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| Features * Incorporates the ARM7TDMI(R) ARM(R) Thumb(R) Processor Core - High-performance 32-bit RISC Architecture - High-density 16-bit Instruction Set - Leader in MIPS/Watt - EmbeddedICETM (In-circuit Emulation) 256K Bytes of On-chip SRAM - 32-bit Data Bus, Single-clock Cycle Access 1024K Words 16-bit Flash Memory (2M bytes) - Single Voltage Read/Write, - Sector Erase Architecture - Erase Suspend Capability - Low-power Operation - Data Polling, Toggle Bit and Ready/Busy End of Program Cycle Detection - Reset Input for Device Initialization - Sector Program Unlock Command - 128-bit Protection Register - Factory-programmed AT91 Flash Memory Uploader Software Fully Programmable External Bus Interface (EBI) - Up to 8 Chip Selects, Maximum External Address Space of 64M Bytes - Software Programmable 8/16-bit External Data Bus 8-level Priority, Individually Maskable, Vectored Interrupt Controller - 4 External Interrupts, Including a High-priority Low-latency Interrupt Request 32 Programmable I/O Lines 3-channel 16-bit Timer/Counter - 3 External Clock Inputs, 2 Multi-purpose I/O Pins per Channel 2 USARTs - Two Dedicated Peripheral Data Controller (PDC) Channels per USART Programmable Watchdog Timer Advanced Power-saving Features - CPU and Peripherals Can be De-activated Individually Fully Static Operation: - 0 Hz to 75 MHz Internal Frequency Range at VDDCORE = 1.8V, 85 C 2.7V to 3.6V I/O Operating Range, 1.65V to 1.95V Core Operating Range -40 C to 85 C Temperature Range Available in a 121-ball 10 x 10 x 1.26 mm BGA Package with 0.8 mm Ball Pitch * * AT91 ARM Thumb-based Microcontrollers AT91FR40162SB * * * * * * * * * * * Preliminary 6410B-ATARM-12-Jan-10 1. Description The AT91FR40162SB is a member of the Atmel AT91 16/32-bit Microcontroller family, which is based on the ARM7TDMI processor core. The processor has a high-performance 32-bit RISC architecture with a high-density 16-bit instruction set and very low power consumption. The AT91FR40162SB ARM microcontroller features 2 Mbits of on-chip SRAM and 2 Mbytes of Flash memory in a single compact 121-ball BGA package. Its high level of integration and very small footprint make the device ideal for space-constrained applications. The high-speed onchip SRAM enables a performance of up to 74 MIPs in typical conditions with significant power reduction and EMC improvement over an external SRAM implementation. The Flash memory may be programmed via the JTAG/ICE interface or the factory-programmed Flash Memory Uploader (FMU) using a single device supply, making the AT91FR40162SB suitable for in-system programmable applications. 2. Migrating from the AT91FR40162S to the AT91FR40162SB 2.1 Hardware Requirements The AT91FR40162SB is pin-to-pin compatible to the AT91FR40162S, so the AT91FR40162SB can be soldered in place of the AT91FR40162S without any other hardware changes. The AT91FR40162SB does not feature a VPP pin, thus ball D5 of the 121-ball BGA package of the AT91FR40162SB is NC (Not connected). This ball can either be connected to a supply up to 13V (as could be the VPP ball of the AT91FR40162S), grounded or left unconnected. 2.2 Software Requirements Except for the Flash memory, the processor, the architecture and the peripherals of both the AT91FR40162S and the AT91FR40162SB are identical, any program written for an AT91FR40162S-based system can run as is on the same system built with an AT91FR40162SB, with the exception of aspects related to the Flash memory. 2.3 Flash Memory Difference Som e features of the embedded Flash memories in the AT91FR40162S and the AT91FR40162SB are not fully identical. 2.3.1 Device ID The Device Code of the Flash Memory of the AT91FR40162SB is 01C0H instead of 00C0H for the AT91FR40162S. Users who use this Device Code must modify the software. 2.3.2 VPP Features As the AT91FR40162SB does not feature a VPP pin, neither the write protection feature nor the double-word fast write feature are available on this device. If the hardware write protection feature is used on the AT91FR40162S, it should be replaced by a software-controlled write protection method with the Sector Lockdown command, or removed from the application. If the Double Byte/Word Program command was used on the AT91FR40162S, the user needs to change the flash programming sequence and to use only the standard Byte/Word Program command. 2 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB The VPP Status I/O3 does not exist anymore in the Status word returned by the Flash Memory. 2.3.3 Erase Cycle Timings The 32K Word sector erase cycle time maximum value has been increased from 5 seconds to 6 seconds. In case the end of erase cycle is not used, but a fixed timeout is used instead, the value of the timeout must be checked against the new value. CFI Common Flash Interface The Common Flash Interface table (Table 12-5, "Common Flash Interface Definition," on page 68) Erase block information of the 64-KByte and the 8-KByte sectors addresses was not fully CFI-compliant on the AT91FR40162S. The AT91FR40162SB is fully CFI-compliant, and thus the Erase block information of the 64-KByte and the 8-KByte sector addresses in the Common Flash Interface table have changed. Users who managed the programming of the flash with the CFI algorithm on the AT91FR40162S should adapt their programming for the AT91FR40162SB. 2.3.5 Fully Green Package The AT91FR40162S is RoHS compliant, whereas the AT91FR40162SB is fully Green qualified. This has no impact on the soldering profile to be used, but only improves environmental considerations. 2.3.4 3 6410B-ATARM-12-Jan-10 3. Pin Configuration Figure 3-1. AT91FR40162SB Pinout for 121-ball BGA Package (Top View) A1 Corner 1 2 3 4 5 6 7 8 9 10 11 A P21/TXD1 NTRI P22 RXD1 P19 P16 P15 RXD0 GND P11 P8 VDDCORE IRQ2 TIOB2 P10 IRQ1 P9 IRQ0 P7 TIOA2 P3 TCLK1 P6 TCLK2 P4 TIOA1 GND P2 TIOB0 B P20 SCK1 P18 P17 P12 FIQ NBUSY VDDIO GND P1 TIOA0 C VDDIO GND NUB NWR1 P14 TXD0 P13 SCK0 P5 TIOB1 A16 D15 P0 TCLK0 D P23 MCKI NRST NC (1) NRSTF A14 A15 D12 D14 VDDIO E P24 BMS P25 NWDOVF MCK0 A3 A8 D11 D10 D13 NC NC D3 F GND TMS GND TCK NOE NRD D9 A11 D7 D8 NC NC G TDO NWE NWR0 A2 TDI NCS0 D2 D5 D4 D6 GND NC H P26 VDDCORE VDDIO NCS2 NC NCSF NC D0 D1 P31/A23 CS4 NC NC J NWAIT GND P27 NCS3 A5 NC VDDIO GND GND A19 P30/A22 VDDIO CS5 K P29/A21 VDDCORE CS6 NCS1 NLB A0 GND A7 VDDIO A10 A13 GND A17 L GND A1 A4 A6 VDDIO A9 A12 GND VDDIO A18 A20 Note: 1. Not connected, can either be connected to GND, VCC or left unconnected. 4 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 4. Signal Description Table 4-1. Module AT91FR40162SB Signal Description Name A0 - A23 D0 - D15 NCS0 - NCS3 CS4 - CS7 NWR0 NWR1 Function Address Bus Data Bus External Chip Select External Chip Select Lower Byte 0 Write Signal Upper Byte 1 Write Signal Read Signal Write Enable Output Enable Upper Byte Select Lower Byte Select Wait Input Boot Mode Select Fast Interrupt Request External Interrupt Request Timer External Clock Multi-purpose Timer I/O Pin A Multi-purpose Timer I/O Pin B External Serial Clock Transmit Data Output Receive Data Input Parallel IO Line Watchdog Overflow Master Clock Input Master Clock Output Hardware Reset Input Tri-state Mode Select Test Mode Select Test Data Input Test Data Output Test Clock Type Output I/O Output Output Output Output Output Output Output Output Output Input Input Input Input Input I/O I/O I/O Output Input I/O Output Input Output Input Input Input Input Output Input Active Level - - Low High Low Low Low Low Low Low Low Low - - - - - - - - - - Low - - Low Low - - - - Schmidt trigger, internal pull-up Schmidt trigger Sampled during reset Schmidt trigger, internal pull-up Schmidt trigger, internal pull-up Open drain Schmidt trigger Sampled during reset; must be driven low during reset for Flash to be used as boot memory PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset Used to select external devices A23 - A20 after reset Used in Byte Write option Used in Byte Write option Used in Byte Write option Used in Byte Select option Used in Byte Select option Used in Byte Select option Used in Byte Select option Comments Valid after reset; do not reprogram A20 to I/O, as it is MSB of Flash address EBI NRD NWE NOE NUB NLB NWAIT BMS FIQ AIC IRQ0 - IRQ2 TCLK0 - TCLK2 Timer TIOA0 - TIOA2 TIOB0 - TIOB2 SCK0 - SCK1 USART TXD0 - TXD1 RXD0 - RXD1 PIO WD Clock MCKO NRST Reset NTRI TMS TDI ICE TDO TCK P0 - P31 NWDOVF MCKI 5 6410B-ATARM-12-Jan-10 Table 4-1. Module Flash Memory AT91FR40162SB Signal Description (Continued) Name NCSF NBUSY NRSTF VDDIO Function Flash Memory Select Flash Memory Busy Output Flash Memory Reset Input Power Power Ground Type Input Output Input Power Power Ground Active Level Low Low Low - - - Comments Enables Flash Memory when pulled low Flash RDY/BUSY signal; open-drain Resets Flash to standard operating mode All VDDIO, VDDCORE and all GND pins MUST be connected to their respective supplies by the shortest route Power VDDCORE GND 6 AT91FR40162SB 6410B-ATARM-12-Jan-10 P25/MCKO AMBA Bridge AIC: Advanced Interrupt Controller APB USART0 2 PDC Channels EBI User Interface AT91FR40162SB Block Diagram ASB Controller EBI: External Bus Interface 6410B-ATARM-12-Jan-10 5. Block Diagram Figure 5-1. TMS TDO TDI TCK Embedded ICE ARM7TDMI Core D0 - D15 D0-D15 ASB A1 - A19 A0/NLB P28/A20/NCS7 SRAM 256K Bytes A1- A19 A0/NLB VDDCORE VDDIO GND NRST Reset A20 NWR1/NUB NWAIT NCS0 NCS1 NRD/NOE NWR0/NWE P26/NCS2 P27/NCS3 P29/A21/CS6 P30/A22/CS5 P31/A23/CS4 A19 D0 - D15 A0 - A18 OE WE GND VCC GND VDDIO MCKI Clock P12/FIQ P9/IRQ0 P10/IRQ1 P11/IRQ2 P13/SCK0 P14/TXD0 P15/RXD0 MCU AT91R40008 P I O 16-Mbit FLASH MEMORY BYTE RESET RDY/BUSY CE VDDIO NRSTF NBUSY NCSF P20/SCK1 P21/TXD1/NTRI P22/RXD1 USART1 2 PDC Channels P I O PS: Power Saving TC: Timer Counter TC0 TC1 P16 P17 P18 P19 P23 P24/BMS Chip ID NWDOVF WD: Watchdog Timer PIO: Parallel I/O Controller TC2 P0/TCLK0 P3/TCLK1 P6/TCLK2 P1/TIOA0 P2/TIOB0 P4/TIOA1 P5/TIOB1 P7/TIOA2 P8/TIOB2 AT91FR40162SB 7 6. Architectural Overview The AT91FR40162SB integrates Atmel's AT91R40008 ARM Thumb processor and a 2-Mbyte (16-Mbit) Flash memory die in a single compact 121-ball BGA package. The address, data and control signals, except the Flash memory enable, are internally interconnected. The AT91R40008 architecture consists of two main buses, the Advanced System Bus (ASB) and the Advanced Peripheral Bus (APB). Designed for maximum performance and controlled by the memory controller, the ASB interfaces the ARM7TDMI processor with the on-chip 32-bit SRAM memory, the External Bus Interface (EBI) connected to the encapsulated Flash and the AMBATM Bridge. The AMBA Bridge drives the APB, which is designed for accesses to on-chip peripherals and optimized for low power consumption. The AT91FR40162SB implements the ICE port of the ARM7TDMI processor on dedicated pins, offering a complete, low-cost and easy-to-use debug solution for target debugging. 6.1 Memories The AT91FR40162SB embeds 256K bytes of internal SRAM. The internal memory is directly connected to the 32-bit data bus and is single-cycle accessible. This provides maximum performance of 67 MIPS at 75 MHz by using the ARM instruction set of the processor, minimizing system power consumption and improving on the performance of separate memory solutions. The AT91FR40162SB features an External Bus Interface (EBI), which enables connection of external memories and application-specific peripherals. The EBI supports 8- or 16-bit devices and can use two 8-bit devices to emulate a single 16-bit device. The EBI implements the early read protocol, enabling faster memory accesses than standard memory interfaces. The AT91FR40162SB encapsulates a Flash memory organized as 1024K 16-bit words, accessed via the EBI. A 16-bit Thumb instruction can be loaded from Flash memory in a single access. Separate MCU and Flash memory reset inputs (NRST and NRSTF) are provided for maximum flexibility. The user is thus free to tailor the reset operation to the application. The AT91FR40162SB integrates resident boot software called AT91 Flash Memory Uploader software in the encapsulated Flash. The AT91 Flash Memory Uploader software is able to upload program application software into its Flash memory. 6.2 Peripherals The AT91FR40162SB integrates several peripherals, which are classified as system or user peripherals. All on-chip peripherals are 32-bit accessible by the AMBA Bridge, and can be programmed with a minimum number of instructions. The peripheral register set is composed of control, mode, data, status and enable/disable/status registers. An on-chip Peripheral Data Controller (PDC) transfers data between the on-chip USARTs and on- and off-chip memory address space without processor intervention. Most importantly, the PDC removes the processor interrupt handling overhead, making it possible to transfer up to 64K contiguous bytes without reprogramming the start address, thus increasing the performance of the microcontroller, and reducing the power consumption. 8 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 6.2.1 System Peripherals The External Bus Interface (EBI) controls the external memory or peripheral devices via an 8- or 16-bit data bus and is programmed through the APB. Each chip select line has its own programming register. The Power-saving (PS) module implements the Idle Mode (ARM7TDMI core clock stopped until the next interrupt) and enables the user to adapt the power consumption of the microcontroller to application requirements (independent peripheral clock control). The Advanced Interrupt Controller (AIC) controls the internal interrupt sources from the internal peripherals and the four external interrupt lines (including the FIQ) to provide an interrupt and/or fast interrupt request to the ARM7TDMI. It integrates an 8-level priority controller, and, using the Auto-vectoring feature, reduces the interrupt latency time. The Parallel Input/Output Controller (PIO) controls up to 32 I/O lines. It enables the user to select specific pins for on-chip peripheral input/output functions, and general-purpose input/output signal pins. The PIO controller can be programmed to detect an interrupt on a signal change from each line. The Watchdog (WD) can be used to prevent system lock-up if the software becomes trapped in a deadlock. The Special Function (SF) module integrates the Chip ID, the Reset Status and the Protect registers. 6.2.2 User Peripherals Two USARTs, independently configurable, enable communication at a high baud rate in synchronous or asynchronous mode. The format includes start, stop and parity bits and up to 8 data bits. Each USART also features a Timeout and a Time Guard register, facilitating the use of the two dedicated Peripheral Data Controller (PDC) channels. The 3-channel, 16-bit Timer Counter (TC) is highly programmable and supports capture or waveform modes. Each TC channel can be programmed to measure or generate different kinds of waves, and can detect and control two input/output signals. The TC has also 3 external clock signals. 9 6410B-ATARM-12-Jan-10 7. Product Overview 7.1 Power Supply The AT91FR40162SB device has two types of power supply pins: * VDDCORE pins that power the chip core (i.e., the AT91R40008 with its embedded SRAM and peripherals) * VDDIO pins that power the AT91R40008 I/O lines and the Flash memory An independent I/O supply allows a flexible adaptation to external component signal levels. 7.2 Input/Output Considerations The AT91FR40162SB I/O pads accept voltage levels up to the VDDIO power supply limit. After the reset, the microcontroller peripheral I/Os are initialized as inputs to provide the user with maximum flexibility. It is recommended that in any application phase, the inputs to the microcontroller be held at valid logic levels to minimize the power consumption. 7.3 Master Clock The AT91FR40162SB has a fully static design and works on the Master Clock (MCK), provided on the MCKI pin from an external source. The Master Clock is also provided as an output of the device on the pin MCKO, which is multiplexed with a general purpose I/O line. While NRST is active, and after the reset, the MCKO is valid and outputs an image of the MCK signal. The PIO Controller must be programmed to use this pin as standard I/O line. 7.4 Reset Reset restores the default states of the user interface registers (defined in the user interface of each peripheral), and forces the ARM7TDMI to perform the next instruction fetch from address zero. Except for the program counter the ARM7TDMI registers do not have defined reset states. 7.4.1 NRST Pin NRST is an active low-level input. It is asserted asynchronously, but exit from reset is synchronized internally to the MCK. The signal presented on MCKI must be active within the specification for a minimum of 10 clock cycles up to the rising edge of NRST to ensure correct operation. The first processor fetch occurs 80 clock cycles after the rising edge of NRST. 7.4.2 Watchdog Reset The watchdog can be programmed to generate an internal reset. In this case, the reset has the same effect as the NRST pin assertion, but the pins BMS and NTRI are not sampled. Boot Mode and Tri-state Mode are not updated. If the NRST pin is asserted and the watchdog triggers the internal reset, the NRST pin has priority. 10 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 7.5 7.5.1 Emulation Functions Tri-state Mode The AT91FR40162SB microcontroller provides a tri-state mode, which is used for debug purposes. This enables the connection of an emulator probe to an application board without having to desolder the device from the target board. In tri-state mode, all the output pin drivers of the AT91R40008 microcontroller are disabled. In tri-state mode, direct access to the Flash via external pins is provided. This enables production Flash programming using classical Flash programmers prior to board mounting. To enter tri-state mode, the NTRI pin must be held low during the last 10 clock cycles before the rising edge of NRST. For normal operation, the NTRI pin must be held high during reset by a resistor of up to 400 k. NTRI is multiplexed with I/O line P21 and USART1 serial data transmit line TXD1. 7.5.2 JTAG/ICE Debug ARM-standard embedded In-circuit Emulation is supported via the JTAG/ICE port. The pins TDI, TDO, TCK and TMS are dedicated to this debug function and can be connected to a host computer via the external ICE interface. In ICE Debug Mode, the ARM7TDMI core responds with a non-JTAG chip ID that identifies the microcontroller. This is not fully IEEE1149.1 compliant. 