mode, waiting for a BREAK character.
18.3.9 Collision Detection Exception
The TPI physical layer uses one bi-directional data line for both data reception and transmission. A possible drive
contention may occur, if the external programmer and the TPI physical layer drive the TPIDATA line simultaneously. In
order to reduce the effect of the drive contention, a collision detection mechanism is supported. The collision detection is
based on the way the TPI physical layer drives the TPIDATA line.
The TPIDATA line is driven by a tri-state, push-pull driver with internal pull-up. The output driver is always enabled when
a logical zero is sent. When sending successive logical ones, the output is only driven actively during the first clock cycle.
After this, the output driver is automatically tri-stated and the TPIDATA line is kept high by the internal pull-up. The output
is re-enabled, when the next logical zero is sent.
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The collision detection is enabled in transmit mode, when the output driver has been disabled. The data line should now
be kept high by the internal pull-up and it is monitored to see, if it is driven low by the external programmer. If the output
is read low, a collision has been detected.
There are some potential pit-falls related to the way collision detection is performed. For example, collisions cannot be
detected when the TPI physical layer transmits a bit-stream of successive logical zeros, or bit-stream of alternating
logical ones and zeros. This is because the output driver is active all the time, preventing polling of the TPIDATA line.
However, within a single frame the two stop bits should always be transmitted as logical ones, enabling collision
detection at least once per frame (as long as the frame format is not violated regarding the stop bits).
The TPI physical layer will cease transmission when it detects a collision on the TPIDATA line. The collision is signalized
to the TPI access layer, which immediately changes the physical layer to receive mode and goes to the error state. The
TPI access layer can be recovered from the error state only by sending a BREAK character.
18.3.10 Direction Change
In order to ensure correct timing of the half-duplex operation, a simple guard time mechanism has been added to the
physical layer. When the TPI physical layer changes from receive to transmit mode, a configurable number of additional
IDLE bits are inserted before the start bit is transmitted. The minimum transition time between receive and transmit mode
is two IDLE bits. The total IDLE time is the specified guard time plus two IDLE bits.
The guard time is configured by dedicated bits in the TPIPCR register. The default guard time value after the physical
layer is initialized is 128 bits.
The external programmer looses control of the TPIDATA line when the TPI target changes from receive mode to
transmit. The guard time feature relaxes this critical phase of the communication. When the external programmer
changes from receive mode to transmit, a minimum of one IDLE bit should be inserted before the start bit is transmitted.
18.4
Access Layer of Tiny Programming Interface
The TPI access layer is responsible for handling the communication with the external programmer. The communication is
based on a message format, where each message comprises an instruction followed by one or more byte-sized
operands. The instruction is always sent by the external programmer but operands are sent either by the external
programmer or by the TPI access layer, depending on the type of instruction issued.
The TPI access layer controls the character transfer direction on the TPI physical layer. It also handles the recovery from
the error state after exception.
The Control and Status Space (CSS) of the Tiny Programming Interface is allocated for control and status registers in the
TPI access Layer. The CSS consist of registers directly involved in the operation of the TPI itself. These register are
accessible using the SLDCS and SSTCS instructions.
The access layer can also access the data space, either directly or indirectly using the Pointer Register (PR) as the
address pointer. The data space is accessible using the SLD, SST, SIN and SOUT instructions. The address pointer can
be stored in the Pointer Register using the SLDPR instruction.
18.4.1 Message format
Each message comprises an instruction followed by one or more byte operands. The instruction is always sent by the
external programmer. Depending on the instruction all the following operands are sent either by the external programmer
or by the TPI.
The messages can be categorized in two types based on the instruction, as follows:
z
Write messages. A write message is a request to write data. The write message is sent entirely by the external
programmer. This message type is used with the SSTCS, SST, STPR, SOUT and SKEY instructions.
z
Read messages. A read message is a request to read data. The TPI reacts to the request by sending the byte
operands. This message type is used with the SLDCS, SLD and SIN instructions.
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All the instructions except the SKEY instruction require the instruction to be followed by one byte operand. The SKEY
instruction requires 8 byte operands. For more information, see the TPI instruction set on page 153.
18.4.2 Exception Handling and Synchronisation
Several situations are considered exceptions from normal operation of the TPI. When the TPI physical layer is in receive
mode, these exceptions are:
z
The TPI physical layer detects a parity error.
z
The TPI physical layer detects a frame error.
z
The TPI physical layer recognizes a BREAK character.
When the TPI physical layer is in transmit mode, the possible exceptions are:
z
The TPI physical layer detects a data collision.
All these exceptions are signalized to the TPI access layer. The access layer responds to an exception by aborting any
on-going operation and enters the error state. The access layer will stay in the error state until a BREAK character has
been received, after which it is taken back to its default state. As a consequence, the external programmer can always
synchronize the protocol by simply transmitting two successive BREAK characters.
18.5
Instruction Set
The TPI has a compact instruction set that is used to access the TPI Control and Status Space (CSS) and the data
space. The instructions allow the external programmer to access the TPI, the NVM Controller and the NVM memories. All
instructions except SKEY require one byte operand following the instruction. The SKEY instruction is followed by 8 data
bytes. All instructions are byte-sized.
The TPI instruction set is summarized in Table 18-1.
Table 18-1. Instruction Set Summary
Mnemonic
Operand
Description
Operation
SLD
data, PR
Serial LoaD from data space using indirect addressing
data ← DS[PR]
SLD
data, PR+
Serial LoaD from data space using indirect addressing
and post-increment
data ← DS[PR]
PR ← PR+1
SST
PR, data
Serial STore to data space using indirect addressing
DS[PR] ← data
SST
PR+, data
Serial STore to data space using indirect addressing
and post-increment
DS[PR] ← data
PR ← PR+1
SSTPR
PR, a
Serial STore to Pointer Register using direct
addressing
PR[a] ← data
SIN
data, a
Serial IN from data space
data ← I/O[a]
SOUT
a, data
Serial OUT to data space
I/O[a] ← data
SLDCS
data, a
Serial LoaD from Control and Status space using direct
addressing
data ← CSS[a]
SSTCS
a, data
Serial STore to Control and Status space using direct
addressing
CSS[a] ← data
SKEY
Key, {8{data}}
Serial KEY
Key ← {8{data}}
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18.5.1 SLD - Serial LoaD from data space using indirect addressing
The SLD instruction uses indirect addressing to load data from the data space to the TPI physical layer shift-register for
serial read-out. The data space location is pointed by the Pointer Register (PR), where the address must have been
stored before data is accessed. The Pointer Register can either be left unchanged by the operation, or it can be postincremented, as shown in Table 18-2.
Table 18-2. The Serial Load from Data Space (SLD) Instruction
Operation
Opcode
Remarks
Register
data ← DS[PR]
0010 0000
PR ← PR
Unchanged
data ← DS[PR]
0010 0100
PR ← PR + 1
Post increment
18.5.2 SST - Serial STore to data space using indirect addressing
The SST instruction uses indirect addressing to store into data space the byte that is shifted into the physical layer shift
register. The data space location is pointed by the Pointer Register (PR), where the address must have been stored
before the operation. The Pointer Register can be either left unchanged by the operation, or it can be post-incremented,
as shown in Table 18-3.
Table 18-3. The Serial Store to Data Space (SLD) Instruction
Operation
Opcode
Remarks
Register
DS[PR] ← data
0110 0000
PR ← PR
Unchanged
DS[PR] ← data
0110 0100
PR ← PR + 1
Post increment
18.5.3 SSTPR - Serial STore to Pointer Register
The SSTPR instruction stores the data byte that is shifted into the physical layer shift register to the Pointer Register
(PR). The address bit of the instruction specifies which byte of the Pointer Register is accessed, as shown in Table 18-4.
Table 18-4. The Serial Store to Pointer Register (SSTPR) Instruction
Operation
Opcode
Remarks
PR[a] ← data
0110 100a
Bit ‘a’ addresses Pointer Register byte
18.5.4 SIN - Serial IN from i/o space using direct addressing
The SIN instruction loads data byte from the I/O space to the shift register of the physical layer for serial read-out. The
instruction uses direct addressing, the address consisting of the 6 address bits of the instruction, as shown in Table 18-5.
Table 18-5. The Serial IN from i/o space (SIN) Instruction
Operation
Opcode
Remarks
data ← I/O[a]
0aa1 aaaa
Bits marked ‘a’ form the direct, 6-bit address
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18.5.5 SOUT - Serial OUT to i/o space using direct addressing
The SOUT instruction stores the data byte that is shifted into the physical layer shift register to the I/O space. The
instruction uses direct addressing, the address consisting of the 6 address bits of the instruction, as shown in Table 18-6.
Table 18-6. The Serial OUT to i/o space (SOUT) Instruction
Operation
Opcode
Remarks
I/O[a] ← data
1aa1 aaaa
Bits marked ‘a’ form the direct, 6-bit address
18.5.6 SLDCS - Serial LoaD data from Control and Status space using direct addressing
The SLDCS instruction loads data byte from the TPI Control and Status Space to the TPI physical layer shift register for
serial read-out. The SLDCS instruction uses direct addressing, the direct address consisting of the 4 address bits of the
instruction, as shown in Table 18-7.
Table 18-7. The Serial Load Data from Control and Status space (SLDCS) Instruction
Operation
Opcode
Remarks
data ← CSS[a]
1000 aaaa
Bits marked ‘a’ form the direct, 4-bit address
18.5.7 SSTCS - Serial STore data to Control and Status space using direct addressing
The SSTCS instruction stores the data byte that is shifted into the TPI physical layer shift register to the TPI Control and
Status Space. The SSTCS instruction uses direct addressing, the direct address consisting of the 4 address bits of the
instruction, as shown in Table 18-8.
Table 18-8. The Serial STore data to Control and Status space (SSTCS) Instruction
Operation
Opcode
Remarks
CSS[a] ← data
1100 aaaa
Bits marked ‘a’ form the direct, 4-bit address
18.5.8 SKEY - Serial KEY signaling
The SKEY instruction is used to signal the activation key that enables NVM programming. The SKEY instruction is
followed by the 8 data bytes that includes the activation key, as shown in Table 18-9.
Table 18-9. The Serial KEY signaling (SKEY) Instruction
18.6
Operation
Opcode
Remarks
Key ← {8[data}}
1110 0000
Data bytes follow after instruction
Accessing the Non-Volatile Memory Controller
By default, NVM programming is not enabled. In order to access the NVM Controller and be able to program the nonvolatile memories, a unique key must be sent using the SKEY instruction. The 64-bit key that will enable NVM
programming is given in Table 18-10.
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Table 18-10. Enable Key for Non-Volatile Memory Programming
Key
Value
NVM Program Enable
0x1289AB45CDD888FF
After the key has been given, the Non-Volatile Memory Enable (NVMEN) bit in the TPI Status Register (TPISR) must be
polled until the Non-Volatile memory has been enabled.
NVM programming is disabled by writing a logical zero to the NVMEN bit in TPISR.
18.7
Control and Status Space Register Descriptions
The control and status registers of the Tiny Programming Interface are mapped in the Control and Status Space (CSS) of
the interface. These registers are not part of the I/O register map and are accessible via SLDCS and SSTCS instructions,
only. The control and status registers are directly involved in configuration and status monitoring of the TPI.
A summary of CSS registers is shown in Table 18-11.
Table 18-11. Summary of Control and Status Registers
Addr.
Name
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
0x0F
TPIIR
0x0E
Reserved
–
–
–
–
–
0x0D
Reserved
–
–
–
–
0x0C
Reserved
–
–
–
0x0B
Reserved
–
–
0x0A
Reserved
–
0x09
Reserved
0x08
Bit 2
Bit 1
Bit 0
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
Reserved
–
–
–
–
–
–
–
–
0x07
Reserved
–
–
–
–
–
–
–
–
0x06
Reserved
–
–
–
–
–
–
–
–
0x05
Reserved
–
–
–
–
–
–
–
–
0x04
Reserved
–
–
–
–
–
–
–
–
0x03
Reserved
–
–
–
–
–
–
–
–
0x02
TPIPCR
–
–
–
–
–
GT2
GT1
GT0
0x01
Reserved
–
–
–
–
–
–
–
–
0x00
TPISR
–
–
–
–
–
–
NVMEN
–
Tiny Programming Interface Identification Code
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18.7.1 TPIIR – Tiny Programming Interface Identification Register
Bit
CSS: 0x0F
Read/Write
Initial Value
z
7
6
R
0
R
0
5
4
3
2
Programming Interface Identification Code
R
R
R
R
0
0
0
0
1
0
R
0
R
0
TPIIR
Bits 7:0 – TPIIC: Tiny Programming Interface Identification Code
These bits give the identification code for the Tiny Programming Interface. The code can be used be the external
programmer to identify the TPI. The identification code of the Tiny Programming Interface is shown in Table 18-12.