11 6410B-ATARM-12-Jan-10 7.6 Memory Controller The ARM7TDMI processor address space is 4G bytes. The memory controller decodes the internal 32-bit address bus and defines three address spaces: * Internal memories in the four lowest megabytes * Middle space reserved for the external devices (memory or peripherals) controlled by the EBI * Internal peripherals in the four highest megabytes In any of these address spaces, the ARM7TDMI operates in little-endian mode only. 7.6.1 Internal Memories The AT91FR40162SB microcontroller integrates 256K bytes of internal SRAM. It is 32 bits wide and single-clock cycle accessible. Byte (8-bit), half-word (16-bit) and word (32-bit) accesses are supported and are executed within one cycle. Fetching either Thumb or ARM instructions is supported, and internal memory can store two times as many Thumb instructions as ARM instructions. The SRAM is mapped at address 0x0 (after the Remap command), allowing ARM7TDMI exception vectors between 0x0 and 0x20 to be modified by the software. Placing the SRAM on-chip and using the 32-bit data bus bandwidth maximizes the microcontroller performance and minimizes system power consumption. The 32-bit bus increases the effectiveness of the use of the ARM instruction set and the processing of data that is wider than 16 bits, thus making optimal use of the ARM7TDMI advanced performance. Being able to dynamically update application software in the 256-Kbyte SRAM adds an extra dimension to the AT91FR40162SB. The AT91FR40162SB also integrates a 2-Mbyte Flash memory that is accessed via the External Bus Interface. All data, address and control lines, except for the Chip Select signal, are connected within the device. 7.6.2 Boot Mode Select The ARM reset vector is at address 0x0. After the NRST line is released, the ARM7TDMI executes the instruction stored at this address. This means that this address must be mapped in nonvolatile memory after the reset. The input level on the BMS pin during the last 10 clock cycles before the rising edge of the NRST selects the type of boot memory (see Table 4-1 on page 5). If the embedded Flash memory is to be used as boot memory, the BMS input must be pulled down externally and NCS0 must be connected to NCSF externally. The pin BMS is multiplexed with the I/O line P24 that can be programmed after reset like any standard PIO line. Table 7-1. BMS 1 0 Boot Mode Select Boot Memory External 8-bit memory on NCS0 Internal or External 16-bit memory on NCS0 7.6.3 Remap Command The ARM vectors (Reset, Abort, Data Abort, Prefetch Abort, Undefined Instruction, Interrupt, Fast Interrupt) are mapped from address 0x0 to address 0x20. In order to allow these vectors to 12 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB be redefined dynamically by the software, the AT91FR40162SB uses a remap command that enables switching between the boot memory and the internal primary SRAM bank addresses. The remap command is accessible through the EBI User Interface by writing one in RCB of EBI_RCR (Remap Control Register). Performing a remap command is mandatory if access to the other external devices (connected to chip selects 1 to 7) is required. The remap operation can only be changed back by an internal reset or an NRST assertion. 7.6.4 Abort Control The abort signal providing a Data Abort or a Prefetch Abort exception to the ARM7TDMI is asserted when accessing an undefined address in the EBI address space. No abort is generated when reading the internal memory or by accessing the internal peripherals, whether the address is defined or not. 7.6.5 External Bus Interface The External Bus Interface handles the accesses between addresses 0x0040 0000 and 0xFFC0 0000. It generates the signals that control access to the external devices, and can be configured from eight 1-Mbyte banks up to four 16-Mbyte banks. It supports byte, half-word and word aligned accesses. For each of these banks, the user can program: * Number of wait states * Number of data float times (wait time after the access is finished to prevent any bus contention in case the device is too long in releasing the bus) * Data bus width (8-bit or 16-bit) * With a 16-bit wide data bus, the user can program the EBI to control one 16-bit device (Byte Access Select Mode) or two 8-bit devices in parallel that emulate a 16-bit memory (Byte Write Access Mode). The External Bus Interface features also the Early Read Protocol, configurable for all the devices, that significantly reduces access time requirements on an external device in the case of single-clock cycle access. In the AT91FR40162SB, the External Bus Interface connects internally to the Flash memory. 7.6.6 Flash Memory The 2-Mbyte Flash memory is organized as 1, 048, 576 words of 16 bits each. The Flash memory is addressed as 16-bit words via the EBI. It uses address lines A1 - A20 of the processor. The address, data and control signals, except the Flash memory enable, are internally interconnected. The user should connect the Flash memory enable (NCSF) to one of the active-low chip selects on the EBI; NCS0 must be used if the Flash memory is to be the boot memory. In addition, if the Flash memory is to be used as boot memory, the BMS input must be pulled down externally in order for the processor to perform correct 16-bit fetches after reset. During boot, the EBI must be configured with correct number of standard wait states. As an example, five standard wait states are required when the microcontroller is running at 66 MHz. The user must ensure that all VDDIO, VDDCORE and all GND pins are connected to their respective supplies by the shortest route. The Flash memory powers-on in read mode. Command sequences are used to place the device in other operating modes, such as program and erase. 13 6410B-ATARM-12-Jan-10 A separate Flash memory reset input pin (NRSTF) is provided for maximum flexibility, enabling the reset operation to adapt to the application. When this input is at a logic high level, the memory is in its standard operating mode; a low level on this input halts the current memory operation and puts its outputs in a high impedance state. The Flash memory features data polling to detect the end of a program cycle. While a program cycle is in progress, an attempted read of the last word written will return the complement of the written data on I/O7. An open-drain NBUSY output pin provides another method of detecting the end of a program or erase cycle. This pin is pulled low while program and erase cycles are in progress and is released at the completion of the cycle. A toggle bit feature provides a third means of detecting the end of a program or erase cycle. The Flash memory is divided into 39 sectors for erase operations. To further enhance device flexibility, an Erase Suspend feature is offered. This feature puts the erase cycle on hold for an indefinite period and allows the user to read data from, or to write data to, any other sector within the same memory plane. There is no need to suspend an erase cycle if the data to be read is in the other memory plane. The device has the capability to protect data stored in any sector. Once the data protection for a sector is enabled, the data in that sector cannot be changed while input levels lie between ground and VDDIO. Note: This data protection does not prevent read accesses of the Flash. A 6-byte command sequence (Enter Single Pulse Program Mode) allows the device to be written to directly, using single pulses on the write control lines. This mode (Single-pulse Programming) is exited by powering down the device or by pulsing the NRSTF pin low for a defined duration and then bringing it back to VDDIO. The following hardware features protect against inadvertent programming of the Flash memory: * VDDIO Sense - if VDDIO is below a certain level, the program function is inhibited. * VDDIO Power-on Delay - once VDDIO has reached the VDDIO sense level, the device will automatically time out a certain duration before programming. * Program Inhibit - holding any one of OE low, CE high or WE high inhibits program cycles. * Noise Filter - pulses of less than a certain duration on the WE or CE inputs will not initiate a program cycle. 14 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 7.7 AT91 Flash Memory Uploader (FMU) Software All Flash-based AT91 devices are delivered with pre-programmed software called the AT91 Flash Memory Uploader, which resides in the first sector of the embedded Flash. The Flash Memory Uploader allows programming to the embedded flash through a serial port. Either of the on-chip USARTs can be used by the Flash Memory Uploader. The purpose of the AT91 Flash Memory Uploader is to provide a Flash programming solution during small and medium productiion. The FMU is "one-time usable". This means that once the customer's code is written in sector 0 of the Flash, the FMU is overwritten. If IAP functionality is needed, customers need to use the JTAG port or implement their own boot loader with IAP capability. Figure 7-1. Flash Memory Uploader Target System AT91FR40162SB 16-Mbit Flash Memory NCSF AT91R40008 RXD0 NCS0 Programming System USART0 RS232 Driver USART1 RXD1 Serial Port 7.7.1 Flash Memory Uploader Operations The Flash Memory Uplo ader requires the encapsulated Flash to be used as the AT91FR40162SB boot memory and a valid clock to be applied to MCKI. After reset, the Flash Memory Uploader immediately recopies itself into the internal SRAM and jumps to it. The following operation requires this memory resource only. External accesses are performed only to program the encapsulated Flash. When starting, PIO input change interrupts are initialized on the RXD lines of both USARTs. When an interrupt occurs, a Timer Counter channel is started. When the next input change is detected on the RXD line, the Timer Counter channel is stopped. This is how the first character length is measured and the USART can be initiated by taking into account the ratio between the device master clock speed and the actual communication baud rate speed. The Programming System, then, can send commands and data following a proprietary protocol for the Flash device to be programmed. It is up to the Programming System to erase and program the first sector of the Flash as the last step of the operation, in order to reduce, to a minimum, the risk that the Flash Memory Uploader is erased and the power supply shuts down. 15 6410B-ATARM-12-Jan-10 Note that in the event that the Flash Memory Uploader is erased from the first sector while the new final application is not yet programmed, and while the target system power supply is switched off, it leads to a non-recoverable error and the AT91FR40162SB cannot be re-programmed by using the Flash Memory Uploader. 7.7.2 Programming System Atmel provides a free Host Loader that runs on an IBM (R) compatible PC under Windows95, Windows98 or Windows2000 operating system. It can be downloaded from the Atmel Web site and requires only a serial cable to connect the Host to the Target. Communications can be selected on either COM1 or COM2 and the serial link speed is limited to 115200 bauds. Because the serial link is the bottleneck in this configuration, the Flash programming lasts 110 seconds per Mbyte. Reduced programming time can be achieved by using a faster programming system. An AT91 Evaluation Board is capable of running a serial link at up to 500 Kbits/sec and can match the fastest programming allowed by the Flash, for example, about 40 seconds per Mbyte when the word programming becomes the bottleneck. For more details about the Flash Memory Uploader protocol and the Host Loader Programming System, see the application note page of the AT91 Products at www.atmel.com. 16 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 8. Peripherals The AT91FR40162SB peripherals are connected to the 32-bit wide Advanced Peripheral Bus. Peripheral registers are only word accessible. Byte and half-word accesses are not supported. If a byte or a half-word access is attempted, the memory controller automatically masks the lowest address bits and generates a word access. Each peripheral has a 16-Kbyte address space allocated (the AIC only has a 4-Kbyte address space). 8.0.1 Peripheral Registers The following registers are common to all peripherals: * Control Register - write only register that triggers a command when a one is written to the corresponding position at the appropriate address. Writing a zero has no effect. * Mode Register - read/write register that defines the configuration of the peripheral. Usually has a value of 0x0 after a reset. * Data Registers - read and/or write register that enables the exchange of data between the processor and the peripheral. * Status Register - read only register that returns the status of the peripheral. * Enable/Disable/Status Registers are shadow command registers. Writing a one in the Enable Register sets the corresponding bit in the Status Register. Writing a one in the Disable Register resets the corresponding bit and the result can be read in the Status Register. Writing a bit to zero has no effect. This register access method maximizes the efficiency of bit manipulation, and enables modification of a register with a single non-interruptible instruction, replacing the costly read-modify-write operation. Unused bits in the peripheral registers must be written at 0 for upward compatibility. These bits read 0. 8.0.2 Peripheral Interrupt Control The Interrupt Control of each peripheral is controlled from the status register using the interrupt mask. The status register bits are ANDed to their corresponding interrupt mask bits and the result is then ORed to generate the Interrupt Source signal to the Advanced Interrupt Controller. The interrupt mask is read in the Interrupt Mask Register and is modified with the Interrupt Enable Register and the Interrupt Disable Register. The enable/disable/status (or mask) makes it possible to enable or disable peripheral interrupt sources with a non-interruptible single instruction. This eliminates the need for interrupt masking at the AIC or Core level in real-time and multi-tasking systems. 8.0.3 Peripheral Data Controller The AT91FR40162SB has a 4-channel PDC dedicated to the two on-chip USARTs. One PDC channel is dedicated to the receiver and one to the transmitter of each USART. The user interface of a PDC channel is integrated in the memory space of each USART. It contains a 32-bit Address Pointer Register (RPR or TPR) and a 16-bit Transfer Counter Register (RCR or TCR). When the programmed number of transfers are performed, a status bit indicating the end of transfer is set in the USART Status Register and an interrupt can be generated. 17 6410B-ATARM-12-Jan-10 8.1 8.1.1 System Peripherals PS: Power-saving The power-saving feature optimizes power consumption, enabling the software to stop the ARM7TDMI clock (idle mode), restarting it when the module receives an interrupt (or reset). It also enables on-chip peripheral clocks to be enabled and disabled individually, matching power consumption and application needs. AIC: Advanced Interrupt Controller The Advanced Interrupt Controller has an 8-level priority, individually maskable, vectored interrupt controller, and drives the NIRQ and NFIQ pins of the ARM7TDMI from: * The external fast interrupt line (FIQ) * The three external interrupt request lines (IRQ0 - IRQ2) * The interrupt signals from the on-chip peripherals The AIC is extensively programmable offering maximum flexibility, and its vectoring features reduce the real-time overhead in handling interrupts. The AIC also features a spurious vector detection feature, which reduces spurious interrupt handling to a minimum, and a protect mode that facilitates the debug capabilities. 8.1.2 8.1.3 PIO: Parallel I/O Controller The AT91FR40162SB has 32 programmable I/O lines. Six pins are dedicated as general-purpose I/O pins. Other I/O lines are multiplexed with an external signal of a peripheral to optimize the use of available package pins. The PIO controller enables generation of an interrupt on input change and insertion of a simple input glitch filter on any of the PIO pins. WD: Watchdog The Watchdog is built around a 16-bit counter and is used to prevent system lock-up if the software becomes trapped in a deadlock. It can generate an internal reset or interrupt, or assert an active level on the dedicated pin NWDOVF. All programming registers are password-protected to prevent unintentional programming. SF: Special Function The AT91FR40162SB provides registers that implement the following special functions. * Chip Identification * RESET Status * Protect Mode 8.1.4 8.1.5 18 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 8.2 8.2.1 User Peripherals USART: Universal Synchronous/ Asynchronous Receiver Transmitter The AT91FR40162SB provides two identical, full-duplex, universal synchronous/asynchronous receiver/transmitters. Each USART has its own baud rate generator, and two dedicated Peripheral Data Controller channels. The data format includes a start bit, up to 8 data bits, an optional programmable parity bit and up to 2 stop bits. The USART also features a Receiver Timeout register, facilitating variable length frame support when it is working with the PDC, and a Time-guard register, used when interfacing with slow remote equipment. 8.2.2 TC: Timer Counter The AT91FR40162SB features a Timer Counter block that includes three identical 16-bit timer counter channels. Each channel can be independently programmed to perform a wide range of functions including frequency measurement, event counting, interval measurement, pulse generation, delay timing and pulse width modulation. The Timer Counter can be used in Capture or Waveform mode, and all three counter channels can be started simultaneously and chained together. 19 6410B-ATARM-12-Jan-10 9. Memory Map Figure 9-1. AT91FR40162SB Memory Map Before and After the Remap Command Before Address 0xFFFFFFFF On-chip Peripherals Function Size Abort Control Address 0xFFFFFFFF After Function Size Abort Control 4M Bytes No On-chip Peripherals 4M Bytes No 0xFFC00000 0xFFBFFFFF 0xFFC00000 0xFFBFFFFF Yes Reserved External Devices (Up to 8) Up to 8 Devices Programmable Page Size 1, 4, 16, 64M Bytes Yes 0x00400000 0x003FFFFF On-chip Primary RAM Bank 0x00300000 0x002FFFFF Reserved On-chip Device 0x00200000 0x001FFFFF Reserved On-chip Device 0x00100000 0x000FFFFF External Devices Selected by NCS0 0x00000000 0x00400000 0x003FFFFF 1M Byte No Reserved 1M Byte No 0x00300000 0x002FFFFF Reserved On-chip Device 0x00200000 0x001FFFFF Reserved On-chip Device 0x00100000 0x000FFFFF On-chip Primary RAM Bank 0x00000000 1M Byte No 1M Byte No 1M Byte No 1M Byte No 1M Byte No 1M Byte No 20 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 10. Peripheral Memory Map Figure 10-1. Peripheral Memory Map Address 0xFFFFFFFF AIC 0xFFFFF000 Reserved 0xFFFFBFFF WD 0xFFFF8000 0xFFFF7FFF PS 0xFFFF4000 0xFFFF3FFF PIO 0xFFFF0000 Reserved 0xFFFE3FFF TC 0xFFFE0000 Reserved 0xFFFD3FFF USART0 0xFFFD0000 0xFFFCFFFF USART1 0xFFFCC000 Universal Synchronous/ Asynchronous Receiver/Transmitter 0 Universal Synchronous/ Asynchronous Receiver/Transmitter 1 Reserved 0xFFF03FFF SF 0xFFF00000 Reserved 0xFFE03FFF EBI 0xFFE00000 0xFFC00000 Reserved External Bus Interface 16K Bytes Special Function 16K Bytes Timer Counter 16K Bytes Parallel I/O Controller 16K Bytes Power Saving 16K Bytes WatchdogTimer 16K Bytes Advanced Interrupt Controller 4K Bytes Peripheral Peripheral Name Size 16K Bytes 16K Bytes 21 6410B-ATARM-12-Jan-10 11. EBI: External Bus Interface The EBI generates the signals that control the access to the external memory or peripheral devices. The EBI is fully-programmable and can address up to 64M bytes. It has eight chip selects and a 24-bit address bus, the upper four bits of which are multiplexed with a chip select. The 16-bit data bus can be configured to interface with 8- or 16-bit external devices. Separate read and write control signals allow for direct memory and peripheral interfacing. The EBI supports different access protocols allowing single-clock cycle memory accesses. The main features are: * External memory mapping * Up to 8 chip select lines * 8- or 16-bit data bus * Byte write or byte select lines * Remap of boot memory * Two different read protocols * Programmable wait state generation * External wait request * Programmable data float time Section 11.11 "EBI User Interface" on page 46 describes the EBI User Interface. 11.1 External Memory Mapping The memory map associates the internal 32-bit address space with the external 24-bit address bus. The memory map is defined by programming the base address and page size of the external memories (see "EBI User Interface" and the "EBI Chip Select Register" describing EBI_CSR0 to EBI_CSR7). Note that A0 - A23 is only significant for 8-bit memory; A1 - A23 is used for 16-bit memory. If the physical memory device is smaller than the programmed page size, it wraps around and appears to be repeated within the page. The EBI correctly handles any valid access to the memory device within the page (see Figure 11-1 on page 23). In the event of an access request to an address outside any programmed page, an Abort signal is generated. Two types of Abort are possible: instruction prefetch abort and data abort. The corresponding exception vector addresses are respectively 0x0000000C and 0x00000010. It is up to the system programmer to program the error handling routine to use in case of an Abort (see the ARM7TDMI datasheet for further information). If two chip selects are defined as having the same base address, an access to the overlapping address space asserts both NCS lines. The Chip Select Register with the smaller number defines the characteristics of the external access and the behavior of the control signals. 22 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 11-1. External Memory Smaller than Page Size Base + 4M Bytes 1M Byte Device Hi Low Base + 3M Bytes 1M Byte Device Memory Map 1M Byte Device Hi Low Base + 2M Bytes Hi Low Base + 1M Bytes 1M Byte Device Hi Low Base Repeat 1 Repeat 2 Repeat 3 11.2 External Bus Interface Pin Description EBI Pin Description Description Address bus (output) Data bus (input/output) Active low chip selects (output) Active high chip selects (output) Read enable (output) Lower and upper write enable (output) Output enable (output) Write enable (output) Upper and lower byte select (output) Wait request (input) Type Output I/O Output Output Output Output Output Output Output Input Table 11-1. Name A0 - A23 D0 - D15 NCS0 - NCS3 CS4 - CS7 NRD NWR0 - NWR1 NOE NWE NUB, NLB NWAIT The following table shows how certain EBI signals are multiplexed: Table 11-2. EBI Signals Functions CS4 - CS7 NLB NOE NWE NUB Allows from 4 to 8 chip select lines to be used 8- or 16-bit data bus Byte write or byte select access Byte write or byte select access Byte write or byte select access Multiplexed Signals A23 - A20 A0 NRD NWR0 NWR1 23 6410B-ATARM-12-Jan-10 11.3 Chip Select Lines The EBI provides up to eight chip select lines: * Chip select lines NCS0 - NCS3 are dedicated to the EBI (not multiplexed). * Chip select lines CS4 - CS7 are multiplexed with the top four address lines A23 - A20. By exchanging address lines for chip select lines, the user can optimize the EBI to suit the external memory requirements: more external devices or larger address range for each device. The selection is controlled by the ALE field in EBI_MCR (Memory Control Register). The following combinations are possible: A20, A21, A22, A23 (configuration by default) A20, A21, A22, CS4 A20, A21, CS5, CS4 A20, CS6, CS5, CS4 CS7, CS6, CS5, CS4 Figure 11-2. Memory Connections for Four External Devices NCS0 - NCS3 NRD EBI NWRx A0 - A23 D0 - D15 NCS3 NCS2 NCS1 NCS0 Memory Enable Memory Enable Memory Enable Memory Enable Output Enable Write Enable A0 - A23 8 or 16 D0 - D15 or D0 - D7 Note: For four external devices, the maximum address space per device is 16M bytes. Figure 11-3. Memory Connections for Eight External Devices CS4 - CS7 NCS0 - NCS3 NRD EBI NWRx A0 - A19 D0 - D15 CS7 CS6 CS5 CS4 NCS3 NCS2 NCS1 NCS0 Memory Enable Memory Enable Memory Enable Memory Enable Memory Enable Memory Enable Memory Enable Memory Enable Output Enable Write Enable A0 - A19 8 or 16 D0 - D15 or D0 - D7 Note: For eight external devices, the maximum address space per device is 1M byte. 24 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 11.4 Data Bus Width A data bus width of 8 or 16 bits can be selected for each chip select. This option is controlled by the DBW field in the EBI_CSR (Chip Select Register) for the corresponding chip select. Figure 11-4 shows how to connect a 512K x 8-bit memory on NCS2. Figure 11-4. Memory Connection for an 8-bit Data Bus D0 - D7 D8 - D15 A1 - A18 EBI A0 NWR1 NWR0 NRD NCS2 Write Enable Output Enable Memory Enable A1 - A18 A0 D0 - D7 Figure 11-5 shows how to connect a 512K x 16-bit memory on NCS2. Figure 11-5. Memory Connection for a 16-bit Data Bus D0 - D7 D8 - D15 EBI A1 - A19 NLB NUB NWE NOE NCS2 D0 - D7 D8 - D15 A0 - A18 Low Byte Enable High Byte Enable Write Enable Output Enable Memory Enable 25 6410B-ATARM-12-Jan-10 11.5 Byte Write or Byte Select Access Each chip select with a 16-bit data bus can operate with one of two different types of write access: * Byte Write Access supports two byte write and a single read signal. * Byte Select Access selects upper and/or lower byte with two byte select lines, and separate read and write signals. This option is controlled by the BAT field in the EBI_CSR (Chip Select Register) for the corresponding chip select. Byte Write Access is used to connect 2 x 8-bit devices as a 16-bit memory page. * The signal A0/NLB is not used. * The signal NWR1/NUB is used as NWR1 and enables upper byte writes. * The signal NWR0/NWE is used as NWR0 and enables lower byte writes. * The signal NRD/NOE is used as NRD and enables half-word and byte reads. Figure 11-6 shows how to connect two 512K x 8-bit devices in parallel on NCS2. Figure 11-6. Memory Connection for 2 x 8-bit Data Busses D0 - D7 D8 - D15 EBI A1 - A19 A0 NWR1 NWR0 NRD NCS2 Write Enable Read Enable Memory Enable A0 - A18 D0 - D7 D8 - D15 A0 - A18 Write Enable Read Enable Memory Enable Byte Select Access is used to connect 16-bit devices in a memory page. * The signal A0/NLB is used as NLB and enables the lower byte for both read and write operations. * The signal NWR1/NUB is used as NUB and enables the upper byte for both read and write operations. * The signal NWR0/NWE is used as NWE and enables writing for byte or half word. * The signal NRD/NOE is used as NOE and enables reading for byte or half word. 26 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 11-7 shows how to connect a 16-bit device with byte and half-word access (e.g. 16-bit SRAM) on NCS2. Figure 11-7. Connection for a 16-bit Data Bus with Byte and Half-word Access D0 - D7 D8 - D15 EBI A1 - A19 NLB NUB NWE NOE NCS2 D0 - D7 D8 - D15 A0 - A18 Low Byte Enable High Byte Enable Write Enable Output Enable Memory Enable Figure 11-8 shows how to connect a 16-bit device without byte access (e.g. Flash) on NCS2. Figure 11-8. Connection for a 16-bit Data Bus without Byte Write Capability. D0 - D7 D8 - D15 EBI A1 - A19 NLB NUB NWE NOE NCS2 Write Enable Output Enable Memory Enable D0 - D7 D8 - D15 A0 - A18 27 6410B-ATARM-12-Jan-10 11.6 Boot on NCS0 Depending on the device and the BMS pin level during the reset, the user can select either an 8bit or 16-bit external memory device connected on NCS0 as the Boot Memory. In this case, EBI_CSR0 (Chip Select Register 0) is reset at the following configuration for chip select 0: * 8 wait states (WSE = 1, NWS = 7) * 8-bit or 16-bit data bus width, depending on BMS Byte access type and number of data float time are respectively set to Byte Write Access and 0. With a non-volatile memory interface, any values can be programmed for these parameters. Before the remap command, the user can modify the chip select 0 configuration, programming the EBI_CSR0 with exact boot memory characteristics. the base address becomes effective after the remap command, but the new number of wait states can be changed immediately. This is useful if a boot sequence needs to be faster. 11.7 Read Protocols The EBI provides two alternative protocols for external memory read access: standard and early read. The difference between the two protocols lies in the timing of the NRD (read cycle) waveform. The protocol is selected by the DRP field in EBI_MCR (Memory Control Register) and is valid for all memory devices. Standard read protocol is the default protocol after reset. Note: In the following waveforms and descriptions, NRD represents NRD and NOE since the two signals have the same waveform. Likewise, NWE represents NWE, NWR0 and NWR1 unless NWR0 and NWR1 are otherwise represented. ADDR represents A0 - A23 and/or A1 - A23. 11.7.1 Standard Read Protocol Standard read protocol implements a read cycle in which NRD and NWE are similar. Both are active during the second half of the clock cycle. The first half of the clock cycle allows time to ensure completion of the previous access as well as the output of address and NCS before the read cycle begins. During a standard read protocol, external memory access, NCS is set low and ADDR is valid at the beginning of the access while NRD goes low only in the second half of the master clock cycle to avoid bus conflict (see Figure 11-9). NWE is the same in both protocols. NWE always goes low in the second half of the master clock cycle (see Figure 11-10). 11.7.2 Early Read Protocol Early read protocol provides more time for a read access from the memory by asserting NRD at the beginning of the clock cycle. In the case of successive read cycles in the same memory, NRD remains active continuously. Since a read cycle normally limits the speed of operation of the external memory system, early read protocol can allow a faster clock frequency to be used. However, an extra wait state is required in some cases to avoid contentions on the external bus. Early Read Wait State In early read protocol, an early read wait state is automatically inserted when an external write cycle is followed by a read cycle to allow time for the write cycle to end before the subsequent read cycle begins (see Figure 11-11). This wait state is generated in addition to any other programmed wait states (i.e. data float wait). 11.7.3 28 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB No wait state is added when a read cycle is followed by a write cycle, between consecutive accesses of the same type or between external and internal memory accesses. Early read wait states affect the external bus only. They do not affect internal bus timing. Figure 11-9. Standard Read Protocol MCKI ADDR NCS NRD or NWE Figure 11-10. Early Read Protocol MCKI ADDR NCS NRD or NWE 29 6410B-ATARM-12-Jan-10 Figure 11-11. Early Read Wait State Write Cycle MCKI Early Read Wait Read Cycle ADDR NCS NRD NWE 11.8 Write Data Hold Time During write cycles in both protocols, output data becomes valid after the falling edge of the NWE signal and remains valid after the rising edge of NWE, as illustrated in Figure 11-12. The external NWE waveform (on the NWE pin) is used to control the output data timing to guarantee this operation. It is therefore necessary to avoid excessive loading of the NWE pins, which could delay the write signal too long and cause a contention with a subsequent read cycle in standard protocol. Figure 11-12. Data Hold Time MCK ADDR NWE Data Output In early read protocol the data can remain valid longer than in standard read protocol due to the additional wait cycle which follows a write access. 30 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 11.9 Wait States The EBI can automatically insert wait states. The different types of wait states are listed below: * Standard wait states * Data float wait states * External wait states * Chip select change wait states * Early read wait states (see Section 11.7 "Read Protocols" on page 28) 11.9.1 Standard Wait States Each chip select can be programmed to insert one or more wait states during an access on the corresponding device. This is done by setting the WSE field in the corresponding EBI_CSR. The number of cycles to insert is programmed in the NWS field in the same register. Below is the correspondence between the number of standard wait states programmed and the number of cycles during which the NWE pulse is held low: 0 wait states 1 wait state 1/2 cycle 1 cycle For each additional wait state programmed, an additional cycle is added. Figure 11-13. One Wait State Access 1 Wait State Access MCK ADDR NCS NWE NRD (1) (2) Notes: 1. Early Read Protocol 2. Standard Read Protocol 11.9.2 Data Float Wait State Some memory devices are slow to release the external bus. For such devices it is necessary to add wait states (data float waits) after a read access before starting a write access or a read access to a different external memory. The Data Float Output Time (tDF) for each external memory device is programmed in the TDF field of the EBI_CSR register for the corresponding chip select. The value (0 - 7 clock cycles) indicates the number of data float waits to be inserted and represents the time allowed for the data output to go high impedance after the memory is disabled. 31 6410B-ATARM-12-Jan-10 Data float wait states do not delay internal memory accesses. Hence, a single access to an external memory with long t DF will not slow down the execution of a program from internal memory. The EBI keeps track of the programmed external data float time during internal accesses, to ensure that the external memory system is not accessed while it is still busy. Internal memory accesses and consecutive accesses to the same external memory do not have added Data Float wait states. Figure 11-14. Data Float Output Time MCK ADDR NCS NRD (1) (2) tDF D0 - D15 Notes: 1. Early Read Protocol 2. Standard Read Protocol 11.9.3 External Wait The NWAIT input can be used to add wait states at any time. NWAIT is active low and is detected on the rising edge of the clock. If NWAIT is low at the rising edge of the clock, the EBI adds a wait state and changes neither the output signals nor its internal counters and state. When NWAIT is de-asserted, the EBI finishes the access sequence. The NWAIT signal must meet setup and hold requirements on the rising edge of the clock. 32 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 11-15. External Wait MCK ADDR NWAIT NCS NWE NRD (1) (2) Notes: 1. Early Read Protocol 2. Standard Read Protocol 11.9.4 Chip Select Change Wait States A chip select wait state is automatically inserted when consecutive accesses are made to two different external memories (if no wait states have already been inserted). If any wait states have already been inserted, (e.g., data float wait) then none are added. Figure 11-16. Chip Select Wait Mem 1 MCK Chip Select Wait Mem 2 NCS1 NCS2 NRD (1) (2) NWE Notes: 1. Early Read Protocol 2. Standard Read Protocol 33 6410B-ATARM-12-Jan-10 11.10 Memory Access Waveforms Figure 11-17 through Figure 11-20 show examples of the two alternative protocols for external memory read access. Figure 11-17. Standard Read Protocol without tDF Read Mem 2 Read Mem 2 Write Mem 2 Read Mem 1 Chip Select Change Wait Read Mem 1 Write Mem 1 MCK A0 - A23 NRD D0 - D15 (Mem 1) D0 - D15 (AT91) tWHDX 6410B-ATARM-12-Jan-10 tWHDX D0 - D15 (Mem 2) NCS1 NCS2 NWE 34 AT91FR40162SB 6410B-ATARM-12-Jan-10 Read Mem 1 Early Read Wait Cycle Read Mem 2 Read Mem 1 MCK Write Mem 1 Write Mem 2 Early Read Wait Cycle Read Mem 2 A0 - A23 NRD Figure 11-18. Early Read Protocol Without tDF NWE NCS1 Chip Select Change Wait NCS2 D0 - D15 (Mem 1) D0- D15 (AT91) Long tWHDX D0 - D15 (Mem 2) Long tWHDX AT91FR40162SB 35 36 Read Mem 1 Data Float Wait Read Mem 1 Data Float Wait Write Mem 1 Read Mem 2 Read Mem 2 Data Float Wait Write Mem 2 Write Mem 2 Write Mem 2 AT91FR40162SB tDF tDF tWHDX tDF MCK A0 - A23 NRD Figure 11-19. Standard Read Protocol with tDF NWE NCS1 NCS2 D0 - D15 (Mem 1) D0 - D15 (AT91) 6410B-ATARM-12-Jan-10 D0 - D15 (Mem 2) 6410B-ATARM-12-Jan-10 Read Mem 1 Data Float Wait Read Mem 1 Data Float Wait Write Mem 1 Early Read Wait Read Mem 2 Data Float Wait Read Mem 2 Write Mem 2 Write Mem 2 Write Mem 2 MCK A0 - A23 Figure 11-20. Early Read Protocol With tDF NRD NWE NCS1 NCS2 tDF tDF D0 - D15 (Mem 1) D0 - D15 (AT91) tWHDX tDF D0 - D15 (Mem 2) AT91FR40162SB 37 Figure 11-21 through Figure 11-27 show the timing cycles and wait states for read and write access to the various AT91FR40162SB external memory devices. The configurations described are shown in the following table: Table 11-3. Memory Access Waveforms Number of Wait States 0 1 1 0 1 1 0 Bus Width 16 16 16 8 8 8 16 Size of Data Transfer Word Word Half-word Word Half-word Byte Byte Figure Number Figure 11-21 Figure 11-22 Figure 11-23 Figure 11-24 Figure 11-25 Figure 11-26 Figure 11-27 38 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 11-21. 