Table 18-12. Identification Code for Tiny Programming Interface
Code
Value
Interface Identification
0x80
18.7.2 TPIPCR – Tiny Programming Interface Physical Layer Control Register
Bit
CSS: 0x02
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
–
R
0
4
–
R
0
3
–
R
0
2
GT2
R/W
0
1
GT1
R/W
0
0
GT0
R/W
0
TPIPCR
Bits 7:3 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bits 2:0 – GT[2:0]: Guard Time
These bits specify the number of additional IDLE bits that are inserted to the idle time when changing from reception
mode to transmission mode. Additional delays are not inserted when changing from transmission mode to reception.
The total idle time when changing from reception to transmission mode is Guard Time plus two IDLE bits. Table 18-13
shows the available Guard Time settings.
Table 18-13. Guard Time Settings
GT2
GT1
GT0
Guard Time (Number of IDLE bits)
0
0
0
+128 (default value)
0
0
1
+64
0
1
0
+32
0
1
1
+16
1
0
0
+8
1
0
1
+4
1
1
0
+2
1
1
1
+0
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The default Guard Time is 128 IDLE bits. To speed up the communication, the Guard Time should be set to the shortest
safe value.
18.7.3 TPISR – Tiny Programming Interface Status Register
Bit
CSS: 0x00
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
–
R
0
4
–
R
0
3
–
R
0
2
–
R
0
1
NVMEN
R/W
0
0
–
R
0
TPIPCR
Bits 7:2, 0 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bit 1 – NVMEN: Non-Volatile Memory Programming Enabled
NVM programming is enabled when this bit is set. The external programmer can poll this bit to verify the interface has
been successfully enabled.
NVM programming is disabled by writing this bit to zero.
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19.
Memory Programming
19.1
Features
z Two Embedded Non-Volatile Memories:
z
z
Non-Volatile Memory Lock bits (NVM Lock bits)
Flash Memory
z Four Separate Sections Inside Flash Memory:
Code Section (Program Memory)
Signature Section
z Configuration Section
z Calibration Section
z
z
z Read Access to All Non-Volatile Memories from Application Software
z Read and Write Access to Non-Volatile Memories from External programmer:
z
z
Read Access to All Non-Volatile Memories
Write Access to NVM Lock Bits, Flash Code Section and Flash Configuration Section
z External Programming:
z
z
Support for In-System and Mass Production Programming
Programming Through the Tiny Programming Interface (TPI)
z High Security with NVM Lock Bits
19.2
Overview
The Non-Volatile Memory (NVM) Controller manages all access to the Non-Volatile Memories. The NVM Controller
controls all NVM timing and access privileges, and holds the status of the NVM.
During normal execution the CPU will execute code from the code section of the Flash memory (program memory).
When entering sleep and no programming operations are active, the Flash memory is disabled to minimize power
consumption.
All NVM are mapped to the data memory. Application software can read the NVM from the mapped locations of data
memory using load instruction with indirect addressing.
The NVM has only one read port and, therefore, the next instruction and the data can not be read simultaneously. When
the application reads data from NVM locations mapped to the data space, the data is read first before the next instruction
is fetched. The CPU execution is here delayed by one system clock cycle.
Internal programming operations to NVM have been disabled and the NVM therefore appears to the application software
as read-only. Internal write or erase operations of the NVM will not be successful.
The method used by the external programmer for writing the Non-Volatile Memories is referred to as external
programming. External programming can be done both in-system or in mass production. The external programmer can
read and program the NVM via the Tiny Programming Interface (TPI).
In the external programming mode all NVM can be read and programmed, except the signature and the calibration
sections which are read-only.
NVM can be programmed at 5V, only. See Table 20-9 on page 173.
19.3
Non-Volatile Memories
The ATtiny20 has the following, embedded NVM:
z
Non-Volatile Memory Lock Bits
z
Flash memory with four separate sections
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19.3.1 Non-Volatile Memory Lock Bits
The ATtiny20 provides two Lock Bits, as shown in Table 19-1.
Table 19-1. Lock Bit Byte
Lock Bit
Bit No
Description
Default Value
7
1 (unprogrammed)
6
1 (unprogrammed)
5
1 (unprogrammed)
4
1 (unprogrammed)
3
1 (unprogrammed)
2
1 (unprogrammed)
NVLB2
1
Non-Volatile Lock Bit
1 (unprogrammed)
NVLB1
0
Non-Volatile Lock Bit
1 (unprogrammed)
The Lock Bits can be left unprogrammed ("1") or can be programmed ("0") to obtain the additional security shown in
Table 19-2. Lock Bits can be erased to "1" with the Chip Erase command, only.
Table 19-2. Lock Bit Protection Modes
Memory Lock Bits (1)
Lock Mode
NVLB2 (2)
NVLB1 (2)
1
1
1
No Memory Lock feature Enabled
2
1
0
Further Programming of the Flash memory is disabled in the
external programming mode. The configuration section bits are
locked in the external programming mode
3
0
0
Further programming and verification of the flash is disabled in the
external programming mode. The configuration section bits are
locked in the external programming mode
Notes: 1.
2.
Protection Type
Program the configuration section bits before programming NVLB1 and NVLB2.
"1" means unprogrammed, "0" means programmed
19.3.2 Flash Memory
The embedded Flash memory of ATtiny20 has four separate sections, as shown in Table 19-3.
Table 19-3. Number of Words and Pages in the Flash
Section
Code (program memory)
Size (Bytes)
Page Size (Words)
Pages
WADDR
PADDR
2048
16
64
[4:1]
[10:5]
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Section
Size (Bytes)
Page Size (Words)
Pages
WADDR
PADDR
Configuration
16
16
1
[4:1]
–
Signature (1)
32
16
2
[4:1]
[5:5]
Calibration (1)
16
16
1
[4:1]
–
Notes: 1.
This section is read-only.
19.3.3 Configuration Section
ATtiny20 has one configuration byte, which resides in the configuration section. See Table 19-4.
Table 19-4. Configuration bytes
Configuration word data
Configuration word address
High byte
Low byte
0x00
Reserved
Configuration Byte 0
0x01 ... 0x0F
Reserved
Reserved
Table 19-5 briefly describes the functionality of all configuration bits and how they are mapped into the configuration byte.
Table 19-5. Configuration Byte 0
Bit
Bit Name
Description
Default Value
7
–
Reserved
1 (unprogrammed)
6
BODLEVEL2(1)
Brown-out Detector trigger level
1 (unprogrammed)
5
BODLEVEL1(1)
Brown-out Detector trigger level
1 (unprogrammed)
4
BODLEVEL0
(1)
Brown-out Detector trigger level
1 (unprogrammed)
3
–
Reserved
1 (unprogrammed)
2
CKOUT
System Clock Output
1 (unprogrammed)
1
WDTON
Watchdog Timer always on
1 (unprogrammed)
0
RSTDISBL
External Reset disable
1 (unprogrammed)
Notes: 1.
See Table 20-6 on page 171 for BODLEVEL Fuse decoding.
Configuration bits are not affected by a chip erase but they can be cleared using the configuration section erase
command (see “Erasing the Configuration Section” on page 165). Note that configuration bits are locked if Non-Volatile
Lock Bit 1 (NVLB1) is programmed.
19.3.3.1 Latching of Configuration Bits
All configuration bits are latched either when the device is reset or when the device exits the external programming
mode. Changes to configuration bit values have no effect until the device leaves the external programming mode.
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19.3.4 Signature Section
The signature section is a dedicated memory area used for storing miscellaneous device information, such as the device
signature. Most of this memory section is reserved for internal use, as shown in Table 19-6.
Table 19-6. Signature bytes
Signature word data
Signature word address
High byte
Low byte
0x00
Device ID 1
Manufacturer ID
0x01
Reserved for internal use
Device ID 2
0x02 ... 0x1F
Reserved for internal use
Reserved for internal use
ATtiny20 has a three-byte signature code, which can be used to identify the device. The three bytes reside in the
signature section, as shown in Table 19-6. The signature data for ATtiny20 is given in Table 19-7.
Table 19-7. Signature codes
Signature Bytes
Part
ATtiny20
Manufacturer ID
Device ID 1
Device ID 2
0x1E
0x91
0x0F
19.3.5 Calibration Section
ATtiny20 has one calibration byte. The calibration byte contains the calibration data for the internal oscillator and resides
in the calibration section, as shown in Table 19-8. During reset, the calibration byte is automatically written into the
OSCCAL register to ensure correct frequency of the calibrated internal oscillator.
Table 19-8. Calibration byte
Calibration word data
Calibration word address
High byte
Low byte
0x00
Reserved
Internal oscillator calibration value
0x01 ... 0x0F
Reserved
Reserved
19.3.5.1 Latching of Calibration Value
To ensure correct frequency of the calibrated internal oscillator the calibration value is automatically written into the
OSCCAL register during reset.
19.4
Accessing the NVM
NVM lock bits, and all Flash memory sections are mapped to the data space as shown in Figure 5-1 on page 15. The
NVM can be accessed for read and programming via the locations mapped in the data space.
The NVM Controller recognizes a set of commands that can be used to instruct the controller what type of programming
task to perform on the NVM. Commands to the NVM Controller are issued via the NVM Command Register. See
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“NVMCMD – Non-Volatile Memory Command Register” on page 166. After the selected command has been loaded, the
operation is started by writing data to the NVM locations mapped to the data space.
When the NVM Controller is busy performing an operation it will signal this via the NVM Busy Flag in the NVM Control
and Status Register. See “NVMCSR - Non-Volatile Memory Control and Status Register” on page 166. The NVM
Command Register is blocked for write access as long as the busy flag is active. This is to ensure that the current
command is fully executed before a new command can start.
Programming any part of the NVM will automatically inhibit the following operations:
z
All programming to any other part of the NVM
z
All reading from any NVM location
The ATtiny20 supports only external programming. Internal programming operations to the NVM have been disabled,
which means any internal attempt to write or erase NVM locations will fail.
19.4.1 Addressing the Flash
The data space uses byte accessing but since the Flash sections are accessed as words and organized in pages, the
byte-address of the data space must be converted to the word-address of the Flash section. This is illustrated in Figure
19-1. Also, see Table 19-3 on page 160.
Figure 19-1. Addressing the Flash Memory
16
PADDRMSB
WADDRMSB+1 WADDRMSB
PADDR
WADDR
1
0/1
ADDRESS POINTER
LOW/HIGH
BYTE SELECT
FLASH
SECTION
FLASH
PAGE
00
00
01
01
02
...
...
...
PAGE
PAGE ADDRESS
WITHIN A FLASH
SECTION
WORD
WORD ADDRESS
WITHIN A FLASH
PAGE
...
...
...
PAGEEND
SECTIONEND
The most significant bits of the data space address select the NVM Lock bits or the Flash section mapped to the data
memory. The word address within a page (WADDR) is held by the bits [WADDRMSB:1], and the page address (PADDR)
is held by the bits [PADDRMSB:WADDRMSB+1]. Together, PADDR and WADDR form the absolute address of a word in
the Flash section.
The least significant bit of the Flash section address is used to select the low or high byte of the word.
19.4.2 Reading the Flash
The Flash can be read from the data memory mapped locations one byte at a time. For read operations, the least
significant bit (bit 0) is used to select the low or high byte in the word address. If this bit is zero, the low byte is read, and
if it is one, the high byte is read.
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19.4.3 Programming the Flash
The Flash can be written two words at a time. Before writing a Flash double word, the Flash target location must be
erased. Writing to an un-erased Flash word will corrupt its content.