0 Wait States, 16-bit Bus Width, Word Transfer MCK A1 - A23 ADDR ADDR+1 NCS NLB NUB READ ACCESS * Standard Protocol NRD D0 - D15 B2B1 B 4 B3 Internal Bus X X B 2 B1 B4 B 3 B2 B 1 * Early Protocol NRD D0 - D15 B2 B1 B4 B 3 WRITE ACCESS * Byte Write/ Byte Select Option NWE D0 - D15 B 2 B1 B 4 B3 39 6410B-ATARM-12-Jan-10 Figure 11-22. 1 Wait, 16-bit Bus Width, Word Transfer 1 Wait State MCK 1 Wair State A1 - A23 ADDR ADDR+1 NCS NLB NUB READ ACCESS * Standard Protocol NRD D0 - D15 B2 B 1 B4 B 3 Internal Bus X X B2 B1 B 4 B 3 B2 B 1 * Early Protocol NRD D0 - D15 B2B1 B4B3 WRITE ACCESS * Byte Write/ Byte Select Option NWE D0 - D15 B2B1 B4B3 40 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 11-23. 1 Wait State, 16-bit Bus Width, Half-word Transfer 1 Wait State MCK A1 - A23 NCS NLB NUB READ ACCESS * Standard Protocol NRD D0 - D15 B2 B1 Internal Bus X X B 2 B1 * Early Protocol NRD D0 - D15 WRITE ACCESS B2 B1 * Byte Write/ Byte Select Option NWE D0 - D15 B2 B1 41 6410B-ATARM-12-Jan-10 Figure 11-24. 0 Wait States, 8-bit Bus Width, Word Transfer MCK A0 - A23 ADDR ADDR+1 ADDR+2 ADDR+3 NCS READ ACCESS * Standard Protocol NRD D0-D15 X B1 X B2 X B3 X B4 Internal Bus X X X B1 X X B 2 B1 X B 3 B2 B 1 B 4 B 3 B 2 B1 * Early Protocol NRD D0 - D15 X B1 X B2 X B3 X B4 WRITE ACCESS NWR0 NWR1 D0 - D15 X B1 X B2 X B3 X B4 42 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 11-25. 1 Wait State, 8-bit Bus Width, Half-word Transfer 1 Wait State MCK 1 Wait State A0 - A23 ADDR ADDR+1 NCS READ ACCESS * Standard Protocol NRD D0 - D15 X B1 X B2 Internal Bus X X X B1 X X B 2 B1 * Early Protocol NRD D0 - D15 WRITE ACCESS X B1 X B2 NWR0 NWR1 D0 - D15 X B1 X B2 43 6410B-ATARM-12-Jan-10 Figure 11-26. 1 Wait State, 8-bit Bus Width, Byte Transfer 1 Wait State MCK A0 - A23 NCS READ ACCESS * Standard Protocol NRD D0 - D15 XB1 Internal Bus X X X B1 * Early Protocol NRD D0 - D15 WRITE ACCESS X B1 NWR0 NWR1 D0 - D15 X B1 44 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 11-27. 0 Wait States, 16-bit Bus Width, Byte Transfer MCK A1 - A23 ADDR X X X 0 ADDR X X X 0 Internal Address ADDR X X X 0 ADDR X X X 1 NCS NLB NUB READ ACCESS * Standard Protocol NRD D0 - D15 X B1 B2X Internal Bus X X X B1 X X B2X * Early Protocol NRD D0 - D15 WRITE ACCESS XB1 B2X * Byte Write Option NWR0 NWR1 D0 - D15 B1B1 B2B2 * Byte Select Option NWE 45 6410B-ATARM-12-Jan-10 11.11 EBI User Interface The EBI is programmed using the registers listed in the table below. The Remap Control Register (EBI_RCR) controls exit from Boot Mode (See "Boot on NCS0" on page 28.) The Memory Control Register (EBI_MCR) is used to program the number of active chip selects and data read protocol. Eight Chip Select Registers (EBI_CSR0 to EBI_CSR7) are used to program the parameters for the individual external memories. Each EBI_CSR must be programmed with a different base address, even for unused chip selects. Base Address: 0xFFE00000 (Code Label EBI_BASE) Table 11-4. Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 Notes: EBI Memory Map Register Chip Select Register 0 Chip Select Register 1 Chip Select Register 2 Chip Select Register 3 Chip Select Register 4 Chip Select Register 5 Chip Select Register 6 Chip Select Register 7 Remap Control Register Memory Control Register Name EBI_CSR0 EBI_CSR1 EBI_CSR2 EBI_CSR3 EBI_CSR4 EBI_CSR5 EBI_CSR6 EBI_CSR7 EBI_RCR EBI_MCR Access Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Write-only Read/Write Reset State 0x0000203E(1) 0x0000203D(2) 0x10000000 0x20000000 0x30000000 0x40000000 0x50000000 0x60000000 0x70000000 - 0 1. 8-bit boot (if BMS is detected high) 2. 16-bit boot (if BMS is detected low) 46 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 11.11.1 EBI Chip Select Register Register Name:EBI_CSR0 - EBI_CSR7 Access Type:Read/Write Reset Value: See Table 11-4 on page 46 Absolute Address:0xFFE00000 - 0xFFE0001C Offset: 31 0x00 - 0x1C 30 29 28 BA 27 26 25 24 23 22 BA 21 20 19 - 18 - 10 TDF 17 - 9 16 - 8 PAGES 15 14 13 CSEN 5 WSE 12 BAT 4 11 - 7 PAGES - 6 3 NWS 2 1 DBW 0 - * DBW: Data Bus Width Code Label DBW 0 0 1 1 0 1 0 1 Data Bus Width Reserved 16-bit data bus width 8-bit data bus width Reserved EBI_DBW - EBI_DBW_16 EBI_DBW_8 - * NWS: Number of Wait States This field is valid only if WSE is set. Code Label NWS 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Number of Standard Wait States 1 2 3 4 5 6 7 8 EBI_NWS EBI_NWS_1 EBI_NWS_2 EBI_NWS_3 EBI_NWS_4 EBI_NWS_5 EBI_NWS_6 EBI_NWS_7 EBI_NWS_8 * WSE: Wait State Enable (Code Label EBI_WSE) 0 = Wait state generation is disabled. No wait states are inserted. 1 = Wait state generation is enabled. 47 6410B-ATARM-12-Jan-10 * PAGES: Page Size Code Label PAGES 0 0 1 1 0 1 0 1 Page Size 1M Byte 4M Bytes 16M Bytes 64M Bytes Active Bits in Base Address 12 Bits (31 - 20) 10 Bits (31 - 22) 8 Bits (31 - 24) 6 Bits (31 - 26) EBI_PAGES EBI_PAGES_1M EBI_PAGES_4M EBI_PAGES_16M EBI_PAGES_64M * TDF: Data Float Output Time Code Label TDF 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Number of Cycles Added after the Transfer 0 1 2 3 4 5 6 7 EBI_TDF EBI_TDF_0 EBI_TDF_1 EBI_TDF_2 EBI_TDF_3 EBI_TDF_4 EBI_TDF_5 EBI_TDF_6 EBI_TDF_7 * BAT: Byte Access Type Code Label BAT 0 1 Selected BAT Byte-write access type. Byte-select access type. EBI_BAT EBI_BAT_BYTE_WRITE EBI_BAT_BYTE_SELECT * CSEN: Chip Select Enable (Code Label EBI_CSEN) 0 = Chip select is disabled. 1 = Chip select is enabled. * BA: Base Address (Code Label EBI_BA) These bits contain the highest bits of the base address. If the page size is larger than 1M byte, the unused bits of the base address are ignored by the EBI decoder. 48 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 11.11.2 EBI Remap Control Register Register Name:EBI_RCR Access Type:Write-only Absolute Address:0xFFE00020 Offset: 31 0x20 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 - 3 - 2 - 1 - 0 RCB - - - - - - - * RCB: Remap Command Bit (Code Label EBI_RCB) 0 = No effect. 1 = Cancels the remapping (performed at reset) of the page zero memory devices. 49 6410B-ATARM-12-Jan-10 11.11.3 EBI Memory Control Register Register Name:EBI_MCR Access Type:Read/Write Reset Value: 0 Absolute Address:0xFFE00024 Offset: 31 0x24 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 DRP - 3 - 2 - 1 ALE - 0 - - - - * ALE: Address Line Enable This field determines the number of valid address lines and the number of valid chip select lines. Code Label ALE 0 1 1 1 1 X 0 0 1 1 X 0 1 0 1 Valid Address Bits A20, A21, A22, A23 A20, A21, A22 A20, A21 A20 None Maximum Addressable Space 16M Bytes 8M Bytes 4M Bytes 2M Bytes 1M Byte Valid Chip Select None CS4 CS4, CS5 CS4, CS5, CS6 CS4, CS5, CS6, CS7 EBI_ALE EBI_ALE_16M EBI_ALE_8M EBI_ALE_4M EBI_ALE_2M EBI_ALE_1M * DRP: Data Read Protocol Code Label DRP 0 1 Selected DRP Standard read protocol for all external memory devices enabled Early read protocol for all external memory devices enabled EBI_DRP EBI_DRP_STANDARD EBI_DRP_EARLY 50 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 12. Flash Memory The device powers on in the read mode. Command sequences are used to place the device in other operation modes such as program and erase. The device has the capability to protect the data in any sector (see "Sector Lockdown" on page 55). To increase the flexibility of the device, it contains an Erase Suspend and Program Suspend feature. This feature will put the erase or program on hold for any amount of time and let the user read data from or program data to any of the remaining sectors within the memory. The end of a program or an erase cycle is detected by the READY/BUSY pin, Data Polling or by the toggle bit. A six-byte command (Enter Single Pulse Program Mode) sequence to remove the requirement of entering the three-byte program sequence is offered to further improve programming time. After entering the six-byte code, only single pulses on the write control lines are required for writing into the device. This mode (Single Pulse Byte/Word Program) is exited by powering down the device, or by pulsing the RESET pin low for a minimum of 500 ns and then bringing it back to VCC. Erase, Erase Suspend/Resume and Program Suspend/Resume commands will not work while in this mode; if entered they will result in data being programmed into the device. It is not recommended that the six-byte code reside in the software of the final product but only exist in external programming code. The BYTE pin controls whether the device data I/O pins operate in the byte or word configuration. If the BYTE pin is set at logic "1", the device is in word configuration, I/O0 - I/O15 are active and controlled by CE and OE. If the BYTE pin is set at logic "0", the device is in byte configuration, and only data I/O pins I/O0 I/O7 are active and controlled by CE and OE. The data I/O pins I/O8 - I/O14 are tri-stated, and the I/O15 pin is used as an input for the LSB (A-1) address function. 51 6410B-ATARM-12-Jan-10 12.1 Block Diagram Figure 12-1. Flash Memory Block Diagram I/O0 - I/O15/A-1 Output Buffer Input Buffer Output Multiplexor A0 - A19 Input Buffer Data Register Identifier Register Status Register Command Register Address Latch Data Comparator CE WE OE RESET BYTE RDY/BUSY Write State Machine Program/Erase Voltage Switch VCC GND Y-Decoder Y-GATING X-Decoder Main Memory 12.2 12.2.1 Device Operation Read The Flash Memory is accessed like an EPROM. When CE and OE are low and WE is high, the data stored at the memory location determined by the address pins are asserted on the outputs. The outputs are put in the high impedance state whenever CE or OE is high. This dual-line control gives designers flexibility in preventing bus contention. 12.2.2 Command Sequences When the device is first powered on, it will be reset to the read or standby mode, depending upon the state of the control line inputs. In order to perform other device functions, a series of command sequences are entered into the device. The command sequences are shown in the "Command Definition Table" on page 63 (I/O8 - I/O15 are don't care inputs for the command codes). The command sequences are written by applying a low pulse on the WE or CE input with CE or WE low (respectively) and OE high. The address is latched on the falling edge of CE or WE, whichever occurs last. The data is latched by the first rising edge of CE or WE. Standard microprocessor write timings are used. The address locations used in the command sequences are not affected by entering the command sequences. 52 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 12.2.3 Reset A RESET input pin is provided to ease some system applications. When RESET is at a logic high level, the device is in its standard operating mode. A low level on the RESET input halts the present device operation and puts the outputs of the device in a high impedance state. When a high level is reasserted on the RESET pin, the device returns to the read or standby mode, depending upon the state of the control inputs. 12.2.4 Erasure Before a byte/word can be reprogrammed, it must be erased. The erased state of memory bits is a logical "1". The entire device can be erased by using the Chip Erase command or individual sectors can be erased by using the Sector Erase command. 12.2.4.1 Chip Erase The entire device can be erased at one time by using the six-byte chip erase software code. After the chip erase has been initiated, the device will internally time the erase operation so that no external clocks are required. The maximum time to erase the chip is tEC. If the sector lockdown has been enabled, the chip erase will not erase the data in the sector that has been locked out; it will erase only the unprotected sectors. After the chip erase, the device will return to the read or standby mode. 12.2.4.2 Sector Erase As an alternative to a full chip erase, the device is organized into 39 sectors (SA0 - SA38) that can be individually erased. The Sector Erase command is a six-bus cycle operation. The sector address is latched on the falling WE edge of the sixth cycle while the 30H data input command is latched on the rising edge of WE. The sector erase starts after the rising edge of WE of the sixth cycle. The erase operation is internally controlled; it will automatically time to completion. The maximum time to erase a sector is tSEC. When the sector programming lockdown feature is not enabled, the sector will erase (from the same Sector Erase command). An attempt to erase a sector that has been protected will result in the operation terminating immediately. Byte/Word Programming Once a memory block is erased, it is programmed (to a logical "0") on a byte-by-byte or on a word-by-word basis. Programming is accomplished via the internal device command register and is a four-bus cycle operation. The device will automatically generate the required internal program pulses. Any commands written to the chip during the embedded programming cycle will be ignored. If a hardware reset happens during programming, the data at the location being programmed will be corrupted. Please note that a data "0" cannot be programmed back to a "1"; only erase operations can convert "0"s to "1"s. Programming is completed after the specified tBP cycle time. The Data Polling feature or the Toggle Bit feature may be used to indicate the end of a program cycle. If the erase/program status bit is a "1", the device was not able to verify that the erase or program operation was performed successfully. 12.2.6 Program/Erase Status The device provides several bits to determine the status of a program or erase operation: I/O2, I/O5, I/O6 and I/O7. The "Status Bit Table" on page 62 and the following four sections describe the function of these bits. To provide greater flexibility for system designers, the Flash Memory contains a programmable configuration register. The configuration register allows the user to specify the status bit operation. The configuration register can be set to one of two different val53 6410B-ATARM-12-Jan-10 12.2.5 ues, "00" or "01". If the configuration register is set to "00", the part will automatically return to the read mode after a successful program or erase operation. If the configuration register is set to a "01", a Product ID Exit command must be given after a successful program or erase operation before the part will return to the read mode. It is important to note that whether the configuration register is set to a "00" or to a "01", any unsuccessful program or erase operation requires using the Product ID Exit command to return the device to read mode. The default value (after powerup) for the configuration register is "00". Using the four-bus cycle Set Configuration Register command as shown in Table 12-2, "Command Definition Table," on page 63, the value of the configuration register can be changed. Voltages applied to the RESET pin will not alter the value of the configuration register. The value of the configuration register will affect the operation of the I/O7 status bit as described below. 12.2.7 DATA Polling The Flash Memory features Data Polling to indicate the end of a program cycle. If the status configuration register is set to a "00", during a program cycle an attempted read of the last byte/word loaded will result in the complement of the loaded data on I/O7. Once the program cycle has been completed, true data is valid on all outputs and the next cycle may begin. During a chip or sector erase operation, an attempt to read the device will give a "0" on I/O7. Once the program or erase cycle has completed, true data will be read from the device. Data Polling may begin at any time during the program cycle. Please see Table 12-1 on page 62 for more details. If the status bit configuration register is set to a "01", the I/O7 status bit will be low while the device is actively programming or erasing data. I/O7 will go high when the device has completed a program or erase operation. Once I/O7 has gone high, status information on the other pins can be checked. The Data Polling status bit must be used in conjunction with the erase/program status bit as shown in the algorithm in Figure 12-2 on page 58 and Figure 12-3 on page 59. 12.2.8 Toggle Bit In addition to Data Polling the Flash Memory provides another method for determining the end of a program or erase cycle. During a program or erase operation, successive attempts to read data from the memory will result in I/O6 toggling between one and zero. Once the program cycle has completed, I/O6 will stop toggling and valid data will be read. Examining the toggle bit may begin at any time during a program cycle. Please see "Status Bit Table" on page 62 for more details. The toggle bit status bit should be used in conjunction with the erase/program status bit as shown in the algorithm in Figures 12-4 and and 12-5 on page 60. 12.2.9 Erase/Program Status Bit The device offers a status bit on I/O5, which indicates whether the program or erase operation has exceeded a specified internal pulse count limit. If the status bit is a "1", the device is unable to verify that an erase or a byte/word program operation has been successfully performed. If a program (Sector Erase) command is issued to a protected sector, the protected sector will not be programmed (erased). The device will go to a status read mode and the I/O5 status bit will be set high, indicating the program (erase) operation did not complete as requested. Once the erase/program status bit has been set to a "1", the system must write the Product ID Exit command to return to the read mode. The erase/program status bit is a "0" while the erase or program operation is still in progress. Please see "Status Bit Table" on page 62 for more details. 54 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 12.3 Sector Lockdown Each sector has a programming lockdown feature. This feature prevents programming of data in the designated sectors once the feature has been enabled. These sectors can contain secure code that is used to bring up the system. Enabling the lockdown feature will allow the boot code to stay in the device while data in the rest of the device is updated. This feature does not have to be activated; any sector's usage as a write-protected region is optional to the user. At power-up or reset, all sectors are unlocked. To activate the lockdown for a specific sector, the six-bus cycle Sector Lockdown command must be issued. Once a sector has been locked down, the contents of the sector is read-only and cannot be erased or programmed. 12.3.1 Sector Lockdown Detection A software method is available to determine if programming of a sector is locked down. When the device is in the software product identification mode (see Section 12.8 "Software Product Identification Entry" and Section 12.9 "Software Product Identification Exit" on page 66), a read from address location 00002H within a sector will show if programming the sector is locked down. If the data on I/O0 is low, the sector can be programmed; if the data on I/O0 is high, the program lockdown feature has been enabled and the sector cannot be programmed. The software product identification exit code should be used to return to standard operation. Sector Lockdown Override The only way to unlock a sector that is locked down is through reset or power-up cycles. After power-up or reset, the content of a sector that is locked down can be erased and reprogrammed. Erase Suspend/Erase Resume The Erase Suspend command allows the system to interrupt a sector or chip erase operation and then program or read data from a different sector within the memory. After the Erase Suspend command is given, the device requires a maximum time of 15 s to suspend the erase operation. After the erase operation has been suspended, the system can then read data or program data to any other sector within the device. An address is not required during the Erase Suspend command. During a sector erase suspend, another sector cannot be erased. To resume the sector erase operation, the system must write the Erase Resume command. The Erase Resume command is a one-bus cycle command. The device also supports an erase suspend during a complete chip erase. While the chip erase is suspended, the user can read from any sector within the memory that is protected. The command sequence for a chip erase suspend and a sector erase suspend are the same. Program Suspend/Program Resume The Program Suspend command allows the system to interrupt a programming operation and then read data from a different byte/word within the memory. After the Program Suspend command is given, the device requires a maximum of 10 s to suspend the programming operation. After the programming operation has been suspended, the system can then read data from any other byte/word that is not contained in the sector in which the programming operation was suspended. An address is not required during the program suspend operation. To resume the programming operation, the system must write the Program Resume command. The program suspend and resume are one-bus cycle commands. The command sequence for the erase suspend and program suspend are the same, and the command sequence for the erase resume and program resume are the same. 12.3.2 12.3.3 12.3.4 55 6410B-ATARM-12-Jan-10 12.3.5 Product Identification The product identification mode identifies the device and manufacturer as Atmel. It is accessed using a software operation. For details, see "Software Product Identification Entry" and "Software Product Identification Exit" on page 66. 12.3.6 128-bit Protection Register The Flash Memory contains a 128-bit register that can be used for security purposes in system design. The protection register is divided into two 64-bit blocks. The two blocks are designated as block A and block B. The data in block A is non-changeable and is programmed at the factory with a unique number. The data in block B is programmed by the user and can be locked out such that data in the block cannot be reprogrammed. To program block B in the protection register, the four-bus cycle Program Protection Register command must be used as shown in the Table 12-2, "Command Definition Table," on page 63. To lock out block B, the four-bus cycle Lock Protection Register command must be used as shown in the "Command Definition Table" . Data bit D1 must be zero during the fourth bus cycle. All other data bits during the fourth bus cycle are don't cares. To determine whether block B is locked out, the Product ID Entry command is given followed by a read operation from address 80H. If data bit D1 is zero, block B is locked. If data bit D1 is one, block B can be reprogrammed. See Table 12-3 on page 64 for the address locations in the protection register. To read the protection register, the Product ID Entry command is given followed by a normal read operation from an address within the protection register. After determining whether block B is protected or not, or reading the protection register, the Product ID Exit command must be given prior to performing any other operation. RDY/BUSY An open-drain READY/BUSY output pin provides another method of detecting the end of a program or erase operation. RDY/BUSY is actively pulled low during the internal program and erase cycles and is released at the completion of the cycle. The open-drain connection allows for ORtying of several devices to the same RDY/BUSY line. See Table 12-1, "Status Bit Table," on page 62 for more details. 12.3.7 12.3.8 Common Flash Interface (CFI) CFI is a published, standardized data structure that may be read from a flash device. CFI allows system software to query the installed device to determine the configurations, various electrical and timing parameters, and functions supported by the device. CFI is used to allow the system to learn how to interface to the flash device most optimally. The two primary benefits of using CFI are ease of upgrading and second source availability. The command to enter the CFI Query mode is a one-bus cycle command which requires writing data 98h to address 55h. The CFI Query command can be written when the device is ready to read data or can also be written when the part is in the product ID mode. Once in the CFI Query mode, the system can read CFI data at the addresses given in Table 12-5, "Common Flash Interface Definition," on page 68. To exit the CFI Query mode, the product ID exit command must be given. Hardware Data Protection The Hardware Data Protection feature protects against inadvertent programs to the Flash Memory in the following ways: (a) VCC sense: if VCC is below 1.8V (typical), the program function is inhibited. (b) Program inhibit: holding any one of OE low, CE high or WE high inhibits program cycles. 12.3.9 56 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 12.3.10 Input Levels While operating with a 2.65V to 3.6V power supply, the address inputs and control inputs (OE, CE and WE) may be driven from 0 to 5.5V without adversely affecting the operation of the device. The I/O lines can only be driven from 0 to VCC + 0.6V. 57 6410B-ATARM-12-Jan-10 Figure 12-2. Data Polling Algorithm (Configuration Register = 00) START Read I/O7 - I/O0 Addr = VA YES I/O7 = Data? NO NO I/O5 = 1? YES Read I/O7 - I/O0 Addr = VA I/O7 = Data? YES NO Program/Erase Operation Not Successful, Write Product ID Exit Command Notes: Program/Erase Operation Successful, Device in Read Mode 1. VA = Valid address for programming. During a sector erase operation, a valid address is any sector address within the sector being erased. During chip erase, a valid address is any nonprotected sector address. 2. I/O7 should be rechecked even if I/O5 = "1" because I/O7 may change simultaneously with I/O5. 58 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 12-3. Data Polling Algorithm (Configuration Register = 01) START Read I/O7 - I/O0 Addr = VA YES I/O7 = Data? NO NO I/O5 = 1? YES Read I/O7 - I/O0 Addr = VA I/O7 = Data? YES NO Program/Erase Operation Not Successful, Write Product ID Exit Command Notes: Program/Erase Operation Successful, Write Product ID Exit Command 1. VA = Valid address for programming. During a sector erase operation, a valid address is any sector address within the sector being erased. During chip erase, a valid address is any nonprotected sector address. 2. I/O7 should be rechecked even if I/O5 = "1" because I/O7 may change simultaneously with I/O5. 59 6410B-ATARM-12-Jan-10 Figure 12-4. Toggle Bit Algorithm (Configuration Register = 00) START Read I/O7 - I/O0 Read I/O7 - I/O0 Toggle Bit = Toggle? YES NO NO I/O5 = 1? YES Read I/O7 - I/O0 Twice Toggle Bit = Toggle? YES Program/Erase Operation Not Successful, Write Product ID Exit Command Note: NO Program/Erase Operation Successful, Device in Read Mode The system should recheck the toggle bit even if I/O5 = "1" because the toggle bit may stop toggling as I/O5 changes to "1". 60 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 12-5. Toggle Bit Algorithm (Configuration Register = 01) START Read I/O7 - I/O0 Read I/O7 - I/O0 Toggle Bit = Toggle? YES NO I/O5 = 1? NO YES Read I/O7 - I/O0 Twice Toggle Bit = Toggle? YES Program/Erase Operation Not Successful, Write Product ID Exit Command Note: NO Program/Erase Operation Successful, Write Product ID Exit Command The system should recheck the toggle bit even if I/O5 = "1" because the toggle bit may stop toggling as I/O5 changes to "1". 61 6410B-ATARM-12-Jan-10 12.4 Status Bit Table Status Bit Table Status Bit I/O7 I/O7 01 0 0 1 DATA 0 I/O6 00/01 TOGGLE TOGGLE 1 DATA TOGGLE I/O5(1) 00/01 0 0 0 DATA 0 I/O2 00/01 1 TOGGLE TOGGLE DATA TOGGLE RDY/BUSY 00/01 0 0 1 1 0 Table 12-1. Configuration Register Programming Erasing Erase Suspended & Read Erasing Sector Erase Suspended & Read Non-erasing Sector Erase Suspended & Program Non-erasing Sector Erase Suspended & Program Suspended and Reading from Non-suspended Sectors Program Suspended & Read Programming Sector Program Suspended & Read Non-programming Sector Note: 00 I/O7 0 1 DATA I/O7 DATA DATA DATA DATA DATA 1 I/O7 DATA 1 DATA 1 DATA 0 DATA TOGGLE DATA 1 1 1. I/O5 switches to a "1" when a program or an erase operation has exceeded the maximum time limits or when a program or sector erase operation is performed on a protected sector. 62 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 12.5 Flash Memory Command Definition Command Definition Table Bus Cycles 1 6 6 4 6 1 6 1 1 3 3 1 4 4 4 4 1 1st Bus Cycle Addr Addr 555 555 555 555 Addr 555 XXX XXX 555 555 XXX 555 555 555 555 X55 Data DOUT AA AA AA AA DIN AA B0 30 AA AA F0(8) AA AA AA AA 98 AAA AAA AAA AAA 55 55 55 55 555 555 555 555 C0 C0 90 D0 Addr(10) 080 80 XXX DIN X0 DOUT(6) 00/01(7) AAA AAA 55 55 555 555 90 F0(8) AAA(2) 55 555 80 555 AA AAA 55 SA(3)(4) 60 AAA(2) AAA AAA AAA 55 55 55 55 555 555 555 555 80 80 A0 80 555 555 Addr 555 AA AA DIN AA AAA 55 555 A0 AAA AAA 55 55 555 SA (3)(4) Table 12-2. Command Sequence Read Chip Erase Sector Erase 2nd Bus Cycle Addr Data 3rd Bus Cycle Addr Data 4th Bus Cycle Addr Data 5th Bus Cycle Addr Data 6th Bus Cycle Addr Data 10 30 Byte/Word Program Enter Single Pulse Program Mode Single Pulse Byte/Word Program Sector Lockdown Erase/Program Suspend Erase/Program Resume Product ID Entry Product ID Exit (6) Product ID Exit (6) Program Protection Register Lock Protection Register - Block B Status of Block B Protection Set Configuration Register CFI Query(9) Notes: 1. The DATA FORMAT shown for each bus cycle is as follows; I/O7 - I/O0 (Hex). In word operation I/O15 - I/O8 are don't care. The ADDRESS FORMAT shown for each bus cycle is as follows: A11 - A0 (Hex). Address A19 through A11 are don't care in the word mode. Address A19 through A11 and A-1 are don't care in the byte mode. 2. Since A11 is a Don't Care, AAA can be replaced with 2AA. 3. SA = sector address. Any byte/word address within a sector can be used to designate the sector address (see Section 12.7 "Sector Address" on page 65 for details). 4. Once a sector is in the lockdown mode, data in the protected sector cannot be changed unless the chip is reset or power cycled. 5. Either one of the Product ID Exit commands can be used. 6. If data bit D1 is "0", block B is locked. If data bit D1 is "1", block B can be reprogrammed. 7. The default state (after power-up) of the configuration register is "00". 8. Bytes of data other than F0 may be used to exit the Product ID mode. However, it is recommended that F0 be used. 9. When accessing data in the CFI table, the address format is A15- A0 (Hex) in word mode, A14-A0 (Hex) and A-1 = 0 in byte mode. 10. Any address within the user programmable register region. Address locations are shown in Table 12-3 on page 64. 63 6410B-ATARM-12-Jan-10 12.6 Protection Register Addressing Protection Register Addressing Table (1) Use Factory Factory Factory Factory User User User User Block A A A A B B B B A7 1 1 1 1 1 1 1 1 A6 0 0 0 0 0 0 0 0 A5 0 0 0 0 0 0 0 0 A4 0 0 0 0 0 0 0 0 A3 0 0 0 0 0 0 0 1 A2 0 0 0 1 1 1 1 0 A1 0 1 1 0 0 1 1 0 A0 1 0 1 0 1 0 1 0 Table 12-3. Word 0 1 2 3 4 5 6 7 Note: 1. All address lines not specified in the above table must be "0" when accessing the protection register, i.e., A19 - A8 = 0. 64 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 12.7 Sector Address Sector Address Table x8 Sector SA0 SA1 SA2 SA3 SA4 SA5 SA6 SA7 SA8 SA9 SA10 SA11 SA12 SA13 SA14 SA15 SA16 SA17 SA18 SA19 SA20 SA21 SA22 SA23 SA24 SA25 SA26 SA27 SA28 SA29 SA30 SA31 SA32 SA33 SA34 SA35 SA36 SA37 SA38 Size (Bytes/Words) 8K/4K 8K/4K 8K/4K 8K/4K 8K/4K 8K/4K 8K/4K 8K/4K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K 64K/32K Address Range (A19 - A-1) 000000 - 001FFF 002000 - 003FFF 004000 - 005FFF 006000 - 007FFF 008000 - 009FFF 00A000 - 00BFFF 00C000 - 00DFFF 00E000 - 00FFFF 010000 - 01FFFF 020000 - 02FFFF 030000 - 03FFFF 040000 - 04FFFF 050000 - 05FFFF 060000 - 06FFFF 070000 - 07FFFF 080000 - 08FFFF 090000 - 09FFFF 0A0000 - 0AFFFF 0B0000 - 0BFFFF 0C0000 - 0CFFFF 0D0000 - 0DFFFF 0E0000 - 0EFFFF 0F0000 - 0FFFFF 100000 - 10FFFF 110000 - 11FFFF 120000 - 12FFFF 130000 - 13FFFF 140000 - 14FFFF 150000 - 15FFFF 160000 - 16FFFF 170000 - 17FFFF 180000 - 18FFFF 190000 - 19FFFF 1A0000 - 1AFFFF 1B0000 - 1BFFFF 1C0000 - 1CFFFF 1D0000 - 1DFFFF 1E0000 - 1EFFFF 1F0000 - 1FFFFF x16 Address Range (A19 - A0) 00000 - 00FFF 01000 - 01FFF 02000 - 02FFF 03000 - 03FFF 04000 - 04FFF 05000 - 05FFF 06000 - 06FFF 07000 - 07FFF 08000 - 0FFFF 10000 - 17FFF 18000 - 1FFFF 20000 - 27FFF 28000 - 2FFFF 30000 - 37FFF 38000 - 3FFFF 40000 - 47FFF 48000 - 4FFFF 50000 - 57FFF 58000 - 5FFFF 60000 - 67FFF 68000 - 6FFFF 70000 - 77FFF 78000 - 7FFFF 80000 - 87FFF 88000 - 8FFFF 90000 - 97FFF 98000 - 9FFFF A0000 - A7FFF A8000 - AFFFF B0000 - B7FFF B8000 - BFFFF C0000 - C7FFF C8000 - CFFFF D0000 - D7FFF D8000 - DFFFF E0000 - E7FFF E8000 - EFFFF F0000 - F7FFF F8000 - FFFFF Table 12-4. 65 6410B-ATARM-12-Jan-10 12.8 Software Product Identification Entry Figure 12-6. Software Product Identification Entry (1) LOAD DATA AA TO ADDRESS 555 LOAD DATA 55 TO ADDRESS AAA LOAD DATA 90 TO ADDRESS 555 ENTER PRODUCT IDENTIFICATION MODE(2)(3)(5) 12.9 Software Product Identification Exit Figure 12-7. Software Product Identification Exit (1) (6) LOAD DATA AA TO ADDRESS 555 OR LOAD DATA F0 TO ANY ADDRESS LOAD DATA 55 TO ADDRESS AAA EXIT PRODUCT IDENTIFICATION MODE(4) LOAD DATA F0 TO ADDRESS 555 EXIT PRODUCT IDENTIFICATION (4) MODE Notes: 1. Data Format: I/O15 - I/O8 (Don't Care); I/O7 - I/O0 (Hex) Address Format: A11 - A0 (Hex), A1, and A11 - A19 (Don't Care). 2. A1 - A19 = VIL. Manufacturer Code is read for A0 = VIL; Device Code is read for A0 = VIH. Additional Device Code is read from address 0003H. 3. The device does not remain in identification mode if powered down. 4. The device returns to standard operation mode. 5. Manufacturer Code: 001FH Device Code: 01C0H 6. Either one of the Product ID Exit commands can be used. 66 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 12.10 Sector Lockdown Enable Algorithm Figure 12-8. Sector Lockdown Enable Algorithm (1) LOAD DATA AA TO ADDRESS 555 LOAD DATA 55 TO ADDRESS AAA LOAD DATA 80 TO ADDRESS 555 LOAD DATA AA TO ADDRESS 555 LOAD DATA 55 TO ADDRESS AAA LOAD DATA 60 TO SECTOR ADDRESS PAUSE 200 s(2) Notes: 1. Data Format: I/O15 - I/O8 (Don't Care); I/O7 - I/O0 (Hex) Address Format: A11 - A0 (Hex), A1, and A11 - A19 (Don't Care). 2. Sector Lockdown feature enabled. 