The Flash is written two words at a time but the data space uses byte-addressing to access Flash that has been mapped
to data memory. It is therefore important to write the two words in the correct order to the Flash, namely low bytes before
high bytes. The low byte of the first word is first written to the temporary buffer, then the high byte. Writing the low byte
and then the high byte to the buffer latches the two words into the Flash write buffer, starting the actual Flash write
operation.
The Flash erase operations can only performed for the entire Flash sections.
The Flash programming sequence is as follows:
1.
Perform a Flash section erase or perform a Chip erase
2.
Write the Flash section two words at a time
19.4.3.1 Chip Erase
The Chip Erase command will erase the entire code section of the Flash memory and the NVM Lock Bits. For security
reasons, however, the NVM Lock Bits are not reset before the code section has been completely erased. The
Configuration, Signature and Calibration sections are not changed.
Before starting the Chip erase, the NVMCMD register must be loaded with the CHIP_ERASE command. To start the
erase operation a dummy byte must be written into the high byte of a word location that resides inside the Flash code
section. The NVMBSY bit remains set until erasing has been completed. While the Flash is being erased neither Flash
buffer loading nor Flash reading can be performed.
The Chip Erase can be carried out as follows:
1.
Write the CHIP_ERASE command to the NVMCMD register
2.
Start the erase operation by writing a dummy byte to the high byte of any word location inside the code section
3.
Wait until the NVMBSY bit has been cleared
19.4.3.2 Erasing the Code Section
The algorithm for erasing all pages of the Flash code section is as follows:
1.
Write the SECTION_ERASE command to the NVMCMD register
2.
Start the erase operation by writing a dummy byte to the high byte of any word location inside the code section
3.
Wait until the NVMBSY bit has been cleared
19.4.3.3 Writing a Double Code Word
The algorithm for writing two words to the code section is as follows:
1.
Write the DWORD_WRITE command to the NVMCMD register
2.
Write the low byte of the low data word to the low byte of a target word location
3.
Write the high byte of the low data word to the high byte of the same target word location
4.
Send IDLE character as described in section “Supported Characters” on page 150
5.
Write the low byte of the high data word to the low byte of the next target word location
6.
Write the high byte of the high data word to the high byte of the same target word location. This will start the Flash
write operation
7.
Wait until the NVMBSY bit has been cleared
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19.4.3.4 Erasing the Configuration Section
The algorithm for erasing the Configuration section is as follows:
1.
Write the SECTION_ERASE command to the NVMCMD register
2.
Start the erase operation by writing a dummy byte to the high byte of any word location in the configuration section
3.
Wait until the NVMBSY bit has been cleared
19.4.3.5 Writing a Configuration Word
The algorithm for writing a Configuration word is as follows.
1.
Write the DWORD_WRITE command to the NVMCMD register
2.
Write the low byte of the data word to the low byte of the configuration word location
3.
Write the high byte of the data word to the high byte of the same configuration word location
4.
Send IDLE character as described in section “Supported Characters” on page 150
5.
Write a dummy byte to the low byte of the next configuration word location
6.
Write a dummy byte to the high byte of the same configuration word location. This will start the Flash write
operation
7.
Wait until the NVMBSY bit has been cleared
19.4.4 Reading NVM Lock Bits
The Non-Volatile Memory Lock Byte can be read from the mapped location in data memory.
19.4.5 Writing NVM Lock Bits
The algorithm for writing the Lock bits is as follows.
19.5
1.
Write the DWORD_WRITE command to the NVMCMD register.
2.
Write the lock bits value to the Non-Volatile Memory Lock Byte location. This is the low byte of the Non-Volatile
Memory Lock Word.
3.
Start the NVM Lock Bit write operation by writing a dummy byte to the high byte of the NVM Lock Word location.
4.
Wait until the NVMBSY bit has been cleared.
Self programming
ATtiny20 doesn't support internal programming.
19.6
External Programming
The method for programming the Non-Volatile Memories by means of an external programmer is referred to as external
programming. External programming can be done both in-system or in mass production.
The Non-Volatile Memories can be externally programmed via the Tiny Programming Interface (TPI). For details on the
TPI, see “Programming Interface” on page 148. Using the TPI, the external programmer can access the NVM control and
status registers mapped to I/O space and the NVM memory mapped to data memory space.
19.6.1 Entering External Programming Mode
The TPI must be enabled before external programming mode can be entered. The following procedure describes, how to
enter the external programming mode after the TPI has been enabled:
1.
Make a request for enabling NVM programming by sending the NVM memory access key with the SKEY
instruction.
2.
Poll the status of the NVMEN bit in TPISR until it has been set.
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Refer to the Tiny Programming Interface description on page 148 for more detailed information of enabling the TPI and
programming the NVM.
19.6.2 Exiting External Programming Mode
Clear the NVM enable bit to disable NVM programming, then release the RESET pin.
See NVMEN bit in “TPISR – Tiny Programming Interface Status Register” on page 158.
19.7
Register Description
19.7.1 NVMCMD – Non-Volatile Memory Command Register
Bit
0x33
Read/Write
Initial Value
z
7
–
R
0
6
–
R
0
5
4
R/W
0
R/W
0
3
2
NVMCMD[5:0]
R/W
R/W
0
0
1
0
R/W
0
R/W
0
NVMCMD
Bits 7:6 – Res: Reserved Bits
These bits are reserved and will always read as zero.
z
Bits 5:0 – NVMCMD[5:0]: Non-Volatile Memory Command
These bits define the programming commands for the flash, as shown in Table 19-9.
Table 19-9. NVM Programming commands
NVMCMD
Operation Type
Binary
Hex
Mnemonic
Description
0b000000
0x00
NO_OPERATION
No operation
0b010000
0x10
CHIP_ERASE
Chip erase
Section
0b010100
0x14
SECTION_ERASE
Section erase
Double Word
0b011101
0x1D
DWORD_WRITE
Write double word
General
19.7.2 NVMCSR - Non-Volatile Memory Control and Status Register
Bit
0x32
Read/Write
Initial Value
z
7
NVMBSY
R/W
0
6
–
R
0
5
–
R
0
4
–
R
0
3
–
R
0
2
–
R
0
1
–
R
0
0
–
R
0
NVMCSR
Bit 7 – NVMBSY: Non-Volatile Memory Busy
This bit indicates the NVM memory (Flash memory and Lock Bits) is busy, being programmed. This bit is set when a
program operation is started, and it remains set until the operation has been completed.
z
Bits 6:0 – Res: Reserved Bits
These bits are reserved and will always read as zero.
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20.
Electrical Characteristics
20.1
Absolute Maximum Ratings*
*NOTICE:
Operating Temperature . . . . . . . . . . . -55°C to +125°C
Storage Temperature. . . . . . . . . . . . . -65°C to +150°C
Voltage on any Pin except RESET
with respect to Ground . . . . . . . . . .-0.5V to VCC+0.5V
Voltage on RESET with respect to Ground-0.5V to +13.0V
Maximum Operating Voltage . . . . . . . . . . . . . . . . 6.0V
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.
DC Current per I/O Pin . . . . . . . . . . . . . . . . . 40.0 mA
DC Current VCC and GND Pins . . . . . . . . . . 200.0 mA
20.2
DC Characteristics
Table 20-1. DC Characteristics. TA = -40 to +85°C
Symbol
Parameter
Condition
Min
VIL
Input Low Voltage
VCC = 1.8V - 2.4V
VCC = 2.4V - 5.5V
Input High-voltage
Except RESET pin
Typ(1)
Max
Units
-0.5
0.2VCC(3)
0.3VCC(3)
V
VCC = 1.8V - 2.4V
VCC = 2.4V - 5.5V
0.7VCC(2)
0.6VCC(2)
VCC +0.5
V
Input High-voltage
RESET pin
VCC = 1.8V to 5.5V
0.9VCC(2)
VCC +0.5
V
VOL
Output Low Voltage(4)
Except RESET pin(6)
IOL = 10 mA, VCC = 5V
IOL = 5 mA, VCC = 3V
IOL = 2mA, VCC = 1.8V
0.6
0.5
0.4
V
VOH
Output High-voltage(5)
Except RESET pin(6)
IOH = -10 mA, VCC = 5V
IOH = -5 mA, VCC = 3V
IOH = -2 mA, VCC = 1.8V
ILIL
Input Leakage
Current I/O Pin
Vcc = 5.5V, pin low
(absolute value)
<0.05
1
μA
ILIH
Input Leakage
Current I/O Pin
Vcc = 5.5V, pin high
(absolute value)
<0.05
1
μA
RRST
Reset Pull-up Resistor
Vcc = 5.5V, input low
30
60
kΩ
RPU
I/O Pin Pull-up
Resistor
Vcc = 5.5V, input low
20
50
kΩ
IACLK
Analog Comparator
Input Leakage Current
VCC = 5V
Vin = VCC/2
-50
50
nA
VIH
4.3
2.5
1.4
V
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Symbol
Parameter
Power Supply
Current(7)
ICC
Power-down mode(8)
Notes: 1.
20.3
Typ(1)
Max
Units
Active 1 MHz, VCC = 2V
0.2
0.6
mA
Active 4 MHz, VCC = 3V
1.1
2
mA
Active 8 MHz, VCC = 5V
3.2
5
mA
Idle 1 MHz, VCC = 2V
0.03
0.2
mA
Idle 4 MHz, VCC = 3V
0.2
0.5
mA
Idle 8 MHz, VCC = 5V
0.8
1.5
mA
WDT enabled, VCC = 3V
4.5
10
μA
WDT disabled, VCC = 3V
0.15
2
μA
Condition
Min
Typical values at 25°C.
2.
“Min” means the lowest value where the pin is guaranteed to be read as high.
3.
“Max” means the highest value where the pin is guaranteed to be read as low.
4.
Although each I/O port can sink more than the test conditions (10 mA at VCC = 5V, 5 mA at VCC = 3V) under
steady state conditions (non-transient), the sum of all IOL (for all ports) should not exceed 100 mA. If IOL
exceeds the test conditions, VOL may exceed the related specification. Pins are not guaranteed to sink current greater than the listed test condition.
5.
Although each I/O port can source more than the test conditions (10 mA at VCC = 5V, 5 mA at VCC = 3V)
under steady state conditions (non-transient), the sum of all IOH (for all ports) should not exceed 100 mA. If
IOH exceeds the test condition, VOH may exceed the related specification. Pins are not guaranteed to source
current greater than the listed test condition.
6.
The RESET pin must tolerate high voltages when entering and operating in programming modes and, as a
consequence, has a weak drive strength as compared to regular I/O pins. See Figure 21-30 on page 190,
and Figure 21-33 on page 191.
7.
Values are with external clock using methods described in “Minimizing Power Consumption” on page 25.
Power Reduction is enabled (PRR = 0xFF) and there is no I/O drive.
8.
BOD Disabled.
Speed
The maximum operating frequency of the device is dependent on supply voltage, VCC. The relationship between supply
voltage and maximum operating frequency is piecewise linear, as shown in Figure 20-1, the Maximum Frequency vs.
VCC curve is linear between 1.8V < VCC < 4.5V.
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Figure 20-1. Maximum Operating Frequency vs. Supply Voltage
12 MHz
8 MHz
4 MHz
1.8V
20.4
2.7V
4.5V
5.5V
Clock Characteristics
20.4.1 Accuracy of Calibrated Internal Oscillator
It is possible to manually calibrate the internal oscillator to be more accurate than default factory calibration. Note that the
oscillator frequency depends on temperature and voltage. Voltage and temperature characteristics can be found in
Figure 21-53 on page 201 and Figure 21-54 on page 202.
Table 20-2. Calibration Accuracy of Internal RC Oscillator
Calibration
Method
Target Frequency
VCC
Temperature
Accuracy at given
Voltage & Temperature(1)
8.0 MHz
3V
25°C
±10%
Fixed frequency within:
7.3 – 8.1 MHz
Fixed voltage within:
1.8V – 5.5V
Fixed temp. within:
-40°C to +85°C
±1%
Factory Calibration
User Calibration
Note:
1.
Accuracy of oscillator frequency at calibration point (fixed temperature and fixed voltage).