67 6410B-ATARM-12-Jan-10 12.11 Common Flash Interface Definition Table 12-5. Common Flash Interface Definition Address [x8 Mode] 20h 22h 24h 26h 28h 2Ah 2Ch 2Eh 30h 32h 34h 36h 38h 3Ah 3Ch 3Eh 40h 42h 44h 46h 48h 4Ah 4Ch 4Eh 50h 52h 54h 56h 58h 5Ah 5Ch 5Eh 60h 62h 64h Data 0051h 0052h 0059h 0002h 0000h 0041h 0000h 0000h 0000h 0000h 0000h 0027h 0036h 0000h 0000h 0004h 0000h 0009h 000Eh 0004h 0000h 0004h 0004h 0015h 0002h 0000h 0000h 0000h 0002h 0007h 0000h 0020h 0000h 001Eh 0000h Typ sector erase: 500 ms Typ chip erase: 16,000 ms Max word write/typ time N/A Max sector erase/typ sector erase Max chip erase/typ chip erase Device size x8/x16 device x8/x16 device Multiple byte write not supported Multiple byte write not supported 2 regions, X = 2 8K bytes, Y = 7 8K bytes, Y = 7 8K bytes, Z = 32 8K bytes, Z = 32 64K bytes, Y = 30 64K bytes, Y = 30 VCC min write/erase VCC max write/erase VPP min voltage VPP max voltage Typ word write - 10 s Comments "Q" "R" "Y" Address [x16 Mode] 10h 11h 12h 13h 14h 15h 16h 17h 18h 19h 1Ah 1Bh 1Ch 1Dh 1Eh 1Fh 20h 21h 22h 23h 24h 25h 26h 27h 28h 29h 2Ah 2Bh 2Ch 2Dh 2Eh 2Fh 30h 31h 32h 68 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Table 12-5. Common Flash Interface Definition (Continued) Address [x8 Mode] 66h 68h Data 0000h 0001h Comments 64K bytes, Z = 256 64K bytes, Z = 256 Address [x16 Mode] 33h 34h Vendor Specific Extended Query 41h 42h 43h 44h 45h 82h 84h 86h 88h 8Ah 0050h 0052h 0049h 0031h 0030h "P" "R" "I" Major version number, ASCII Minor version number, ASCII Bit 0 - chip erase supported, 0 - no, 1 - yes Bit 1 - erase suspend supported, 0 - no, 1 - yes Bit 2 - program suspend supported, 0 - no, 1 - yes Bit 3 - simultaneous operations supported, 0 - no, 1 - yes Bit 4 - burst mode read supported, 0 - no, 1 - yes Bit 5 - page mode read supported, 0 - no, 1 - yes Bit 6 - queued erase supported, 0 - no, 1 - yes Bit 7 - protection bits supported, 0 - no, 1 - yes Bit 8 - top ("0") or bottom ("1") boot block device undefined bits are "0" Bit 0 - 4-word linear burst with wrap around, 0 - no, 1 - yes Bit 1 - 8-word linear burst with wrap around, 0 - no, 1 - yes Bit 2 - continuos burst, 0 - no, 1 - yes Undefined bits are "0" Bit 0 - 4-word page, 0 - no, 1 - yes Bit 1 - 8-word page, 0 - no, 1 - yes Undefined bits are "0" Location of protection register lock byte, the section's first byte # of bytes in the factory prog section of prot register - 2*n # of bytes in the user prog section of prot register - 2*n 46h 8Ch 0087h 47h 8Eh 0000h (top) or 0001h (bottom) 48h 90h 0000h 49h 4Ah 4Bh 4Ch 92h 94h 96h 98h 0000h 0080h 0003h 0003h 69 6410B-ATARM-12-Jan-10 13. PS: Power-saving The AT91X40 Series' Power-saving feature enables optimization of power consumption. The PS controls the CPU and Peripheral Clocks. One control register (PS_CR) enables the user to stop the ARM7TDMI Clock and enter Idle Mode. One set of registers with a set/clear mechanism enables and disables the peripheral clocks individually. The ARM7TDMI clock is enabled after a reset and is automatically re-enabled by any enabled interrupt in the Idle Mode. 13.1 Peripheral Clocks The clock of each peripheral integrated in the AT91FR40162SB can be individually enabled and disabled by writing to the Peripheral Clock Enable (PS_PCER) and Peripheral Clock Disable Registers (PS_PCDR). The status of the peripheral clocks can be read in the Peripheral Clock Status Register (PS_PCSR). When a peripheral clock is disabled, the clock is immediately stopped. When the clock is reenabled, the peripheral resumes action where it left off. To avoid data corruption or erroneous behavior of the system, the system software only disables the clock after all programmed peripheral operations have finished. The peripheral clocks are automatically enabled after a reset. The bits that control the peripheral clocks are the same as those that control the Interrupt Sources in the AIC. 70 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 13.2 Power Saving (PS) User Interface PS Memory Map Register Control Register Peripheral Clock Enable Register Peripheral Clock Disable Register Peripheral Clock Status Register Name PS_CR PS_PCER PS_PCDR PS_PCSR Access Write-only Write-only Write-only Read-only Reset State - - - 0x17C Base Address: 0xFFFF4000 (Code Label PS_BASE) Table 13-1. Offset 0x00 0x04 0x08 0x0C 71 6410B-ATARM-12-Jan-10 13.2.1 Name: Access: Offset: 31 PS Control Register PS_CR Write-only 0x00 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 - 3 - 2 - 1 - 0 CPU - - - - - - - * CPU: CPU Clock Disable 0 = No effect. 1 = Disables the CPU clock. The CPU clock is re-enabled by any enabled interrupt or by hardware reset. 72 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 13.2.2 Name: Access: Offset: 31 PS Peripheral Clock Enable Register PS_PCER Write-only 0x04 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 PIO 0 - 7 - 6 TC2 - 5 TC1 - 4 TC0 - 3 US1 - 2 US0 - 1 - - - * US0: USART 0 Clock Enable 0 = No effect. 1 = Enables the USART 0 clock. * US1: USART 1 Clock Enable 0 = No effect. 1 = Enables the USART 1 clock. * TC0: Timer Counter 0 Clock Enable 0 = No effect. 1 = Enables the Timer Counter 0 clock. * TC1: Timer Counter 1 Clock Enable 0 = No effect. 1 = Enables the Timer Counter 1 clock. * TC2: Timer Counter 2 Clock Enable 0 = No effect. 1 = Enables the Timer Counter 2 clock. * PIO: Parallel IO Clock Enable 0 = No effect. 1 = Enables the Parallel IO clock. 73 6410B-ATARM-12-Jan-10 13.2.3 Name: Access: Offset: 31 PS Peripheral Clock Disable Register PS_PCDR Write-only 0x08 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 PIO 0 - 7 - 6 TC2 - 5 TC1 - 4 TC0 - 3 US1 - 2 US0 - 1 - - - * US0: USART 0 Clock Disable 0 = No effect. 1 = Disables the USART 0 clock. * US1: USART 1 Clock Disable 0 = No effect. 1 = Disables the USART 1 clock. * TC0: Timer Counter 0 Clock Disable 0 = No effect. 1 = Disables the Timer Counter 0 clock. * TC1: Timer Counter 1 Clock Disable 0 = No effect. 1 = Disables the Timer Counter 1 clock. * TC2: Timer Counter 2 Clock Disable 0 = No effect. 1 = Disables the Timer Counter 2 clock. * PIO: Parallel IO Clock Disable 0 = No effect. 1 = Disables the Parallel IO clock. 74 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 13.2.4 Name: Access: PS Peripheral Clock Status Register PS_PCSR Read-only Reset Value: 0x17C Offset: 31 0x0C 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 PIO 0 - 7 - 6 TC2 - 5 TC1 - 4 TC0 - 3 US1 - 2 US0 - 1 - - - * US0: USART 0 Clock Status 0 = USART 0 clock is disabled. 1 = USART 0 clock is enabled. * US1: USART 1 Clock Status 0 = USART 1 clock is disabled. 1 = USART 1 clock is enabled. * TC0: Timer Counter 0 Clock Status 0 = Timer Counter 0 clock is disabled. 1 = Timer Counter 0 clock is enabled. * TC1: Timer Counter 1 Clock Status 0 = Timer Counter 1 clock is disabled. 1 = Timer Counter 1 clock is enabled. * TC2: Timer Counter 2 Clock Status 0 = Timer Counter 2 clock is disabled. 1 = Timer Counter 2 clock is enabled. * PIO: Parallel IO Clock Status 0 = Parallel IO clock is disabled. 1 = Parallel IO clock is enabled. 75 6410B-ATARM-12-Jan-10 14. AIC: Advanced Interrupt Controller The AT91FR40162SB has an 8-level priority, individually maskable, vectored interrupt controller. This feature substantially reduces the software and real-time overhead in handling internal and external interrupts. The interrupt controller is connected to the NFIQ (fast interrupt request) and the NIRQ (standard interrupt request) inputs of the ARM7TDMI processor. The processor's NFIQ line can only be asserted by the external fast interrupt request input: FIQ. The NIRQ line can be asserted by the interrupts generated by the on-chip peripherals and the external interrupt request lines: IRQ0 to IRQ2. The 8-level priority encoder allows the customer to define the priority between the different NIRQ interrupt sources. Internal sources are programmed to be level sensitive or edge triggered. External sources can be programmed to be positive or negative edge triggered or high- or low-level sensitive. The interrupt sources are listed in Table 14-1 on page 77 and the AIC programmable registers in Table 14-3 on page 84. 14.1 Block Diagram Figure 14-1. Advanced Interrupt Controller Block Diagram FIQ Source Memorization NFIQ Manager NFIQ Advanced Peripheral Bus (APB) Control Logic ARM7TDMI Core Internal Interrupt Sources External Interrupt Sources Memorization Priority Controller NIRQ Manager NIRQ Note: After a hardware reset, the AIC pins are controlled by the PIO Controller. They must be configured to be controlled by the peripheral before being used. 76 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Table 14-1. AIC Interrupt Sources Interrupt Name FIQ SWIRQ US0IRQ US1IRQ TC0IRQ TC1IRQ TC2IRQ WDIRQ PIOIRQ - - - - - - - IRQ0 IRQ1 IRQ2 - - - - - - - - - - - - - Interrupt Description Fast Interrupt Software Interrupt USART Channel 0 interrupt USART Channel 1 interrupt Timer Channel 0 interrupt Timer Channel 1 interrupt Timer Channel 2 interrupt Watchdog interrupt Parallel I/O Controller interrupt Reserved Reserved Reserved Reserved Reserved Reserved Reserved External interrupt 0 External interrupt 1 External interrupt 2 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Interrupt Source (1) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Note: Reserved interrupt sources are not available. Corresponding registers must not be used and read 0. 77 6410B-ATARM-12-Jan-10 14.2 Hardware Interrupt Vectoring The hardware interrupt vectoring reduces the number of instructions to reach the interrupt handler to only one. By storing the following instruction at address 0x00000018, the processor loads the program counter with the interrupt handler address stored in the AIC_IVR register. Execution is then vectored to the interrupt handler corresponding to the current interrupt. ldr PC,[PC,# - &F20] The current interrupt is the interrupt with the highest priority when the Interrupt Vector Register (AIC_IVR) is read. The value read in the AIC_IVR corresponds to the address stored in the Source Vector Register (AIC_SVR) of the current interrupt. Each interrupt source has its corresponding AIC_SVR. In order to take advantage of the hardware interrupt vectoring it is necessary to store the address of each interrupt handler in the corresponding AIC_SVR, at system initialization. 14.3 Priority Controller The NIRQ line is controlled by an 8-level priority encoder. Each source has a programmable priority level of 7 to 0. Level 7 is the highest priority and level 0 the lowest. When the AIC receives more than one unmasked interrupt at a time, the interrupt with the highest priority is serviced first. If both interrupts have equal priority, the interrupt with the lowest interrupt source number is serviced first (see Table 14-1 on page 77). The current priority level is defined as the priority level of the current interrupt at the time the register AIC_IVR is read (the interrupt which will be serviced). In the case when a higher priority unmasked interrupt occurs while an interrupt already exists, there are two possible outcomes depending on whether the AIC_IVR has been read. * If the NIRQ line has been asserted but the AIC_IVR has not been read, then the processor will read the new higher priority interrupt handler address in the AIC_IVR register and the current interrupt level is updated. * If the processor has already read the AIC_IVR then the NIRQ line is reasserted. When the processor has authorized nested interrupts to occur and reads the AIC_IVR again, it reads the new, higher priority interrupt handler address. At the same time the current priority value is pushed onto a first-in last-out stack and the current priority is updated to the higher priority. When the end of interrupt command register (AIC_EOICR) is written the current interrupt level is updated with the last stored interrupt level from the stack (if any). Hence at the end of a higher priority interrupt, the AIC returns to the previous state corresponding to the preceding lower priority interrupt which had been interrupted. 14.4 Interrupt Handling The interrupt handler must read the AIC_IVR as soon as possible. This de-asserts the NIRQ request to the processor and clears the interrupt in case it is programmed to be edge triggered. This permits the AIC to assert the NIRQ line again when a higher priority unmasked interrupt occurs. At the end of the interrupt service routine, the end of interrupt command register (AIC_EOICR) must be written. This allows pending interrupts to be serviced. 78 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 14.5 Interrupt Masking Each interrupt source, including FIQ, can be enabled or disabled using the command registers AIC_IECR and AIC_IDCR. The interrupt mask can be read in the read-only register AIC_IMR. A disabled interrupt does not affect the servicing of other interrupts. 14.6 Interrupt Clearing and Setting All interrupt sources which are programmed to be edge triggered (including FIQ) can be individually set or cleared by respectively writing to the registers AIC_ISCR and AIC_ICCR. This function of the interrupt controller is available for auto-test or software debug purposes. 14.7 Fast Interrupt Request The external FIQ line is the only source which can raise a fast interrupt request to the processor. Therefore, it has no priority controller. The external FIQ line can be programmed to be positive or negative edge triggered or high- or low-level sensitive in the AIC_SMR0 register. The fast interrupt handler address can be stored in the AIC_SVR0 register. The value written into this register is available by reading the AIC_FVR register when an FIQ interrupt is raised. By storing the following instruction at address 0x0000001C, the processor will load the program counter with the interrupt handler address stored in the AIC_FVR register. ldr PC,[PC,# -&F20] Alternatively the interrupt handler can be stored starting from address 0x0000001C as described in the ARM7TDMI datasheet. 14.8 Software Interrupt Interrupt source 1 of the advanced interrupt controller is a software interrupt. It must be programmed to be edge triggered in order to set or clear it by writing to the AIC_ISCR and AIC_ICCR. This is totally independent of the SWI instruction of the ARM7TDMI processor. 14.9 Spurious Interrupt When the AIC asserts the NIRQ line, the ARM7TDMI enters IRQ Mode and the interrupt handler reads the IVR. It may happen that the AIC de-asserts the NIRQ line after the core has taken into account the NIRQ assertion and before the read of the IVR. This behavior is called a Spurious Interrupt. The AIC is able to detect these Spurious Interrupts and returns the Spurious Vector when the IVR is read. The Spurious Vector can be programmed by the user when the vector table is initialized. A spurious interrupt may occur in the following cases: * With any sources programmed to be level sensitive, if the interrupt signal of the AIC input is de-asserted at the same time as it is taken into account by the ARM7TDMI. * If an interrupt is asserted at the same time as the software is disabling the corresponding source through AIC_IDCR (this can happen due to the pipelining of the ARM core). 79 6410B-ATARM-12-Jan-10 The same mechanism of spurious interrupt occurs if the ARM7TDMI reads the IVR (application software or ICE) when there is no interrupt pending. This mechanism is also valid for the FIQ interrupts. Once the AIC enters the spurious interrupt management, it asserts neither the NIRQ nor the NFIQ lines to the ARM7TDMI as long as the spurious interrupt is not acknowledged. Therefore, it is mandatory for the Spurious Interrupt Service Routine to acknowledge the "spurious" behavior by writing to the AIC_EOICR (End of Interrupt) before returning to the interrupted software. It also can perform other operation(s), e.g., trace possible undesirable behavior. 14.10 Protect Mode The Protect Mode permits reading of the Interrupt Vector Register without performing the associated automatic operations. This is necessary when working with a debug system. When a Debug Monitor or an ICE reads the AIC User Interface, the IVR could be read. This would have the following consequences in Normal Mode. * If an enabled interrupt with a higher priority than the current one is pending, it would be stacked * If there is no enabled pending interrupt, the spurious vector would be returned. In either case, an End of Interrupt command would be necessary to acknowledge and to restore the context of the AIC. This operation is generally not performed by the debug system. Hence the debug system would become strongly intrusive, and could cause the application to enter an undesired state. This is avoided by using Protect Mode. The Protect Mode is enabled by setting the AIC bit in the SF Protect Mode Register (see Section 17. "SF: Special Function Registers" on page 113). When Protect Mode is enabled, the AIC performs interrupt stacking only when a write access is performed on the AIC_IVR. Therefore, the Interrupt Service Routines must write (arbitrary data) to the AIC_IVR just after reading it. The new context of the AIC, including the value of the Interrupt Status Register (AIC_ISR), is updated with the current interrupt only when IVR is written. An AIC_IVR read on its own (e.g. by a debugger), modifies neither the AIC context nor the AIC_ISR. Extra AIC_IVR reads performed in between the read and the write can cause unpredictable results. Therefore, it is strongly recommended not to set a breakpoint between these two actions, nor to stop the software. The debug system must not write to the AIC_IVR as this would cause undesirable effects. The following table shows the main steps of an interrupt and the order in which they are performed according to the mode: 80 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Table 14-2. Action Calculate active interrupt (higher than current or spurious) Determine and return the vector of the active interrupt Memorize interrupt Push on internal stack the current priority level Acknowledge the interrupt No effect(2) Notes: (1) Order of Interrupt Steps According to Mode Normal Mode Read AIC_IVR Read AIC_IVR Read AIC_IVR Read AIC_IVR Read AIC_IVR Write AIC_IVR Protect Mode Read AIC_IVR Read AIC_IVR Read AIC_IVR Write AIC_IVR Write AIC_IVR - 1. NIRQ de-assertion and automatic interrupt clearing if the source is programmed as level sensitive. 2. Software that has been written and debugged using Protect Mode will run correctly in Normal Mode without modification. However, in Normal Mode the AIC_IVR write has no effect and can be removed to optimize the code. 14.11 Standard Interrupt Sequence It is assumed that: * The Advanced Interrupt Controller has been programmed, AIC_SVR are loaded with corresponding interrupt service routine addresses and interrupts are enabled. * The Instruction at address 0x18(IRQ exception vector address) is ldr pc, [pc, # - &F20] When NIRQ is asserted, if the bit I of CPSR is 0, the sequence is: 1. The CPSR is stored in SPSR_irq, the current value of the Program Counter is loaded in the IRQ link register (r14_irq) and the Program Counter (r15) is loaded with 0x18. In the following cycle during fetch at address 0x1C, the ARM core adjusts r14_irq, decrementing it by 4. 2. The ARM core enters IRQ Mode, if it is not already. 3. When the instruction loaded at address 0x18 is executed, the Program Counter is loaded with the value read in AIC_IVR. Reading the AIC_IVR has the following effects: - Set the current interrupt to be the pending one with the highest priority. The current level is the priority level of the current interrupt. - De-assert the NIRQ line on the processor. (Even if vectoring is not used, AIC_IVR must be read in order to de-assert NIRQ) - Automatically clear the interrupt, if it has been programmed to be edge triggered - Push the current level on to the stack - Return the value written in the AIC_SVR corresponding to the current interrupt 4. The previous step has effect to branch to the corresponding interrupt service routine. This should start by saving the Link Register(r14_irq) and the SPSR (SPSR_irq). Note that the Link Register must be decremented by 4 when it is saved, if it is to be restored directly into the Program Counter at the end of the interrupt. 5. Further interrupts can then be unmasked by clearing the I bit in the CPSR, allowing reassertion of the NIRQ to be taken into account by the core. This can occur if an interrupt with a higher priority than the current one occurs. 