20.4.2 External Clock Drive
Figure 20-2. External Clock Drive Waveform
V IH1
V IL1
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Table 20-3. External Clock Drive Characteristics
20.5
VCC = 1.8 - 5.5V
VCC = 2.7 - 5.5V
VCC = 4.5 - 5.5V
Min.
Max.
Min.
Max.
Min.
Max.
Units
0
4
0
8
0
12
MHz
Symbol
Parameter
1/tCLCL
Clock Frequency
tCLCL
Clock Period
250
125
83
ns
tCHCX
High Time
100
40
20
ns
tCLCX
Low Time
100
40
20
ns
tCLCH
Rise Time
2.0
1.6
0.5
μs
tCHCL
Fall Time
2.0
1.6
0.5
μs
ΔtCLCL
Change in period from clock
cycle to next
2
2
2
%
System and Reset Characteristics
Table 20-4. Reset and Internal Voltage Characteristics
Symbol
Parameter
Condition
VRST
RESET Pin Threshold Voltage
VBG
Internal bandgap voltage
VCC = 2.7V
TA = 25°C
tRST
Minimum pulse width on RESET
Pin
VCC = 1.8V
VCC = 3V
VCC = 5V
tTOUT
Time-out after reset
Note:
1.
Min(1)
Typ(1)
0.2 VCC
1.0
1.1
Max(1)
Units
0.9VCC
V
1.2
V
2000
700
400
ns
BOD disabled
64
128
BOD enabled
128
256
Min(1)
Typ(1)
Max(1)
Units
1.1
1.4
1.6
V
1.3
1.6
V
ms
Values are guidelines, only
20.5.1 Power-On Reset
Table 20-5. Characteristics of Enhanced Power-On Reset. TA = -40 to +85°C
Symbol
Parameter
(2)
VPOR
Release threshold of power-on reset
VPOA
Activation threshold of power-on reset (3)
0.6
SRON
Power-On Slope Rate
0.01
Note:
V/ms
1.
Values are guidelines, only
2.
Threshold where device is released from reset when voltage is rising
3.
The Power-on Reset will not work unless the supply voltage has been below VPOT (falling)
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20.5.2 Brown-Out Detection
Table 20-6. VBOT vs. BODLEVEL Fuse Coding
BODLEVEL[2:0] Fuses
Min(1)
Typ(1)
111
20.6
1.
Units
BOD Disabled
110
1.7
1.8
2.0
101
2.5
2.7
2.9
100
4.1
4.3
4.5
0XX
Note:
Max(1)
V
Reserved
VBOT may be below nominal minimum operating voltage for some devices. For devices where this is the
case, the device is tested down to VCC = VBOT during the production test. This guarantees that a Brown-out
Reset will occur before VCC drops to a voltage where correct operation of the microcontroller is no longer
guaranteed.
Analog Comparator Characteristics
Table 20-7. Analog Comparator Characteristics, TA = -40 to +85°C
Symbol
Parameter
Condition
VAIO
Input Offset Voltage
VCC = 5V, VIN = VCC / 2
ILAC
Input Leakage Current
VCC = 5V, VIN = VCC / 2
tDPD
Digital Propagation Delay
VCC = 1.8V - 5.5
Analog Propagation Delay
(from saturation to slight overdrive)
VCC = 2.7V
750
VCC = 4.0V
500
Analog Propagation Delay
(large step change)
VCC = 2.7V
100
VCC = 4.0V
75
tAPD
Min
Typ
Max
Units
< 10
40
mV
50
nA
2
CLK
-50
1
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20.7
ADC Characteristics
Table 20-8. ADC Characteristics. TA = -40 to +85°C. VCC = 1.8 – 5.5V
Symbol
Parameter
Condition
Min
Typ
Resolution
Absolute accuracy
(Including INL, DNL, and
Quantization, Gain and
Offset Errors)
RAIN
Units
10
Bits
VREF = VCC = 4V,
ADC clock = 200 kHz
2
LSB
VREF = VCC = 4V,
ADC clock = 1 MHz
3
LSB
VREF = VCC = 4V,
ADC clock = 200 kHz
Noise Reduction Mode
1.5
LSB
VREF = VCC = 4V,
ADC clock = 1 MHz
Noise Reduction Mode
2.5
LSB
Integral Non-Linearity (INL)
(Accuracy after Offset and
Gain Calibration)
VREF = VCC = 4V,
ADC clock = 200 kHz
1
LSB
Differential Non-linearity
(DNL)
VREF = VCC = 4V,
ADC clock = 200 kHz
0.5
LSB
Gain Error
VREF = VCC = 4V,
ADC clock = 200 kHz
2.5
LSB
Offset Error
VREF = VCC = 4V,
ADC clock = 200 kHz
1.5
LSB
Conversion Time
Free Running Conversion
Clock Frequency
VIN
Max
Input Voltage
13
260
μs
50
1000
kHz
GND
VREF
V
Input Bandwidth
38.5
kHz
Analog Input Resistance
100
MΩ
ADC Conversion Output
0
1023
LSB
ATtiny20 [DATASHEET]
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20.8
Serial Programming Characteristics
Figure 20-3. Serial Programming Timing
Receive Mode
Transmit Mode
TPIDATA
t IVCH
t CHIX
t CLOV
TPICLK
t CLCH
t CHCL
t CLCL
Table 20-9. Serial Programming Characteristics
Symbol
Parameter
Min
Typ
Max
Units
VCC
Programming Voltage
4.75
5
5.5
V
fCLCL
Clock Frequency
2
MHz
tCLCL
Clock Period
500
ns
tCLCH
Clock Low Pulse Width
200
ns
tCHCH
Clock High Pulse Width
200
ns
tIVCH
Data Input to Clock High Setup Time
50
ns
tCHIX
Data Input Hold Time After Clock High
100
ns
tCLOV
Data Output Valid After Clock Low Time
200
ATtiny20 [DATASHEET]
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ns
173
21.
Typical Characteristics
The data contained in this section is largely based on simulations and characterization of similar devices in the same
process and design methods. Thus, the data should be treated as indications of how the part will behave.
The following charts show typical behavior. These figures are not tested during manufacturing. During characterisation
devices are operated at frequencies higher than test limits but they are not guaranteed to function properly at frequencies
higher than the ordering code indicates.
All current consumption measurements are performed with all I/O pins configured as inputs and with internal pull-ups
enabled. 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.
A sine wave generator with rail-to-rail output is used as clock source but current consumption in Power-Down mode is
independent of clock selection. 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.
The current drawn from pins with a capacitive load may be estimated (for one pin) as follows:
I CP ≈ V CC × C L × f SW
where VCC = operating voltage, CL = load capacitance and fSW = average switching frequency of pin.
21.1
Supply Current of I/O Modules
The tables and formulas below can be used to calculate the additional current consumption for the different I/O modules
in Active and Idle mode. The enabling or disabling of the I/O modules is controlled by the Power Reduction Register. See
“Power Reduction Register” on page 24 for details.
Table 21-1. Additional Current Consumption for different I/O modules (absolute values)
PRR bit
Typical numbers
PRTIM0
4 μA
25 μA
110 μA
PRTIM1
5 μA
35 μA
150 μA
PRADC
190 μA
260 μA
470 μA
PRSPI
3 μA
15 μA
75 μA
PRTWI
5 μA
35 μA
160 μA
Table 21-2 below can be used for calculating typical current consumption for other supply voltages and frequencies than
those mentioned in the Table 21-1 above.
ATtiny20 [DATASHEET]
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Table 21-2. Additional Current Consumption (percentage) in Active and Idle mode
Current consumption additional to idle mode
with external clock
(see Figure 21-6 and Figure 21-7)
PRTIM0
2%
15%
PRTIM1
3%
20%
PRADC
see Figure 21-14 on page 182
see Figure 21-14 on page 182
PRTSPI
2%
10%
PRTTWI
4%
20%
Current Consumption in Active Mode
Figure 21-1. Active Supply Current vs. Low Frequency (0.1 - 1.0 MHz)
ACTIVE SUPPLY CURRENT vs. LOW FREQUENCY
0,9
0,8
5.5 V
0,7
5.0 V
0,6
4.5 V
ICC [mA]
21.2
PRR bit
Current consumption additional to active
mode with external clock
(see Figure 21-1 and Figure 21-2)
0,5
4.0 V
0,4
3.3 V
0,3
2.7 V
0,2
1.8 V
0,1
0
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
1
Frequency [MHz]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
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Figure 21-2. Active Supply Current vs. Frequency (1 - 12 MHz)
ACTIVE SUPPLY CURRENT vs. FREQUENCY
6
5,5
5.5 V
5
5.0 V
4,5
ICC [mA]
4
4.5 V
3,5
4.0 V
3
2,5
3.3 V
2
2.7 V
1,5
1
1.8 V
0,5
0
0
2
4
6
8
10
12
Frequency [MHz]
Figure 21-3. Active Supply Current vs. VCC (Internal Oscillator, 8 MHz)
ACTIVE SUPPLY CURRENT vs. VCC
INTERNAL RC OSCILLATOR, 8 MHz
4
3,5
85 °C
25 °C
-40 °C
3
ICC [mA]
2,5
2
1,5
1
0,5
0
1,5
2
2,5
3
3,5
4
4,5
5
VCC [V]
ATtiny20 [DATASHEET]
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Figure 21-4. Active Supply Current vs. VCC (Internal Oscillator, 1 MHz)
ACTIVE SUPPLY CURRENT vs. VCC
INTERNAL RC OSCILLATOR, 1 MHz
1
85 °C
25 °C
-40 °C
0,9
0,8
0,7
ICC [mA]
0,6
0,5
0,4
0,3
0,2
0,1
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
Figure 21-5. Active Supply Current vs. VCC (Internal Oscillator, 128 kHz)
ACTIVE SUPPLY CURRENT vs. VCC
INTERNAL RC OSCILLATOR, 128 KHz
0,12
-40 °C
25 °C
85 °C
0,1
ICC [mA]
0,08
0,06
0,04
0,02
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
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Current Consumption in Idle Mode
Figure 21-6. Idle Supply Current vs. Low Frequency (0.1 - 1.0 MHz)
IDLE SUPPLY CURRENT vs. LOW FREQUENCY
0,12
5.5 V
0,1
5.0 V
4.5 V
ICC [mA]
0,08
4.0 V
0,06
3.3 V
0,04
2.7 V
1.8 V
0,02
0
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
1
Frequency [MHz]
Figure 21-7. Idle Supply Current vs. Frequency (1 - 12 MHz)
IDLE SUPPLY CURRENT vs. FREQUENCY
1,4
5.5 V
1,2
5.0 V
1
4.5 V
ICC [mA]
21.3
0,8
4.0 V
0,6
3.3 V
0,4
2.7 V
0,2
1.8 V
0
0
2
4
6
8
10
12
Frequency [MHz]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
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Figure 21-8. Idle Supply Current vs. VCC (Internal Oscillator, 8 MHz)
IDLE SUPPLY CURRENT vs. VCC
INTERNAL RC OSCILLATOR, 8 MHz
1
85 °C
25 °C
-40 °C
0,9
0,8
0,7
ICC [mA]
0,6
0,5
0,4
0,3
0,2
0,1
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
Figure 21-9. Idle Supply Current vs. VCC (Internal Oscillator, 1 MHz)
IDLE SUPPLY CURRENT vs. VCC
INTERNAL RC OSCILLATOR, 1 MHz
0,25
-40 °C
25 °C
85 °C
0,2
ICC [mA]
0,15
0,1
0,05
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
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Figure 21-10.Idle Supply Current vs. VCC (Internal Oscillator, 128 kHz)
IDLE SUPPLY CURRENT vs. VCC
INTERNAL RC OSCILLATOR, 128 KHz
0,03
-40 °C
25 °C
85 °C
0,025
ICC [mA]
0,02
0,015
0,01
0,005
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
Current Consumption in Power-down Mode
Figure 21-11.Power-down Supply Current vs. VCC (Watchdog Timer Disabled)
POWER-DOWN SUPPLY CURRENT vs. VCC
WATCHDOG TIMER DISABLED
0,45
85 °C
0,4
0,35
0,3
ICC [uA]
21.4
0,25
0,2
0,15
25 °C
0,1
-40 °C
0,05
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
180
Figure 21-12.Power-down Supply Current vs. VCC (Watchdog Timer Enabled)
POWER-DOWN SUPPLY CURRENT vs. VCC
WATCHDOG TIMER ENABLED
10
9
-40 °C
8
25 °C
85 °C
7
ICC [uA]
6
5
4
3
2
1
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
Current Consumption in Reset
Figure 21-13.Reset Supply Current vs. VCC (excluding Current Through the Reset Pull-up and No Clock)
RESET CURRENT vs. VCC
EXCLUDING CURRENT THROUGH THE RESET PULLUP AND NO CLOCK
1,2
-40 °C
25 °C
1
85 °C
0,8
ICC [mA]
21.5
0,6
0,4
0,2
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
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Current Consumption of Peripheral Units
Figure 21-14.ADC Current vs. VCC (at clkADC = 250kHz)
ADC CURRENT vs. VCC
450
400
350
ICC [uA]
300
250
200
150
100
50
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
Figure 21-15.Analog Comparator Current vs. VCC
ANALOG COMPARATOR CURRENT vs. VCC
80
70
60
50
ICC [uA]
21.6
40
30
20
10
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
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Figure 21-16.Watchdog Timer Current vs. VCC
WATCHDOG TIMER CURRENT vs. VCC
10
9
-40 °C
8
25 °C
85 °C
7
ICC [uA]
6
5
4
3
2
1
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
Figure 21-17.Brownout Detector Current vs. VCC
BROWNOUT DETECTOR CURRENT vs. VCC
45
40
35
ICC [uA]
30
25
85 °C
25 °C
-40 °C
20
15
10
5
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
183
Pull-up Resistors
Figure 21-18.I/O pin Pull-up Resistor Current vs. Input Voltage (VCC = 1.8V)
I/O PIN PULL-UP RESISTOR CURRENT vs. INPUT VOLTAGE
60
50
IOP [uA]
40
30
20
10
25 °C
85 °C
-40 °C
0
0
0,2
0,4
0,6
0,8
1
1,2
1,4
1,6
1,8
2
VOP [V]
Figure 21-19.I/O Pin Pull-up Resistor Current vs. input Voltage (VCC = 2.7V)
I/O PIN PULL-UP RESISTOR CURRENT vs. INPUT VOLTAGE
80
70
60
50
IOP [uA]
21.7
40
30
20
10
25 °C
85 °C
-40 °C
0
0
0 ,5
1
1,5
2
2,5
3
VOP [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
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Figure 21-20.I/O pin Pull-up Resistor Current vs. Input Voltage (VCC = 5V)
I/O PIN PULL-UP RESISTOR CURRENT vs. INPUT VOLTAGE
160
140
120
IOP [uA]
100
80
60
40
20
25 °C
85 °C
-40 °C
0
0
1
2
3
4
5
6
VOP [V]
Figure 21-21.Reset Pull-up Resistor Current vs. Reset Pin Voltage (VCC = 1.8V)
RESET PULL-UP RESISTOR CURRENT vs. RESET PIN VOLTAGE
40
35
30
IRESET [uA]
25
20
15
10
5
25 °C
-40 °C
85 °C
0
0
0,2
0,4
0,6
0,8
1
1,2
1,4
1,6
1,8
2
VRESET [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
185
Figure 21-22.Reset Pull-up Resistor Current vs. Reset Pin Voltage (VCC = 2.7V)
RESET PULL-UP RESISTOR CURRENT vs. RESET PIN VOLTAGE
60
50
IRESET [uA]
40
30
20
10
25 °C
-40 °C
85 °C
0
0
0,5
1
1,5
2
2,5
3
VRESET [V]
Figure 21-23.Reset Pull-up Resistor Current vs. Reset Pin Voltage (VCC = 5V)
RESET PULL-UP RESISTOR CURRENT vs. RESET PIN VOLTAGE
120
100
IRESET [uA]
80
60
40
20
25 °C
-40 °C
85 °C
0
0
1
2
3
4
5
6
VRESET [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
186
Output Driver Strength
Figure 21-24.VOL: Output Voltage vs. Sink Current (I/O Pin, VCC = 1.8V)
I/O PIN OUTPUT VOLTAGE vs. SINK CURRENT
VCC = 1.8V
0,8
85 °C
0,6
VOL [V]
25 °C
-40 °C
0,4
0,2
0
0
0,5
1
1,5
2
2,5
3
3,5
4
4,5
5
IOL [mA]
Figure 21-25.VOL: Output Voltage vs. Sink Current (I/O Pin, VCC = 3V)
I/O PIN OUTPUT VOLTAGE vs. SINK CURRENT
VCC = 3V
0,8
85 °C
0,6
25 °C
VOL [V]
21.8
-40 °C
0,4
0,2
0
0
1
2
3
4
5
6
7
8
9
10
IOL [mA]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
187
Figure 21-26.VOL: Output Voltage vs. Sink Current (I/O Pin, VCC = 5V)
I/O PIN OUTPUT VOLTAGE vs. SINK CURRENT
VCC = 5V
1
85 °C
0,8
25 °C
-40 °C
VOL [V]
0,6
0,4
0,2
0
0
2
4
6
8
10
12
14
16
18
20
IOL [mA]
Figure 21-27.VOH: Output Voltage vs. Source Current (I/O Pin, VCC = 1.8V)
I/O PIN OUTPUT VOLTAGE vs. SOURCE CURRENT
VCC = 1.8V
1,9
1,8
1,7
VOH [V]
1,6
-40 °C
1,5
25 °C
85 °C
1,4
1,3
1,2
1,1
1
0
0,5
1
1,5
2
2,5
3
IOH [mA]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
188
Figure 21-28.VOH: Output Voltage vs. Source Current (I/O Pin, VCC = 3V)
I/O PIN OUTPUT VOLTAGE vs. SOURCE CURRENT
VCC = 3V
3,2
3
2,8
VOH [V]
2,6
-40 °C
25 °C
2,4
85 °C
2,2
2
1,8
1,6
0
1
2
3
4
5
6
7
8
9
10
IOH [mA]
Figure 21-29.VOH: Output Voltage vs. Source Current (I/O Pin, VCC = 5V)
I/O PIN OUTPUT VOLTAGE vs. SOURCE CURRENT
VCC = 5V
5,2
5
VOH [V]
4,8
4,6
4,4
-40 °C
25 °C
4,2
85 °C
4
3,8
0
2
4
6
8
10
12
14
16
18
20
IOH [mA]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
189
Figure 21-30.VOL: Output Voltage vs. Sink Current (Reset Pin as I/O, VCC = 1.8V)
RESET AS I/O OUTPUT VOLTAGE VS. SINK CURRENT
Vcc = 1.8V
1
0,8
VOL [V]
0,6
0,4
85 °C
25 °C
-40 °C
0,2
0
0
0,1
0,2
0,3
0,4
0,5
0,6
IOL [mA]
Figure 21-31.VOL: Output Voltage vs. Sink Current (Reset Pin as I/O, VCC = 3V)
RESET AS I/O OUTPUT VOLTAGE VS. SINK CURRENT
Vcc = 3V
2
1,8
1,6
1,4
VOL [V]
1,2
85 °C
1
25 °C
0,8
-40 °C
0,6
0,4
0,2
0
0
0,5
1
1,5
2
2,5
3
IOL [mA]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
190
Figure 21-32.VOL: Output Voltage vs. Sink Current (Reset Pin as I/O, VCC = 5V)
RESET AS I/O OUTPUT VOLTAGE VS. SINK CURRENT
Vcc = 5V
2
1,8
1,6
1,4
VOL [V]
1,2
1
85 °C
0,8
25 °C
-40 °C
0,6
0,4
0,2
0
0
0,5
1
1,5
2
2,5
3
3,5
4
4,5
5
IOL [mA]
Figure 21-33.VOH: Output Voltage vs. Source Current (Reset Pin as I/O, VCC = 1.8V
RESET AS I/O OUTPUT VOLTAGE VS. SOURCE CURRENT
Vcc = 1.8V
1,6
1,4
1,2
VOH [V]
1
0,8
0,6
0,4
-40 °C
25 °C
85 °C
0,2
0
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
1
IOH [mA]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
191
Figure 21-34.VOH: Output Voltage vs. Source Current (Reset Pin as I/O, VCC = 3V
RESET AS I/O OUTPUT VOLTAGE VS. SOURCE CURRENT
Vcc = 3V
3
2,5
VOH [V]
2
1,5
-40 °C
25 °C
85 °C
1
0,5
0
0
0,2
0,4
0,6
0,8
1
1,2
1,4
1,6
1,8
IOH [mA]
Figure 21-35.VOH: Output Voltage vs. Source Current (Reset Pin as I/O, VCC = 5V
RESET AS I/O OUTPUT VOLTAGE VS. SOURCE CURRENT
Vcc = 5V
4,5
4
3,5
VOH [V]
3
-40 °C
25 °C
85 °C
2,5
2
1,5
1
0,5
0
0
0,2
0,4
0,6
0,8
1
1,2
1,4
1,6
1,8
IOH [mA]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
192
Input Thresholds and Hysteresis
Figure 21-36.VIH: Input Threshold Voltage vs. VCC (I/O Pin, Read as ‘1’)
I/O PIN INPUT THRESHOLD VOLTAGE vs. VCC
VIH, IO PIN READ AS '1'
3,5
3
85 °C
25 °C
-40 °C
Threshold [V]
2,5
2
1,5
1
0,5
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
Figure 21-37.VIL: Input Threshold Voltage vs. VCC (I/O Pin, Read as ‘0’)
RESET INPUT THRESHOLD VOLTAGE vs. VCC
VIL, CHIP RESET
2,5
-40 °C
25 °C
85 °C
2
Threshold [V]
21.9
1,5
1
0,5
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
193
Figure 21-38.VIH-VIL: Input Hysteresis vs. VCC (I/O Pin)
I/O PIN INPUT HYSTERESIS
0,6
-40 °C
0,5
25 °C
Hysteresis [V]
0,4
85 °C
0,3
0,2
0,1
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
Figure 21-39.VIH: Input Threshold Voltage vs. VCC (Reset Pin as I/O, Read as ‘1’)
RESET PIN AS I/O THRESHOLD VOLTAGE vs. VCC
VIH, RESET READ AS '1'
3,5
3
-40 °C
25 °C
85 °C
Threshold [V]
2,5
2
1,5
1
0,5
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
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Figure 21-40.VIL: Input Threshold Voltage vs. VCC (Reset Pin as I/O, Read as ‘0’)
RESET PIN AS I/O THRESHOLD VOLTAGE vs. VCC
VIL, RESET READ AS '0'
2,5
85 °C
25 °C
-40 °C
Threshold [V]
2
1,5
1
0,5
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
4,5
5
5,5
VCC [V]
Figure 21-41.VIH-VIL: Input Hysteresis vs. VCC (Reset Pin as I/O)
RESET AS I/O INPUT HYSTERESIS
0,8
0,7
-40 °C
0,6
Hysteresis [V]
25 °C
0,5
85 °C
0,4
0,3
0,2
0,1
0
1,5
2
2,5
3
3,5
4
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
195
21.10 BOD, Bandgap and Reset
Figure 21-42.BOD Threshold vs Temperature (BODLEVEL is 4.3V)
BOD THRESHOLDS vs. TEMPERATURE
BOD LEVEL 4.3 V
4,34
VCC RISING
4,32
Threshold [V]
4,3
4,28
4,26
4,24
VCC FALLING
4,22
4,2
4,18
-40
-20
0
20
40
60
80
100
Temperature [C]
Figure 21-43.BOD Threshold vs Temperature (BODLEVEL is 2.7V)
BOD THRESHOLDS vs. TEMPERATURE
BOD LEVEL 2.7 V
2,75
VCC RISING
2,74
2,73
2,72
Threshold [V]
2,71
2,7
2,69
2,68
VCC FALLING
2,67
2,66
2,65
2,64
-40
-20
0
20
40
60
80
100
Temperature [C]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
196
Figure 21-44.BOD Threshold vs Temperature (BODLEVEL is 1.8V)
BOD THRESHOLDS vs. TEMPERATURE
BOD LEVEL 1.8 V
1,815
VCC RISING
1,81
1,805
Threshold [V]
1,8
1,795
1,79
VCC FALLING
1,785
1,78
1,775
1,77
-40
-20
0
20
40
60
80
100
Temperature [C]
Figure 21-45.Bandgap Voltage vs. Supply Voltage
Bandgap Voltage vs. Vcc
1,1
1,09
1,08
85 °C
Reference [V]
1,07
25 °C
1,06
1,05
1,04
-40 °C
1,03
1,02
1,01
1
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
197
Figure 21-46.VIH: Input Threshold Voltage vs. VCC (Reset Pin, Read as ‘1’)
RESET INPUT THRESHOLD VOLTAGE vs. VCC
VIH, RESET RELEASED
2,5
-40 °C
25 °C
85 °C
Threshold [V]
2
1,5
1
0,5
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
Figure 21-47.VIL: Input Threshold Voltage vs. VCC (Reset Pin, Read as ‘0’)
RESET INPUT THRESHOLD VOLTAGE vs. VCC
VIL, CHIP RESET
2,5
-40 °C
25 °C
85 °C
Threshold [V]
2
1,5
1
0,5
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
198
Figure 21-48.VIH-VIL: Input Hysteresis vs. VCC (Reset Pin)
RESET INPUT HYSTERESIS
1
0,9
0,8
Hysteresis [V]
0,7
0,6
-40 °C
0,5
0,4
25 °C
0,3
85 °C
0,2
0,1
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
Figure 21-49.Minimum Reset Pulse Width vs. VCC
MINIMUM RESET PULSE WIDTH vs. VCC
2500
Pulsewidth [ns]
2000
1500
1000
500
85
25
-40
0
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
199
21.11 Analog Comparator Offset
Figure 21-50.Analog Comparator Offset
Analog Comparator Offset
Vcc = 5V
0,002
-40 °C
0
0
0,5
1
1,5
2
2,5
3
3,5
4
4,5
5
-0,002
25 °C
Offset (V)
-0,004
-0,006
85 °C
-0,008
-0,01
-0,012
-0,014
-0,016
Vin (V)
21.12 Internal Oscillator Speed
Figure 21-51.Watchdog Oscillator Frequency vs. VCC
WATCHDOG OSCILLATOR FREQUENCY vs. OPERATING VOLTAGE
0,108
0,107
0,106
-40 °C
FRC [MHz]
0,105
25 °C
0,104
0,103
0,102
0,101
0,1
85 °C
0,099
0,098
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
200
Figure 21-52.Watchdog Oscillator Frequency vs. Temperature
WATCHDOG OSCILLATOR FREQUENCY vs. TEMPERATURE
0,118
0,116
FRC [MHz]
0,114
0,112
1.8 V
0,11
2.8 V
3.5 V
4.0 V
0,108
5.5 V
0,106
-40
-20
0
20
40
60
80
100
Temperature [C]
Figure 21-53.Calibrated Oscillator Frequency vs. VCC
CALIBRATED 8MHz RC OSCILLATOR FREQUENCY vs. OPERATING VOLTAGE
8,4
FRC [MHz]
-40 °C
8,2
25 °C
8
85 °C
7,8
7,6
7,4
1,5
2
2,5
3
3,5
4
4,5
5
5,5
VCC [V]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
201
Figure 21-54.Calibrated Oscillator Frequency vs. Temperature
CALIBRATED 8MHz RC OSCILLATOR FREQUENCY vs. TEMPERATURE
8,3
8,2
FRC [MHz]
8,1
8
5.0 V
7,9
7,8
3.0 V
7,7
1.8 V
7,6
-40
-20
0
20
40
60
80
100
Temperature [C]
Figure 21-55.Calibrated Oscillator Frequency vs. OSCCAL Value
CALIBRATED 8.0MHz RC OSCILLATOR FREQUENCY vs. OSCCAL VALUE
16
-40 °C
25 °C
85 °C
14
12
FRC [MHz]
10
8
6
4
2
0
0
16
32
48
64
80
96
112
128
144
160
176
192
208
224
240
OSCCAL [X1]
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
202
22.
Register Summary
Address
Name
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Page
0x3F
SREG
I
T
H
S
V
N
Z
C
Page 14
0x3E
SPH
Stack Pointer High Byte
Page 13
0x3D
SPL
Stack Pointer Low Byte
Page 13
0x3C
CCP
0x3B
RSTFLR
–
–
–
CPU Change Protection Byte
Page 13
0x3A
MCUCR
ICSC01
ICSC00
–
0x39
OSCCAL
0x38
Reserved
–
–
–
–
0x37
CLKMSR
–
–
–
–
0x36
CLKPSR
–
–
–
–
0x35
PRR
–
–
–
PRTWI
PRSPI
0x34
QTCSR
0x33
NVMCMD
–
0x32
NVMCSR
NVMBSY
–
–
–
–
–
–
–
0x31
WDTCSR
WDIF
WDIE
WDP3
–
WDE
WDP2
WDP1
WDP0
Page 33
0x30
SPCR
SPIE
SPE
DORD
MSTR
CPOL
CPHA
SPR1
SPR0
Page 132
SPIF
WCOL
–
–
–
–
SSPS
SPI2X
Page 133
TWPME
TWSME
–
WDRF
BORF
EXTRF
PORF
Page 35
BODS
SM2
SM1
SM0
SE
Pages 26, 38
–
–
–
–
–
CLKMS1
CLKMS0
Page 20
CLKPS3
CLKPS2
CLKPS1
CLKPS0
Page 21
PRTIM1
PRTIM0
PRADC
Page 27
Oscillator Calibration Byte
Page 22
–
QTouch Control and Status Register
–
Page 7
NVM Command
Page 166
0x2F
SPSR
0x2E
SPDR
0x2D
TWSCRA
TWSHE
–
TWDIE
TWASIE
TWEN
TWSIE
0x2C
TWSCRB
–
–
–
–
–
TWAA
TWDIF
TWASIF
TWCH
TWRA
TWC
TWBE
SPI Data Register
Page 166
Page 134
TWCMD[1.0]
TWDIR
Page 143
Page 144
0x2B
TWSSRA
0x2A
TWSA
TWI Slave Address Register
TWAS
Page 146
Page 145
0x29
TWSAM
TWI Slave Address Mask Register
Page 147
0x28
TWSD
TWI Slave Data Register
0x27
GTCCR
TSM
–
–
–
–
–
–
PSR
0x26
TIMSK
ICE1
–
OCIE1B
OCIE1A
TOIE1
OCIE0B
OCIE0A
TOIE0
Pages 74, 101
0x25
TIFR
ICF1
–
OCF1B
OCF1A
TOV1
OCF0B
OCF0A
TOV0
Pages 75, 102
0x24
TCCR1A
COM1A1
COM1A0
COM1B1
COM1B0
–
–
WGM11
WGM10
Page 96
0x23
TCCR1B
ICNC1
ICES1
–
WGM13
WGM12
CS12
CS11
CS10
Page 98
FOC1A
FOC1B
–
–
–
–
–
–
Page 100
Page 146
Page 104
0x22
TCCR1C
0x21
TCNT1H
Timer/Counter1 – Counter Register High Byte
0x20
TCNT1L
Timer/Counter1 – Counter Register Low Byte
Page 100
0x1F
OCR1AH
Timer/Counter1 – Compare Register A High Byte
Page 100
Page 100
0x1E
OCR1AL
Timer/Counter1 – Compare Register A Low Byte
Page 100
0x1D
OCR1BH
Timer/Counter1 – Compare Register B High Byte
Page 101
0x1C
OCR1BL
Timer/Counter1 – Compare Register B Low Byte
Page 101
0x1B
ICR1H
Timer/Counter1 - Input Capture Register High Byte
Page 101
0x1A
ICR1L
Timer/Counter1 - Input Capture Register Low Byte
0x19
TCCR0A
COM0A1
COM0A0
COM0B1
COM0B0
–
–
WGM01
WGM00
Page 69
0x18
TCCR0B
FOC0A
FOC0B
–
–
WGM02
CS02
CS01
CS00
Page 72
Page 101
0x17
TCNT0
Timer/Counter0 – Counter Register
Page 73
0x16
OCR0A
Timer/Counter0 – Compare Register A
Page 74
0x15
OCR0B
0x14
ACSRA
Timer/Counter0 – Compare Register B
ACD
ACBG
ACO
ACI
ACIE
Page 74
ACIC
ACIS1
ACIS0
Page 106
0x13
ACSRB
HSEL
HLEV
ACLP
–
ACCE
ACME
ACIRS1
ACIRS0
Page 107
0x12
ADCSRA
ADEN
ADSC
ADATE
ADIF
ADIE
ADPS2
ADPS1
ADPS0
Page 122
0x11
ADCSRB
VDEN
VDPD
–
–
ADLAR
ADTS2
ADTS1
ADTS0
Page 123
0x10
ADMUX
–
REFS
REFEN
ADC0EN
MUX3
MUX2
MUX1
MUX0
Page 120
0x0F
ADCH
ADC Conversion Result – High Byte
0x0E
ADCL
ADC Conversion Result – Low Byte
Page 121
0x0D
DIDR0
ADC7D
ADC6D
ADC5D
ADC4D
ADC3D
ADC2D
ADC1D
0x0C
GIMSK
–
–
PCIE1
PCIE0
–
–
–
INT0
Page 39
0x0B
GIFR
–
–
PCIF1
PCIF0
–
–
–
INTF0
Page 40
0x0A
PCMSK1
–
–
–
–
PCINT11
PCINT10
PCINT9
PCINT8
Page 40
0x09
PCMSK0
PCINT7
PCINT6
PCINT5
PCINT4
PCINT3
PCINT2
PCINT1
PCINT0
Page 41
0x08
PORTCR
–
–
–
–
–
–
BBMB
BBMA
Page 56
0x07
PUEB
–
–
–
–
PUEB3
PUEB2
PUEB1
PUEB0
Page 57
0x06
PORTB
–
–
–
–
PORTB3
PORTB2
PORTB1
PORTB0
Page 57
0x05
DDRB
–
–
–
–
DDRB3
DDRB2
DDRB1
DDRB0
Page 57
Page 121
ADC0D
Page 124
0x04
PINB
–
–
–
–
PINB3
PINB2
PINB1
PINB0
Page 58
0x03
PUEA
PUEA7
PUEA6
PUEA5
PUEA4
PUEA3
PUEA2
PUEA1
PUEA0
Page 57
0x02
PORTA
PORTA7
PORTA6
PORTA5
PORTA4
PORTA3
PORTA2
PORTA1
PORTA0
Page 57
0x01
DDRA
DDRA7
DDRA6
DDRA5
DDRA4
DDRA3
DDRA2
DDRA1
DDRA0
Page 57
0x00
PINA
PINA7
PINA6
PINA5
PINA4
PINA3
PINA2
PINA1
PINA0
Page 57
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
203
Note:
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 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.
3. 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 operation 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.
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
204
23.
Instruction Set Summary
Mnemonics
Operands
Description
Operation
Flags
#Clocks
ARITHMETIC AND LOGIC INSTRUCTIONS
ADD
Rd, Rr
Add without Carry
Rd ← Rd + Rr
Z,C,N,V,S,H
ADC
Rd, Rr
Add with Carry
Rd ← Rd + Rr + C
Z,C,N,V,S,H
1
SUB
Rd, Rr
Subtract without Carry
Rd ← Rd - Rr
Z,C,N,V,S,H
1
SUBI
Rd, K
Subtract Immediate
Rd ← Rd - K
Z,C,N,V,S,H
1
SBC
Rd, Rr
Subtract with Carry
Rd ← Rd - Rr - C
Z,C,N,V,S,H
1
SBCI
Rd, K
Subtract Immediate with Carry
Rd ← Rd - K - C
Z,C,N,V,S,H
1
AND
Rd, Rr
Logical AND
Rd ← Rd • Rr
Z,N,V,S
1
ANDI
Rd, K
Logical AND with Immediate
Rd ← Rd • K
Z,N,V,S
1
OR
Rd, Rr
Logical OR
Rd ← Rd v Rr
Z,N,V,S
1
ORI
Rd, K
Logical OR with Immediate
Rd ← Rd v K
Z,N,V,S
1
1
EOR
Rd, Rr
Exclusive OR
Rd ← Rd ⊕ Rr
Z,N,V,S
1
COM
Rd
One’s Complement
Rd ← $FF − Rd
Z,C,N,V,S
1
NEG
Rd
Two’s Complement
Rd ← $00 − Rd
Z,C,N,V,S,H
1
SBR
Rd,K
Set Bit(s) in Register
Rd ← Rd v K
Z,N,V,S
1
CBR
Rd,K
Clear Bit(s) in Register
Rd ← Rd • ($FFh - K)
Z,N,V,S
1
INC
Rd
Increment
Rd ← Rd + 1
Z,N,V,S
1
DEC
Rd
Decrement
Rd ← Rd − 1
Z,N,V,S
1
TST
Rd
Test for Zero or Minus
Rd ← Rd • Rd
Z,N,V,S
1
CLR
Rd
Clear Register
Rd ← Rd ⊕ Rd
Z,N,V,S
1
SER
Rd
Set Register
Rd ← $FF
None
1
Relative Jump
PC ← PC + k + 1
None
2
Indirect Jump to (Z)
PC(15:0) ← Z, PC(21:16) ← 0
None
2
Relative Subroutine Call
PC ← PC + k + 1
None
3/4
BRANCH INSTRUCTIONS
RJMP
k
IJMP
RCALL
k
ICALL
Indirect Call to (Z)
PC(15:0) ← Z, PC(21:16) ← 0
None
3/4
RET
Subroutine Return
PC ← STACK
None
4/5
RETI
CPSE
Rd,Rr
Interrupt Return
PC ← STACK
I
Compare, Skip if Equal
if (Rd = Rr) PC ← PC + 2 or 3
None
4/5
1/2/3
CP
Rd,Rr
Compare
Rd − Rr
Z, C,N,V,S,H
1
CPC
Rd,Rr
Compare with Carry
Rd − Rr − C
Z, C,N,V,S,H
1
CPI
Rd,K
Compare with Immediate
Rd − K
Z, C,N,V,S,H
SBRC
Rr, b
Skip if Bit in Register Cleared
if (Rr(b)=0) PC ← PC + 2 or 3
None
1/2/3
SBRS
Rr, b
Skip if Bit in Register is Set
if (Rr(b)=1) PC ← PC + 2 or 3
None
1/2/3
SBIC
A, b
Skip if Bit in I/O Register Cleared
if (I/O(A,b)=0) PC ← PC + 2 or 3
None
1/2/3
SBIS
A, b
Skip if Bit in I/O Register is Set
if (I/O(A,b)=1) PC ← PC + 2 or 3
None
1/2/3
BRBS
s, k
Branch if Status Flag Set
if (SREG(s) = 1) then PC←PC+k + 1
None
1/2
BRBC
s, k
Branch if Status Flag Cleared
if (SREG(s) = 0) then PC←PC+k + 1
None
1/2
BREQ
k
Branch if Equal
if (Z = 1) then PC ← PC + k + 1
None
1/2
BRNE
k
Branch if Not Equal
if (Z = 0) then PC ← PC + k + 1
None
1/2
BRCS
k
Branch if Carry Set
if (C = 1) then PC ← PC + k + 1
None
1/2
BRCC
k
Branch if Carry Cleared
if (C = 0) then PC ← PC + k + 1
None
1/2
BRSH
k
Branch if Same or Higher
if (C = 0) then PC ← PC + k + 1
None
1/2
BRLO
k
Branch if Lower
if (C = 1) then PC ← PC + k + 1
None
1/2
BRMI
k
Branch if Minus
if (N = 1) then PC ← PC + k + 1
None
1/2
BRPL
k
Branch if Plus
if (N = 0) then PC ← PC + k + 1
None
1/2
BRGE
k
Branch if Greater or Equal, Signed
if (N ⊕ V= 0) then PC ← PC + k + 1
None
1/2
BRLT
k
Branch if Less Than Zero, Signed
if (N ⊕ V= 1) then PC ← PC + k + 1
None
1/2
BRHS
k
Branch if Half Carry Flag Set
if (H = 1) then PC ← PC + k + 1
None
1/2
BRHC
k
Branch if Half Carry Flag Cleared
if (H = 0) then PC ← PC + k + 1
None
1/2
BRTS
k
Branch if T Flag Set
if (T = 1) then PC ← PC + k + 1
None
1/2
1
BRTC
k
Branch if T Flag Cleared
if (T = 0) then PC ← PC + k + 1
None
1/2
BRVS
k
Branch if Overflow Flag is Set
if (V = 1) then PC ← PC + k + 1
None
1/2
BRVC
k
Branch if Overflow Flag is Cleared
if (V = 0) then PC ← PC + k + 1
None
1/2
BRIE
k
Branch if Interrupt Enabled
if ( I = 1) then PC ← PC + k + 1
None
1/2
BRID
k
Branch if Interrupt Disabled
if ( I = 0) then PC ← PC + k + 1
None
1/2
BIT AND BIT-TEST INSTRUCTIONS
LSL
Rd
Logical Shift Left
Rd(n+1) ← Rd(n), Rd(0) ← 0
Z,C,N,V,H
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,H
1
1
ROR
Rd
Rotate Right Through Carry
Rd(7)←C,Rd(n)← Rd(n+1),C←Rd(0)
Z,C,N,V
1
ASR
Rd
Arithmetic Shift Right
Rd(n) ← Rd(n+1), n=0..6
Z,C,N,V
1
SWAP
Rd
Swap Nibbles
Rd(3..0)←Rd(7..4),Rd(7..4)←Rd(3..0)
None
1
BSET
s
Flag Set
SREG(s) ← 1
SREG(s)
1
BCLR
s
Flag Clear
SREG(s) ← 0
SREG(s)
1
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
205
Mnemonics
Operands
Description
Operation
Flags
#Clocks
SBI
A, b
Set Bit in I/O Register
I/O(A, b) ← 1
None
1
CBI
A, b
Clear Bit in I/O Register
I/O(A, b) ← 0
None
1
BST
Rr, b
Bit Store from Register to T
T ← Rr(b)
T
1
BLD
Rd, b
Bit load from T to Register
Rd(b) ← T
None
1
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
SEC
CLI
Global Interrupt Disable
I←0
I
1
SES
Set Signed Test Flag
S←1
S
1
CLS
Clear Signed Test Flag
S←0
S
1
SEV
Set Two’s Complement Overflow.
V←1
V
1
CLV
Clear Two’s Complement Overflow
V←0
V
1
SET
Set T in SREG
T←1
T
1
CLT
Clear T in SREG
T←0
T
1
SEH
CLH
Set Half Carry Flag in SREG
Clear Half Carry Flag in SREG
H←1
H←0
H
H
1
1
DATA TRANSFER INSTRUCTIONS
MOV
Rd, Rr
Copy Register
Rd ← Rr
None
1
LDI
Rd, K
Load Immediate
Rd ← K
None
1
LD
Rd, X
Load Indirect
Rd ← (X)
None
1/2
LD
Rd, X+
Load Indirect and Post-Increment
Rd ← (X), X ← X + 1
None
2
LD
Rd, - X
Load Indirect and Pre-Decrement
X ← X - 1, Rd ← (X)
None
2/3
LD
Rd, Y
Load Indirect
Rd ← (Y)
None
1/2
LD
Rd, Y+
Load Indirect and Post-Increment
Rd ← (Y), Y ← Y + 1
None
2
LD
Rd, - Y
Load Indirect and Pre-Decrement
Y ← Y - 1, Rd ← (Y)
None
2/3
LD
Rd, Z
Load Indirect
Rd ← (Z)
None
1/2
LD
Rd, Z+
Load Indirect and Post-Increment
Rd ← (Z), Z ← Z+1
None
2
LD
Rd, -Z
Load Indirect and Pre-Decrement
Z ← Z - 1, Rd ← (Z)
None
2/3
LDS
Rd, k
Store Direct from SRAM
Rd ← (k)
None
1
ST
X, Rr
Store Indirect
(X) ← Rr
None
1
ST
X+, Rr
Store Indirect and Post-Increment
(X) ← Rr, X ← X + 1
None
1
ST
- X, Rr
Store Indirect and Pre-Decrement
X ← X - 1, (X) ← Rr
None
2
ST
Y, Rr
Store Indirect
(Y) ← Rr
None
1
ST
Y+, Rr
Store Indirect and Post-Increment
(Y) ← Rr, Y ← Y + 1
None
1
ST
- Y, Rr
Store Indirect and Pre-Decrement
Y ← Y - 1, (Y) ← Rr
None
2
ST
Z, Rr
Store Indirect
(Z) ← Rr
None
1
ST
Z+, Rr
Store Indirect and Post-Increment.
(Z) ← Rr, Z ← Z + 1
None
1
ST
-Z, Rr
Store Indirect and Pre-Decrement
Z ← Z - 1, (Z) ← Rr
None
2
STS
k, Rr
Store Direct to SRAM
(k) ← Rr
None
1
IN
Rd, A
In from I/O Location
Rd ← I/O (A)
None
1
1
OUT
A, Rr
Out to I/O Location
I/O (A) ← 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
BREAK
Break
(see specific descr. for Break)
None
1
NOP
No Operation
None
1
SLEEP
WDR
Sleep
Watchdog Reset
None
None
1
(see specific descr. for Sleep)
(see specific descr. for WDR)
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
1
206
24.
Ordering Information
24.1
ATtiny20
Speed
Supply Voltage
Temperature Range
Package (2)
12U-1
14S1
12 MHz
1.8 – 5.5V
Industrial
(-40°C to +85°C) (4)
14X
15CC1
20M2
Ordering Code (1)
ATtiny20-UUR
ATtiny20-SSU
ATtiny20-SSUR
ATtiny20-XU
ATtiny20-XUR
ATtiny20-CCU
ATtiny20-CCUR
ATtiny20-MMH (3)
ATtiny20-MMHR (3)
Notes: 1. Code indicators:
z
H: NiPdAu lead finish
z
U: matte tin
z
R: tape & reel
2. All packages are Pb-free, halide-free and fully green and they comply with the European directive for Restriction of
Hazardous Substances (RoHS).
3. Topside marking for ATtiny20:
z
1st Line: T20
z
2nd & 3rd Line: manufacturing data
4. These devices can also be supplied in wafer form. Please contact your local Atmel sales office for detailed ordering
information and minimum quantities.
Package Type
12U-1
12-ball 1.540 x 1.388mm Body, 0.433 mm thick, 0.40 mm Pitch (3x4 Staggered Array), WLCSP
14S1
14-lead, 0.150" Wide Body, Plastic Gull Wing Small Outline Package (SOIC)
14X
14-lead, 4.4 mm Body, Thin Shrink Small Outline Package (TSSOP)
15CC1
15-ball (4 x 4 Array), 0.65 mm Pitch, 3.0 x 3.0 x 0.6 mm, Ultra Thin Fine-Pitch Ball Grid Array Package (UFBGA)
20M2
20-pad, 3 x 3 x 0.85 mm Body, Very Thin Quad Flat No Lead Package (VQFN)
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
207
25.
Packaging Information
25.1
12U-3
+!†
^?
;< G &#&* +
&#
; *
$ %
* ; &‡
+
> M Q &#&* P M Q &#&* P +
_
+
&#&&
>
_
_
`j<k
>?
J$$J\%$_\>%J\>
j\%^J $_>{_|$$k
$%\
G
>@$+JZ
&# ;
&#~&
&#&*
&#&
`
&#}
&# }
&#}}
$
;
%
#***
&
'
*
\
#&&&+>
>
&# }+>
_
&#;&&+>
>
&#;&&+>
&#&*
?
+

+
#;&
_
#&}+>
_j$<k
\J^_
&#*~
!$ ƒ
$<
j$<k
\!€`€!  ‚! ƒ!!` "" #
" """ " #
\€€ "‚" „#
\J$
+
+&
!"#!
7,7/(
8ˆ` ""#***ƒ#;&!!+‰ˆ&#*~!!
‚ˆ&#;&!! ‚j;ƒ > ‰kˆ
ŠZ> j*;&k
*3&
'5$:,1*12
5(9
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
208
25.2
14S1
1
E
H
E
N
L
Top View
End View
e
COMMON DIMENSIONS
(Unit of Measure = mm/inches)
b
SYMBOL
A
A1
A
D
Side View
MIN
1.35/0.0532
MAX
–
1.75/0.0688
A1
0.1/.0040
–
0.25/0.0098
b
0.33/0.0130
–
0.5/0.0200 5
D
8.55/0.3367
–
8.74/0.3444 2
E
3.8/0.1497
–
3.99/0.1574 3
H
5.8/0.2284
–
6.19/0.2440
L
0.41/0.0160
–
1.27/0.0500 4
e
Notes:
NOM
NOTE
1.27/0.050 BSC
1. This drawing is for general information only; refer to JEDEC Drawing MS-012, Variation AB for additional information.
2. Dimension D does not include mold Flash, protrusions or gate burrs. Mold Flash, protrusion and gate burrs shall not
exceed 0.15 mm (0.006") per side.
3. Dimension E does not include inter-lead Flash or protrusion. Inter-lead flash and protrusions shall not exceed 0.25 mm
(0.010") per side.
4. L is the length of the terminal for soldering to a substrate.
5. The lead width B, as measured 0.36 mm (0.014") or greater above the seating plane, shall not exceed a maximum value
of 0.61 mm (0.024") per side.
2/5/02
Package Drawing Contact:
[email protected]
TITLE
DRAWING NO.
14S1, 14-lead, 0.150" Wide Body, Plastic Gull
Wing Small Outline Package (SOIC)
14S1
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
REV.
A
209
25.3
14X
Dimensions in Millimeters and (Inches).
Controlling dimension: Millimeters.
JEDEC Standard MO-153 AB-1.
INDEX MARK
PIN
1
4.50 (0.177)
4.30 (0.169)
5.10 (0.201)
4.90 (0.193)
0.65 (.0256) BSC
1.20 (0.047) MAX
0.15 (0.006)
0.05 (0.002)
0.30 (0.012)
0.19 (0.007)
6.50 (0.256)
6.25 (0.246)
SEATING
PLANE
0.20 (0.008)
0.09 (0.004)
0º~ 8º
0.75 (0.030)
0.45 (0.018)
05/16/01
Package Drawing Contact:
[email protected]
TITLE
14X (Formerly "14T") , 14-lead (4.4 mm Body) Thin Shrink
Small Outline Package (TSSOP)
DRAWING NO. .
REV. .
14X
B
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
210
25.4
15CC1
1
2
3
4
0.08
A
Pin#1 ID
B
SIDE VIEW
D
C
D
b1
A1
E
A
A2
TOP VIEW
E1
15-Øb
e
D
e
COMMON DIMENSIONS
(Unit of Measure = mm)
C
D1
B
A
SYMBOL
MIN
NOM
MAX
A
–
–
0.60
A1
0.12
–
–
0.38 REF
A2
A1 BALL CORNER
1
2
3
4
BOTTOM VIEW
b
0.25
0.30
0.35
1
b1
0.25
–
–
2
D
2.90
3.00
3.10
1.95 BSC
D1
E 2.90
Note1: Dimension “b” is measured at the maximum ball dia. in a plane parallel
3.10
3.00
1.95 BSC
E1
e
to the seating plane.
NOTE
0.65 BSC
Note2: Dimension “b1” is the solderable surface defined by the opening of the
solder resist layer.
TITLE
Package Drawing Contact:
[email protected]
15CC1, 15-ball (4 x 4 Array), 3.0 x 3.0 x 0.6 mm
package, ball pitch 0.65 mm,
Ultra thin, Fine-Pitch Ball Grid Array Package (UFBGA)
GPC
CBC
07/06/10
DRAWING NO.
REV.
15CC1
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
C
211
25.5
20M2
D
C
y
Pin 1 ID
E
SIDE VIEW
TOP VIEW
A1
A
D2
16
17
18
19
20
COMMON DIMENSIONS
(Unit of Measure = mm)
C0.18 (8X)
15
1
Pin #1 Chamfer
(C 0.3)
14
2
e
E2
13
3
12
4
11
5
b
10
9
8
7
6
K
L
BOTTOM VIEW
0.3 Ref (4x)
SYMBOL
MIN
NOM
MAX
A
0.75
0.80
0.85
A1
0.00
0.02
0.05
b
0.17
0.22
0.27
C
0.152
D
2.90
3.00
3.10
D2
1.40
1.55
1.70
E 2.90
3.00
3.10
E2
1.40
1.55
1.70
e
–
0.45
–
L
0.35
0.40
0.45
–
–
0.00
–
K 0.20
y
NOTE
0.08
10/24/08
Package Drawing Contact:
[email protected]
TITLE
20M2, 20-pad, 3 x 3 x 0.85 mm Body, Lead Pitch 0.45 mm,
1.55 x 1.55 mm Exposed Pad, Thermally Enhanced
Plastic Very Thin Quad Flat No Lead Package (VQFN)
GPC
ZFC
DRAWING NO.
REV.
20M2
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
B
212
26.
Errata
The revision letters in this section refer to the revision of the corresponding ATtiny20 device.
26.1
Rev. A
Issue:
Lock bits re-programming
Resolution:
Attempt to re-program Lock bits to present, or lower protection level (tampering attempt), causes
erroneously one, random line of Flash program memory to get erased. The Lock bits will not get
changed, as they should not.
Workaround: Do not attempt to re-program Lock bits to present, or lower protection level.
Issue:
MISO output driver is not disabled by Slave Select (SS) signal
Resolution:
When SPI is configured as a slave and the MISO pin is configured as an output the pin output
driver is constantly enabled, even when the SS pin is high. If other slave devices are connected to
the same MISO line this behavior may cause drive contention.
Workaround: Monitor SS pin by software and use the DDRB2 bit of DDRB to control the MISO pin driver.
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
213
27.
Datasheet Revision History
Revision
Date
Comments
8235F
09/2014
Changed text in Section 25.1 from 12U-1 to 12U-3.
Updated back page.
8235E
03/13
Updated WLCSP ball configuration on page 3.
Updated WLCSP package drawing, “12U-3” on page 208
8235D
10/12
Updated Document template, and “Pin Configurations” on page 2
8235C
06/12
Updated “Ordering Information” on page 207.
Added Wafer Level Chip Scale Package “12U-3” on page 208.
Removed Preliminary status.
Updated Bit syntax throughout the datasheet, e.g. from CS02:0 to CS0[2:0], Idle Mode
8235B
04/11
description on page 6, “Capacitive Touch Sensing” on page 7 (section updated and moved),
“Disclaimer” on page 7, Sentence on low impedance sources in “Analog Input Circuitry” on
page 116, Description on 16-bit registers on page 9, Description on Stack Pointer on page 10,
List of active modules in “Idle Mode” on page 23, Description on reset pulse width in
“Watchdog Reset” on page 30, Program code on page 37, Bit description in Figure 11-3 on
page 62, Section “Compare Output Mode and Waveform Generation” on page 63, Signal
descriptions in Figure 11-5 on page 64, and Figure 11-7 on page 67, Equations on page 65,
page 66, and page 67, Terminology in sections describing extreme values on page 66, and
page 67, Description on creating frequency waveforms on page 67, Signal routing in Figure 121 on page 76, TOP definition in Table 12-1 on page 77, Signal names in Figure 12-3 on page
79, TWSHE bit description in “TWSCRA – TWI Slave Control Register A” on page 143, SPI
slave assembly code example on page 129, Table 21-1 on page 174, Section “Speed” on page
168, Characteristics in Figure 21-3 on page 176, and Figure 21-8 on page 179.
Added Note on internal voltage reference in Table 15-4 on page 121, PRADC in Table 21-2 on
page 175, MISO output driver errata for device rev. A in “Errata” on page 213
8235A
03/10
Initial revision
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
214
Table of Contents
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.
Pin Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1
1.2
1.3
1.4
1.5
SOIC & TSSOP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VQFN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
UFBGA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wafer Level Chip Scale Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pin Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
2
3
3
4
2.
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.
General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.1
3.2
3.3
3.4
3.5
4.
Clock Subsystems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clock Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System Clock Prescaler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
18
19
19
20
Power Management and Sleep Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.1
7.2
7.3
7.4
7.5
8.
In-System Re-programmable Flash Program Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Data Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
I/O Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Clock System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6.1
6.2
6.3
6.4
6.5
7.
Architectural Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
ALU – Arithmetic Logic Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Status Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
General Purpose Register File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Stack Pointer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Instruction Execution Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Reset and Interrupt Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Memories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5.1
5.2
5.3
6.
7
7
7
7
7
CPU Core . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
5.
Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Code Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Capacitive Touch Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Retention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sleep Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software BOD Disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Reduction Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Minimizing Power Consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
24
24
25
26
System Control and Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
8.1
8.2
Resetting the AVR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Reset Sources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
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8.3
8.4
8.5
9.
Internal Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Watchdog Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
9.1
9.2
9.3
Interrupt Vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
External Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
10. I/O Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
10.1
10.2
10.3
10.4
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ports as General Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Alternate Port Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
42
47
56
11. 8-bit Timer/Counter0 with PWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
11.1
11.2
11.3
11.4
11.5
11.6
11.7
11.8
11.9
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clock Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Counter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output Compare Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Compare Match Output Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modes of Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Timer/Counter Timing Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
59
59
60
60
61
63
64
68
69
12. 16-bit Timer/Counter1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
12.1
12.2
12.3
12.4
12.5
12.6
12.7
12.8
12.9
12.10
12.11
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Timer/Counter Clock Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Counter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Capture Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output Compare Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Compare Match Output Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modes of Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Timer/Counter Timing Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessing 16-bit Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
76
76
77
78
78
80
82
83
91
93
96
13. Timer/Counter Prescaler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
13.1
13.2
13.3
Prescaler Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
External Clock Source. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
14. Analog Comparator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
14.1
14.2
Analog Comparator Multiplexed Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
15. Analog to Digital Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
15.1
15.2
15.3
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
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15.4
15.5
15.6
15.7
15.8
15.9
15.10
15.11
15.12
15.13
Starting a Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Prescaling and Conversion Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Changing Channel or Reference Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ADC Noise Canceler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Input Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Noise Canceling Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ADC Accuracy Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ADC Conversion Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Temperature Measurement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
111
112
115
116
116
117
117
119
119
120
16. SPI – Serial Peripheral Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
16.1
16.2
16.3
16.4
16.5
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SS Pin Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
125
125
130
131
132
17. TWI – Two Wire Slave Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
17.1
17.2
17.3
17.4
17.5
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General TWI Bus Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TWI Slave Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
135
135
135
141
143
18. Programming Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
18.1
18.2
18.3
18.4
18.5
18.6
18.7
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Physical Layer of Tiny Programming Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Access Layer of Tiny Programming Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessing the Non-Volatile Memory Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control and Status Space Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
148
148
152
153
155
156
19. Memory Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
19.1
19.2
19.3
19.4
19.5
19.6
19.7
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Non-Volatile Memories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessing the NVM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Self programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
159
159
159
162
165
165
166
20. Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
20.1
20.2
20.3
20.4
20.5
20.6
20.7
20.8
Absolute Maximum Ratings* . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clock Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System and Reset Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Comparator Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ADC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Serial Programming Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
167
167
168
169
170
171
172
173
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21. Typical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
21.1
21.2
21.3
21.4
21.5
21.6
21.7
21.8
21.9
21.10
21.11
21.12
Supply Current of I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current Consumption in Active Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current Consumption in Idle Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current Consumption in Power-down Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current Consumption in Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current Consumption of Peripheral Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pull-up Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output Driver Strength . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Thresholds and Hysteresis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BOD, Bandgap and Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Comparator Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Internal Oscillator Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
174
175
178
180
181
182
184
187
193
196
200
200
22. Register Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
23. Instruction Set Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
24. Ordering Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
24.1
ATtiny20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
25. Packaging Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
25.1
25.2
25.3
25.4
25.5
12U-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15CC1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20M2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
208
209
210
211
212
26. Errata . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
26.1
Rev. A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
27. Datasheet Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .i
ATtiny20 [DATASHEET]
Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014
iv
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Atmel Corporation
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© 2014 Atmel Corporation. / Rev.: Atmel-8235F-AVR-ATtiny20-Datasheet_09/2014.
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