6. The Interrupt Handler can then proceed as required, saving the registers which will be used and restoring them at the end. During this phase, an interrupt of priority higher than the current level will restart the sequence from step 1. Note that if the interrupt is 81 6410B-ATARM-12-Jan-10 programmed to be level sensitive, the source of the interrupt must be cleared during this phase. 7. The I bit in the CPSR must be set in order to mask interrupts before exiting, to ensure that the interrupt is completed in an orderly manner. 8. The End Of Interrupt Command Register (AIC_EOICR) must be written in order to indicate to the AIC that the current interrupt is finished. This causes the current level to be popped from the stack, restoring the previous current level if one exists on the stack. If another interrupt is pending, with lower or equal priority than old current level but with higher priority than the new current level, the NIRQ line is re-asserted, but the interrupt sequence does not immediately start because the I bit is set in the core. 9. The SPSR (SPSR_irq) is restored. Finally, the saved value of the Link Register is restored directly into the PC. This has effect of returning from the interrupt to whatever was being executed before, and of loading the CPSR with the stored SPSR, masking or unmasking the interrupts depending on the state saved in the SPSR (the previous state of the ARM core). Note: The I bit in the SPSR is significant. If it is set, it indicates that the ARM core was just about to mask IRQ interrupts when the mask instruction was interrupted. Hence, when the SPSR is restored, the mask instruction is completed (IRQ is masked). 14.12 Fast Interrupt Sequence It is assumed that: * The Advanced Interrupt Controller has been programmed, AIC_SVR[0] is loaded with fast interrupt service routine address and the fast interrupt is enabled. * The Instruction at address 0x1C(FIQ exception vector address) is: * ldr pc, [pc, # - &F20]. * Nested Fast Interrupts are not needed by the user. When NFIQ is asserted, if the bit F of CPSR is 0, the sequence is: 1. The CPSR is stored in SPSR_fiq, the current value of the Program Counter is loaded in the FIQ link register (r14_fiq) and the Program Counter (r15) is loaded with 0x1C. In the following cycle, during fetch at address 0x20, the ARM core adjusts r14_fiq, decrementing it by 4. 2. The ARM core enters FIQ Mode. 3. When the instruction loaded at address 0x1C is executed, the Program Counter is loaded with the value read in AIC_FVR. Reading the AIC_FVR has effect of automatically clearing the fast interrupt (source 0 connected to the FIQ line), if it has been programmed to be edge triggered. In this case only, it de-asserts the NFIQ line on the processor. 4. The previous step has effect to branch to the corresponding interrupt service routine. It is not necessary to save the Link Register(r14_fiq) and the SPSR (SPSR_fiq) if nested fast interrupts are not needed. 5. The Interrupt Handler can then proceed as required. It is not necessary to save registers r8 to r13 because FIQ Mode has its own dedicated registers and the user r8 to r13 are banked. The other registers, r0 to r7, must be saved before being used, and restored at the end (before the next step). Note that if the fast interrupt is programmed to be level sensitive, the source of the interrupt must be cleared during this phase in order to de-assert the NFIQ line. 6. Finally, the Link Register (r14_fiq) is restored into the PC after decrementing it by 4 (with instruction sub pc, lr, #4 for example). This has effect of returning from the inter- 82 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB rupt to whatever was being executed before, and of loading the CPSR with the SPSR, masking or unmasking the fast interrupt depending on the state saved in the SPSR. The F bit in the SPSR is significant. If it is set, it indicates that the ARM core was just about to mask FIQ interrupts when the mask instruction was interrupted. Hence when the SPSR is restored, the interrupted instruction is completed (FIQ is masked). 83 6410B-ATARM-12-Jan-10 14.13 AIC User Interface Base Address: 0xFFFFF000 (Code Label AIC_BASE) Table 14-3. Offset 0x000 0x004 - 0x07C 0x080 0x084 - 0x0FC 0x100 0x104 0x108 0x10C 0x110 0x114 0x118 0x11C 0x120 0x124 0x128 0x12C 0x130 0x134 Note: AIC Memory Map Register Source Mode Register 0 Source Mode Register 1 - Source Mode Register 31 Source Vector Register 0 Source Vector Register 1 - Source Vector Register 31 IRQ Vector Register FIQ Vector Register Interrupt Status Register Interrupt Pending Register Interrupt Mask Register Core Interrupt Status Register Reserved Reserved Interrupt Enable Command Register Interrupt Disable Command Register Interrupt Clear Command Register Interrupt Set Command Register End of Interrupt Command Register Spurious Vector Register (1) Name AIC_SMR0 AIC_SMR1 - AIC_SMR31 AIC_SVR0 AIC_SVR1 - AIC_SVR31 AIC_IVR AIC_FVR AIC_ISR AIC_IPR AIC_IMR AIC_CISR - - AIC_IECR AIC_IDCR AIC_ICCR AIC_ISCR AIC_EOICR AIC_SPU Access Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read-only Read-only Read-only Read-only Read-only Read-only - - Write-only Write-only Write-only Write-only Write-only Read/Write Reset State 0 0 0 0 0 0 0 0 0 0 0 (1) 0 0 - - - - - - - 0 1. The reset value of this register depends on the level of the External IRQ lines. All other sources are cleared at reset. 84 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 14.13.1 AIC Source Mode Register Register Name: AIC_SMR0 - AIC_SMR31 Access Type:Read/Write Reset Value: 0 Offset: 31 0x000 - 0x07C 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 SRCTYPE - 5 - 4 - 3 - 2 - 1 PRIOR - 0 - - - * PRIOR: Priority Level (Code Label AIC_PRIOR) Program the priority level for all sources except source 0 (FIQ). The priority level can be between 0 (lowest) and 7 (highest). The priority level is not used for the FIQ, in the SMR0. * SRCTYPE: Interrupt Source Type Program the input to be positive or negative level sensitive or positive or negative edge triggered. The active level or edge is not programmable for the internal sources. Code Label SRCTYPE 0 0 1 1 0 1 0 1 External Sources Low Level Sensitive Negative Edge Triggered High Level Sensitive Positive Edge Triggered AIC_SRCTYPE AIC_SRCTYPE_EXT_LOW_LEVEL AIC_SRCTYPE_EXT_NEGATIVE_EDGE AIC_SRCTYPE_EXT_HIGH_LEVEL AIC_SRCTYPE_EXT_POSITIVE_EDGE Code Label SRCTYPE x x 0 1 Internal Sources Level Sensitive Edge Triggered AIC_SRCTYPE AIC_SRCTYPE_INT_LEVEL AIC_SRCTYPE_INT_EDGE 85 6410B-ATARM-12-Jan-10 14.13.2 AIC Source Vector Register Register Name: AIC_SVR0 - AIC_SVR31 Access Type:Read/Write Reset Value: 0 Offset: 31 0x080 - 0x0FC 30 29 28 VECTOR 27 26 25 24 23 22 21 20 VECTOR 19 18 17 16 15 14 13 12 VECTOR 11 10 9 8 7 6 5 4 VECTOR 3 2 1 0 * VECTOR: Interrupt Handler Address The user may store in these registers the addresses of the corresponding handler for each interrupt source. 14.13.3 AIC Interrupt Vector Register Register Name: AIC_IVR Access Type:Read-only Reset Value: 0 Offset: 31 0x100 30 29 28 IRQV 27 26 25 24 23 22 21 20 IRQV 19 18 17 16 15 14 13 12 IRQV 11 10 9 8 7 6 5 4 IRQV 3 2 1 0 * IRQV: Interrupt Vector Register The IRQ Vector Register contains the vector programmed by the user in the Source Vector Register corresponding to the current interrupt. The Source Vector Register (1 to 31) is indexed using the current interrupt number when the Interrupt Vector Register is read. When there is no current interrupt, the IRQ Vector Register reads 0. 86 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 14.13.4 AIC_FIQ Vector Register Register Name: AIC_FVR Access Type:Read-only Reset Value: 0 Offset: 31 0x104 30 29 28 FIQV 27 26 25 24 23 22 21 20 FIQV 19 18 17 16 15 14 13 12 FIQV 11 10 9 8 7 6 5 4 FIQV 3 2 1 0 * FIQV: FIQ Vector Register The FIQ Vector Register contains the vector programmed by the user in the Source Vector Register 0 which corresponds to FIQ. 14.13.5 AIC Interrupt Status Register Register Name: AIC_ISR Access Type:Read-only Reset Value: 0 Offset: 31 0x108 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 - 3 - 2 IRQID - 1 - 0 - - - * IRQID: Current IRQ Identifier (Code Label AIC_IRQID) The Interrupt Status Register returns the current interrupt source number. 87 6410B-ATARM-12-Jan-10 14.13.6 AIC Interrupt Pending Register Register Name: AIC_IPR Access Type:Read-only Reset Value: 0 Offset: 31 0x10C 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 IRQ2 10 - 17 IRQ1 9 - 16 IRQ0 8 PIOIRQ 0 FIQ - 15 - 14 - 13 - 12 - 11 - 7 WDIRQ - 6 TC2IRQ - 5 TC1IRQ - 4 TC0IRQ - 3 US1IRQ - 2 US0IRQ - 1 SWIRQ * Interrupt Pending 0 = Corresponding interrupt is inactive. 1 = Corresponding interrupt is pending. 14.13.7 AIC Interrupt Mask Register Register Name: AIC_IMR Access Type:Read-only Reset Value: 0 Offset: 31 0x110 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 IRQ2 10 - 17 IRQ1 9 - 16 IRQ0 8 PIOIRQ 0 FIQ - 15 - 14 - 13 - 12 - 11 - 7 WDIRQ - 6 TC2IRQ - 5 TC1IRQ - 4 TC0IRQ - 3 US1IRQ - 2 US0IRQ - 1 SWIRQ * Interrupt Mask 0 = Corresponding interrupt is disabled. 1 = Corresponding interrupt is enabled. 88 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 14.13.8 AIC Core Interrupt Status Register Register Name: AIC_CISR Access Type:Read-only Reset Value: 0 Offset: 31 0x114 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 - 3 - 2 - 1 NIRQ - 0 NFIQ - - - - - - * NFIQ: NFIQ Status (Code Label AIC_NFIQ) 0 = NFIQ line inactive. 1 = NFIQ line active. * NIRQ: NIRQ Status (Code Label AIC_NIRQ) 0 = NIRQ line inactive. 1 = NIRQ line active. 14.13.9 AIC Interrupt Enable Command Register Register Name: AIC_IECR Access Type: Write-only Offset: 31 0x120 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 IRQ2 10 - 17 IRQ1 9 - 16 IRQ0 8 PIOIRQ 0 FIQ - 15 - 14 - 13 - 12 - 11 - 7 WDIRQ - 6 TC2IRQ - 5 TC1IRQ - 4 TC0IRQ - 3 US1IRQ - 2 US0IRQ - 1 SWIRQ * Interrupt Enable 0 = No effect. 1 = Enables corresponding interrupt. 89 6410B-ATARM-12-Jan-10 14.13.10 AIC Interrupt Disable Command Register Register Name: AIC_IDCR Access Type: Write-only Offset: 31 0x124 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 IRQ2 10 - 17 IRQ1 9 - 16 IRQ0 8 PIOIRQ 0 FIQ - 15 - 14 - 13 - 12 - 11 - 7 WDIRQ - 6 TC2IRQ - 5 TC1IRQ - 4 TC0IRQ - 3 US1IRQ - 2 US0IRQ - 1 SWIRQ * Interrupt Disable 0 = No effect. 1 = Disables corresponding interrupt. 14.13.11 AIC Interrupt Clear Command Register Register Name: AIC_ICCR Access Type: Write-only Offset: 31 0x128 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 IRQ2 10 - 17 IRQ1 9 - 16 IRQ0 8 PIOIRQ 0 FIQ - 15 - 14 - 13 - 12 - 11 - 7 WDIRQ - 6 TC2IRQ - 5 TC1IRQ - 4 TC0IRQ - 3 US1IRQ - 2 US0IRQ - 1 SWIRQ * Interrupt Clear 0 = No effect. 1 = Clears corresponding interrupt. 90 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 14.13.12 AIC Interrupt Set Command Register Register Name: AIC_ISCR Access Type: Write-only Offset: 31 0x12C 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 IRQ2 10 - 17 IRQ1 9 - 16 IRQ0 8 PIOIRQ 0 FIQ - 15 - 14 - 13 - 12 - 11 - 7 WDIRQ - 6 TC2IRQ - 5 TC1IRQ - 4 TC0IRQ - 3 US1IRQ - 2 US0IRQ - 1 SWIRQ * Interrupt Set 0 = No effect. 1 = Sets corresponding interrupt. 14.13.13 AIC End of Interrupt Command Register Register Name: AIC_EOICR Access Type: Write-only Offset: 31 - 23 - 15 - 7 - 0x130 30 - 22 - 14 - 6 - 29 - 21 - 13 - 5 - 28 - 20 - 12 - 4 - 27 - 19 - 11 - 3 - 26 - 18 - 10 - 2 - 25 - 17 - 9 - 1 - 24 - 16 - 8 - 0 - The End of Interrupt Command Register is used by the interrupt routine to indicate that the interrupt treatment is complete. Any value can be written because it is only necessary to make a write to this register location to signal the end of interrupt treatment. 91 6410B-ATARM-12-Jan-10 14.13.14 AIC Spurious Vector Register Register Name:AIC_SPU Access Type:Read/Write Reset Value: 0 Offset: 31 0x134 30 29 28 SPUVEC 27 26 25 24 23 22 21 20 SPUVEC 19 18 17 16 15 14 13 12 SPUVEC 11 10 9 8 7 6 5 4 SPUVEC 3 2 1 0 * SPUVEC: Spurious Interrupt Vector Handler Address The user may store the address of the spurious interrupt handler in this register. 92 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 15. PIO: Parallel I/O Controller The AT91FR40162SB has 32 programmable I/O lines. Six pins are dedicated as general purpose I/O pins (P16, P17, P18, P19, P23 and P24). Other I/O lines are multiplexed with an external signal of a peripheral to optimize the use of available package pins (see Table 15-1 on page 96). The PIO controller also provides an internal interrupt signal to the Advanced Interrupt Controller. 15.1 Multiplexed I/O Lines Some I/O lines are multiplexed with an I/O signal of a peripheral. After reset, the pin is generally controlled by the PIO Controller and is in Input Mode. Table 15-1 on page 96 indicates which of these pins are not controlled by the PIO Controller after reset. When a peripheral signal is not used in an application, the corresponding pin can be used as a parallel I/O. Each parallel I/O line is bi-directional, whether the peripheral defines the signal as input or output. Figure 15-1 on page 95 shows the multiplexing of the peripheral signals with Parallel I/O signals. If a pin is multiplexed between the PIO Controller and a peripheral, the pin is controlled by the registers PIO_PER (PIO Enable) and PIO_PDR (PIO Disable). The register PIO_PSR (PIO Status) indicates whether the pin is controlled by the corresponding peripheral or by the PIO Controller. If a pin is a general-purpose parallel I/O pin (not multiplexed with a peripheral), PIO_PER and PIO_PDR have no effect and PIO_PSR returns 1 for the bits corresponding to these pins. When the PIO is selected, the peripheral input line is connected to zero. 15.2 Output Selection The user can enable each individual I/O signal as an output with the registers PIO_OER (Output Enable) and PIO_ODR (Output Disable). The output status of the I/O signals can be read in the register PIO_OSR (Output Status). The direction defined has effect only if the pin is configured to be controlled by the PIO Controller. 15.3 I/O Levels Each pin can be configured to be driven high or low. The level is defined in four different ways, according to the following conditions. If a pin is controlled by the PIO Controller and is defined as an output (see "Output Selection" above), the level is programmed using the registers PIO_SODR (Set Output Data) and PIO_CODR (Clear Output Data). In this case, the programmed value can be read in PIO_ODSR (Output Data Status). If a pin is controlled by the PIO Controller and is not defined as an output, the level is determined by the external circuit. If a pin is not controlled by the PIO Controller, the state of the pin is defined by the peripheral (see peripheral datasheets). In all cases, the level on the pin can be read in the register PIO_PDSR (Pin Data Status). 93 6410B-ATARM-12-Jan-10 15.4 Interrupts Each parallel I/O can be programmed to generate an interrupt when a level change occurs. This is controlled by the PIO_IER (Interrupt Enable) and PIO_IDR (Interrupt Disable) registers which enable/disable the I/O interrupt by setting/clearing the corresponding bit in the PIO_IMR. When a change in level occurs, the corresponding bit in the PIO_ISR (Interrupt Status) is set whether the pin is used as a PIO or a peripheral and whether it is defined as input or output. If the corresponding interrupt in PIO_IMR (Interrupt Mask) is enabled, the PIO interrupt is asserted. When PIO_ISR is read, the register is automatically cleared. 15.5 User Interface Each individual I/O is associated with a bit position in the Parallel I/O user interface registers. Each of these registers are 32 bits wide. If a parallel I/O line is not defined, writing to the corresponding bits has no effect. Undefined bits read zero. 94 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 15-1. Parallel I/O Multiplexed with a Bi-directional Signal PIO_OSR Pad Output Enable 1 0 Peripheral Output Enable PIO_PSR PIO_ODSR Pad Output Pad 1 0 Peripheral Output Pad Input 1 0 0 1 Peripheral Input PIO_PSR PIO_PDSR Event Detection PIO_ISR PIO_IMR PIOIRQ 95 6410B-ATARM-12-Jan-10 Table 15-1. Multiplexed Parallel I/Os Peripheral Port Name TCLK0 TIOA0 TIOB0 TCLK1 TIOA1 TIOB1 TCLK2 TIOA2 TIOB2 IRQ0 IRQ1 IRQ2 FIQ SCK0 TXD0 RXD0 - - - - SCK1 TXD1 RXD1 - - MCKO NCS2 NCS3 A20/CS7 A21/CS6 A22/CS5 A23/CS4 Signal Description Timer 0 Clock signal Timer 0 Signal A Timer 0 Signal B Timer 1 Clock signal Timer 1 Signal A Timer 1 Signal B Timer 2 Clock signal Timer 2 Signal A Timer 2 Signal B External Interrupt 0 External Interrupt 1 External Interrupt 2 Fast Interrupt USART 0 clock signal USART 0 transmit data signal USART 0 receive data signal - - - - USART 1 clock signal USART 1 transmit data signal USART 1 receive data signal - - Master Clock Output Chip Select 2 Chip Select 3 Address 20/Chip Select 7 Address 21/Chip Select 6 Address 22/Chip Select 5 Address 23/Chip Select 4 Signal Direction Input Bi-directional Bi-directional Input Bi-directional Bi-directional Input Bi-directional Bi-directional Input Input Input Input Bi-directional Output Input - - - - Bi-directional Output Input - - Output Output Output Output Output Output Output Reset State PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input MCKO NCS2 NCS3 A20 A21 A22 A23 Pin Number 49 50 51 54 55 56 57 58 59 60 63 64 66 67 68 69 70 71 72 73 74 75 76 83 84 85 99 100 25 26 29 30 PIO Controller Bit Number(1) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Note: Port Name P0 P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11 P12 P13 P14 P15 P16 P17 P18 P19 P20 P21 P22 P23 P24 P25 P26 P27 P28 P29 P30 P31 1. Bit Number refers to the data bit that corresponds to this signal in each of the User Interface registers. 96 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 15.6 PIO User Interface PIO Controller Memory Map Register PIO Enable Register PIO Disable Register PIO Status Register Reserved Output Enable Register Output Disable Register Output Status Register Reserved Input Filter Enable Register Input Filter Disable Register Input Filter Status Register Reserved Set Output Data Register Clear Output Data Register Output Data Status Register Pin Data Status Register Interrupt Enable Register Interrupt Disable Register Interrupt Mask Register Interrupt Status Register (2) (1) PIO Base Address:0xFFFF0000 (Code Label PIO_BASE) Table 15-2. Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 0x28 0x2C 0x30 0x34 0x38 0x3C 0x40 0x44 0x48 0x4C Notes: Name PIO_PER PIO_PDR PIO_PSR - PIO_OER PIO_ODR PIO_OSR - PIO_IFER PIO_IFDR PIO_IFSR - PIO_SODR PIO_CODR PIO_ODSR PIO_PDSR PIO_IER PIO_IDR PIO_IMR PIO_ISR Access Write-only Write-only Read-only - Write-only Write-only Read-only - Write-only Write-only Read-only - Write-only Write-only Read-only Read-only Write-only Write-only Read-only Read-only Reset State - - 0x01FFFFFF (see Table 15-1) - - - 0 - - - 0 - - - 0 (1) - - 0 (2) 1. The reset value of this register depends on the level of the external pins at reset. 2. This register is cleared at reset. However, the first read of the register can give a value not equal to zero if any changes have occurred on any pins between the reset and the read. 97 6410B-ATARM-12-Jan-10 15.6.1 PIO Enable Register Register Name:PIO_PER Access Type:Write-only Offset: 31 P31 23 P23 15 P15 7 P7 0x00 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to enable individual pins to be controlled by the PIO Controller instead of the associated peripheral. When the PIO is enabled, the associated peripheral input (if any) is held at logic zero. 1 = Enables the PIO to control the corresponding pin (disables peripheral control of the pin). 0 = No effect. 15.6.2 PIO Disable Register Register Name: PIO_PDR Access Type:Write-only Offset: 31 P31 23 P23 15 P15 7 P7 0x04 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to disable PIO control of individual pins. When the PIO control is disabled, the normal peripheral function is enabled on the corresponding pin. 1 = Disables PIO control (enables peripheral control) on the corresponding pin. 0 = No effect. 98 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 15.6.3 PIO Status Register Register Name:PIO_PSR Access Type:Read-only Reset Value: 0x01FFFFFF Offset: 31 P31 23 P23 15 P15 7 P7 0x08 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register indicates which pins are enabled for PIO control. This register is updated when PIO lines are enabled or disabled. 1 = PIO is active on the corresponding line (peripheral is inactive). 0 = PIO is inactive on the corresponding line (peripheral is active). 15.6.4 PIO Output Enable Register Register Name:PIO_OER Access Type:Write-only Offset: 31 P31 23 P23 15 P15 7 P7 0x10 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to enable PIO output drivers. If the pin is driven by a peripheral, this has no effect on the pin, but the information is stored. The register is programmed as follows: 1 = Enables the PIO output on the corresponding pin. 0 = No effect. 99 6410B-ATARM-12-Jan-10 15.6.5 PIO Output Disable Register Register Name:PIO_ODR Access Type:Write-only Offset: 31 P31 23 P23 15 P15 7 P7 0x14 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to disable PIO output drivers. If the pin is driven by the peripheral, this has no effect on the pin, but the information is stored. The register is programmed as follows: 1 = Disables the PIO output on the corresponding pin. 0 = No effect. 15.6.6 PIO Output Status Register Register Name:PIO_OSR Access Type:Read-only Reset Value: 0 Offset: 31 P31 23 P23 15 P15 7 P7 0x18 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register shows the PIO pin control (output enable) status which is programmed in PIO_OER and PIO ODR. The defined value is effective only if the pin is controlled by the PIO. The register reads as follows: 1 = The corresponding PIO is output on this line. 0 = The corresponding PIO is input on this line. 100 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 15.6.7 PIO Input Filter Enable Register Register Name:PIO_IFER Access Type:Write-only Offset: 31 P31 23 P23 15 P15 7 P7 0x20 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to enable input glitch filters. It affects the pin whether or not the PIO is enabled. The register is programmed as follows: 1 = Enables the glitch filter on the corresponding pin. 0 = No effect. 15.6.8 PIO Input Filter Disable Register Register Name:PIO_IFDR Access Type:Write-only Offset: 31 P31 23 P23 15 P15 7 P7 0x24 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to disable input glitch filters. It affects the pin whether or not the PIO is enabled. The register is programmed as follows: 1 = Disables the glitch filter on the corresponding pin. 0 = No effect. 101 6410B-ATARM-12-Jan-10 15.6.9 PIO Input Filter Status Register Register Name:PIO_IFSR Access Type:Read-only Reset Value :0 Offset: 31 P31 23 P23 15 P15 7 P7 0x28 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register indicates which pins have glitch filters selected. It is updated when PIO outputs are enabled or disabled by writing to PIO_IFER or PIO_IFDR. 1 = Filter is selected on the corresponding input (peripheral and PIO). 0 = Filter is not selected on the corresponding input. 15.6.10 PIO Set Output Data Register Register Name:PIO_SODR Access Type:Write-only Offset: 31 P31 23 P23 15 P15 7 P7 0x30 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to set PIO output data. It affects the pin only if the corresponding PIO output line is enabled and if the pin is controlled by the PIO. Otherwise, the information is stored. 1 = PIO output data on the corresponding pin is set. 0 = No effect. 102 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 15.6.11 PIO Clear Output Data Register Register Name:PIO_CODR Access Type:Write-only Offset: 31 P31 23 P23 15 P15 7 P7 0x34 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to clear PIO output data. It affects the pin only if the corresponding PIO output line is enabled and if the pin is controlled by the PIO. Otherwise, the information is stored. 1 = PIO output data on the corresponding pin is cleared. 0 = No effect. 15.6.12 PIO Output Data Status Register Register Name:PIO_ODSR Access Type:Read-only Reset Value: 0 Offset: 31 P31 23 P23 15 P15 7 P7 0x38 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register shows the output data status which is programmed in PIO_SODR or PIO_CODR. The defined value is effective only if the pin is controlled by the PIO Controller and only if the pin is defined as an output. 1 = The output data for the corresponding line is programmed to 1. 0 = The output data for the corresponding line is programmed to 0. 103 6410B-ATARM-12-Jan-10 15.6.13 PIO Pin Data Status Register Register Name:PIO_PDSR Access Type:Read-only Reset Value: see Table 15-2 Offset: 31 P31 23 P23 15 P15 7 P7 0x3C 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register shows the state of the physical pin of the chip. The pin values are always valid regardless of whether the pins are enabled as PIO, peripheral, input or output. The register reads as follows: 1 = The corresponding pin is at logic 1. 0 = The corresponding pin is at logic 0. 15.6.14 PIO Interrupt Enable Register Register Name:PIO_IER Access Type:Write-only Offset: 31 P31 23 P23 15 P15 7 P7 0x40 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to enable PIO interrupts on the corresponding pin. It has effect whether PIO is enabled or not. 1 = Enables an interrupt when a change of logic level is detected on the corresponding pin. 0 = No effect. 104 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 15.6.15 PIO Interrupt Disable Register Register Name:PIO_IDR Access Type:Write-only Offset: 31 P31 23 P23 15 P15 7 P7 0x44 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to disable PIO interrupts on the corresponding pin. It has effect whether the PIO is enabled or not. 1 = Disables the interrupt on the corresponding pin. Logic level changes are still detected. 0 = No effect. 15.6.16 PIO Interrupt Mask Register Register Name:PIO_IMR Access Type:Read-only Reset Value: 0 Offset: 31 P31 23 P23 15 P15 7 P7 0x48 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register shows which pins have interrupts enabled. It is updated when interrupts are enabled or disabled by writing to PIO_IER or PIO_IDR. 1 = Interrupt is enabled on the corresponding input pin. 0 = Interrupt is not enabled on the corresponding input pin. 105 6410B-ATARM-12-Jan-10 15.6.17 PIO Interrupt Status Register Register Name:PIO_ISR Access Type:Read-only Reset Value: 0 Offset: 31 P31 23 P23 15 P15 7 P7 0x4C 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register indicates for each pin when a logic value change has been detected (rising or falling edge). This is valid whether the PIO is selected for the pin or not and whether the pin is an input or output. The register is reset to zero following a read, and at reset. 1 = At least one change has been detected on the corresponding pin since the register was last read. 0 = No change has been detected on the corresponding pin since the register was last read. 106 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 16. WD: Watchdog Timer The AT91FR40162SB has an internal watchdog timer which can be used to prevent system lock-up if the software becomes trapped in a deadlock. In normal operation the user reloads the watchdog at regular intervals before the timer overflow occurs. If an overflow does occur, the watchdog timer generates one or a combination of the following signals, depending on the parameters in WD_OMR (Overflow Mode Register): * If RSTEN is set, an internal reset is generated (WD_RESET as shown in Figure 16-1). * If IRQEN is set, a pulse is generated on the signal WDIRQ which is connected to the Advanced Interrupt Controller * If EXTEN is set, a low level is driven on the NWDOVF signal for a duration of 8 MCK cycles. The watchdog timer has a 16-bit down counter. Bits 12-15 of the value loaded when the watchdog is restarted are programmable using the HPVC parameter in WD_CMR (Clock Mode). Four clock sources are available to the watchdog counter: MCK/8, MCK/32, MCK/128 or MCK/1024. The selection is made using the WDCLKS parameter in WD_CMR. This provides a programmable time-out period of 1 ms to 2 sec. with a 33 MHz system clock. All write accesses are protected by control access keys to help prevent corruption of the watchdog should an error condition occur. To update the contents of the mode and control registers it is necessary to write the correct bit pattern to the control access key bits at the same time as the control bits are written (the same write access). 16.1 Block Diagram Figure 16-1. Watchdog Timer Block Diagram Advanced Peripheral Bus (APB) WD_RESET WDIRQ Control Logic Overflow NWDOVF MCKI/8 MCKI/32 Clock Select MCKI/128 MCKI/1024 CLK_CNT Clear 16-bit Programmable Down Counter 107 6410B-ATARM-12-Jan-10 16.2 WD Enabling Sequence To enable the Watchdog Timer the sequence is as follows: 1. Disable the Watchdog by clearing the bit WDEN: Write 0x2340 to WD_OMR This step is unnecessary if the WD is already disabled (reset state). 2. Initialize the WD Clock Mode Register: Write 0x373C to WD_CMR (HPCV = 15 and WDCLKS = MCK/8) 3. Restart the timer: Write 0xC071 to WD_CR 4. Enable the watchdog: Write 0x2345 to WD_OMR (interrupt enabled) 108 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 16.3 WD User Interface WD Memory Map Register Overflow Mode Register Clock Mode Register Control Register Status Register Name WD_OMR WD_CMR WD_CR WD_SR Access Read/Write Read/Write Write-only Read-only Reset State 0 0 - 0 WD Base Address: 0xFFFF8000 (Code Label WD_BASE) Table 16-1. Offset 0x00 0x04 0x08 0x0C 109 6410B-ATARM-12-Jan-10 16.3.1 Name: Access: WD Overflow Mode Register WD_OMR Read/Write Reset Value: 0 Offset: 31 0x00 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 OKEY - 11 - 10 - 9 - 8 7 6 OKEY 5 4 3 EXTEN 2 IRQEN 1 RSTEN 0 WDEN * WDEN: Watch Dog Enable (Code Label WD_WDEN) 0 = Watch Dog is disabled and does not generate any signals. 1 = Watch Dog is enabled and generates enabled signals. * RSTEN: Reset Enable (Code Label WD_RSTEN) 0 = Generation of an internal reset by the Watch Dog is disabled. 1 = When overflow occurs, the Watch Dog generates an internal reset. * IRQEN: Interrupt Enable (Code Label WD_IRQEN) 0 = Generation of an interrupt by the Watch Dog is disabled. 1 = When overflow occurs, the Watch Dog generates an interrupt. * EXTEN: External Signal Enable (Code Label WD_EXTEN) 0 = Generation of a pulse on the pin NWDOVF by the Watch Dog is disabled. 1 = When an overflow occurs, a pulse on the pin NWDOVF is generated. * OKEY: Overflow Access Key (Code Label WD_OKEY) Used only when writing WD_OMR. OKEY is read as 0. 0x234 = Write access in WD_OMR is allowed. Other value = Write access in WD_OMR is prohibited. 110 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 16.3.2 Name: Access: WD Clock Mode Register WD_CMR Read/Write Reset Value: 0 Offset: 31 0x04 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 CKEY - 11 - 10 - 9 - 8 7 CKEY 6 5 4 HPCV 3 2 1 WDCLKS 0 - * WDCLKS: Clock Selection Code Label WDCLKS 0 0 1 1 0 1 0 1 Clock Selected MCK/8 MCK/32 MCK/128 MCK/1024 WD_WDCLKS WD_WDCLKS_MCK8 WD_WDCLKS_MCK32 WD_WDCLKS_MCK128 WD_WDCLKS_MCK1024 * HPCV: High Preload Counter Value (Code Label WD_HPCV) Counter is preloaded when watchdog counter is restarted with bits 0 to 11 set (FFF) and bits 12 to 15 equaling HPCV. * CKEY: Clock Access Key (Code Label WD_CKEY) Used only when writing WD_CMR. CKEY is read as 0. 0x06E: Write access in WD_CMR is allowed. Other value: Write access in WD_CMR is prohibited. 111 6410B-ATARM-12-Jan-10 16.3.3 Name: Access: Offset: 31 WD Control Register WD_CR Write-only 0x08 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 RSTKEY - 11 - 10 - 9 - 8 7 6 5 4 RSTKEY 3 2 1 0 * RSTKEY: Restart Key (Code Label WD_RSTKEY) 0xC071 = Watch Dog counter is restarted. Other value = No effect. 16.3.4 Name: Access: WD Status Register WD_SR Read-only Reset Value: 0 Offset: 31 0x0C 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 - 3 - 2 - 1 - 0 WDOVF - - - - - - - * WDOVF: Watchdog Overflow (Code Label WD_WDOVF) 0 = No watchdog overflow. 1 = A watchdog overflow has occurred since the last restart of the watchdog counter or since internal or external reset. 112 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 17. SF: Special Function Registers The AT91FR40162SB provides registers to implement the following special functions. * Chip identification * RESET status * Protect Mode (see Section 14.10 "Protect Mode" on page 80) 17.1 Chip Identification Chip ID Values Chip 0x14080044 0x14080045 0x44080746 0x14080745 0x44000840 Table 17-1 provides the Chip ID values for the products as listed. Table 17-1. Product AT91M40800 AT91M40800A AT91R40807 AT91M40807 AT91R40008 113 6410B-ATARM-12-Jan-10 17.2 SF User Interface SF Memory Map Register Chip ID Register Chip ID Extension Register Reset Status Register Reserved Reserved Protect Mode Register Name SF_CIDR SF_EXID SF_RSR - - SF_PMR Access Read-only Read-only Read-only - - Read/Write Reset State Hardwired Hardwired See register description - - 0x0 Chip ID Base Address = 0xFFF00000 (Code Label SF_BASE) Table 17-2. Offset 0x00 0x04 0x08 0x10 0x14 0x18 114 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 17.2.1 Chip ID Register Register Name:SF_CIDR Access Type:Read-only Reset Value: Hardwired Offset: 31 EXT 23 22 ARCH 15 14 NVDSIZ 7 0 6 1 5 0 4 3 2 VERSION 13 12 11 10 NVPSIZ 1 0 0x00 30 29 NVPTYP 21 20 19 18 VDSIZ 9 8 28 27 26 ARCH 17 16 25 24 * VERSION: Version of the chip (Code Label SF_VERSION) This value is incremented by one with each new version of the chip (from zero to a maximum value of 31). * NVPSIZ: Non Volatile Program Memory Size Code Label NVPSIZ 0 0 0 0 1 0 0 1 1 0 Others 0 1 0 1 0 0 1 1 1 0 Size None 32K bytes 64K bytes 128K bytes 256K bytes Reserved SF_NVPSIZ SF_NVPSIZ_NONE SF_NVPSIZ_32K SF_NVPSIZ_64K SF_NVPSIZ_128K SF_NVPSIZ_256K - * NVDSIZ: Non Volatile Data Memory Size Code Label NVDSIZ 0 0 Others 0 0 Size None Reserved SF_NVDSIZ SF_NVDSIZ_NONE - 115 6410B-ATARM-12-Jan-10 * VDSIZ: Volatile Data Memory Size Code Label VDSIZ 0 0 0 0 1 0 0 0 1 0 Others 0 0 1 0 0 0 1 0 0 0 Size None 1K bytes 2K bytes 4K bytes 8K bytes Reserved SF_VDSIZ SF_VDSIZ_NONE SF_VDSIZ_1K SF_VDSIZ_2K SF_VDSIZ_4K SF_VDSIZ_8K - * ARCH: Chip Architecture (Code Label SF_ARCH) Code of Architecture: Two BCD digits. Code Label 0100 0000 AT91x40yyy SF_ARCH_AT91x40 * NVPTYP: Non Volatile Program Memory Type Code Label NVPTYP 0 0 1 1 0 0 x 0 0 1 x 0 Type Reserved "F" Series Reserved "R" Series SF_NVPTYP - SF_NVPTYP_M - SF_NVPTYP_R * EXT: Extension Flag (Code Label SF_EXT) 0 = Chip ID has a single register definition without extensions 1 = An extended Chip ID exists (to be defined in the future). 116 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 17.2.2 Chip ID Extension Register Register Name:SF_EXID Access Type:Read-only Reset Value: Hardwired Offset: 0x04 This register is reserved for future use. It will be defined when needed. 17.2.3 Reset Status Register Register Name:SF_RSR Access Type:Read-only Reset Value: See Below Offset: 31 0x08 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 RESET - 3 - 2 - 1 - 0 * RESET: Reset Status Information This field indicates whether the reset was demanded by the external system (via NRST) or by the Watchdog internal reset request. Code Label Reset 0x6C 0x53 Cause of Reset External Pin Internal Watchdog SF_RESET SF_EXT_RESET SF_WD_RESET 117 6410B-ATARM-12-Jan-10 17.2.4 SF Protect Mode Register Register Name:SF_PMR Access Type:Read/Write Reset Value: 0 Offset: 31 0x18 30 29 28 PMRKEY 27 26 25 24 23 22 21 20 PMRKEY 19 18 17 16 15 14 13 12 11 10 9 8 - 7 - 6 - 5 AIC - 4 - 3 - 2 - 1 - 0 - - - - - - - * PMRKEY: Protect Mode Register Key (Code Label SF_PMRKEY) Used only when writing SF_PMR. PMRKEY is reads 0. 0x27A8: Write access in SF_PMR is allowed. Other value: Write access in SF_PMR is prohibited. * AIC: AIC Protect Mode Enable (Code Label SF_AIC) 0 = The Advanced Interrupt Controller runs in Normal Mode. 1 = The Advanced Interrupt Controller runs in Protect Mode. See Section 14.10 "Protect Mode" on page 80. 118 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 18. USART: Universal Synchronous Asynchronous Receiver Transmitter The AT91FR40162SB provides two identical, full-duplex, universal synchronous/asynchronous receiver/transmitters that interface to the APB and are connected to the Peripheral Data Controller. The main features are: * Programmable Baud Rate Generator * Parity, Framing and Overrun Error Detection * Line Break Generation and Detection * Automatic Echo, Local Loopback and Remote Loopback channel modes * Multi-drop Mode: Address Detection and Generation * Interrupt Generation * Two Dedicated Peripheral Data Controller channels * 5-, 6-, 7-, 8- and 9-bit character length 18.1 Block Diagram Figure 18-1. USART Block Diagram ASB Peripheral Data Controller AMBA Receiver Channel Transmitter Channel PIO: Parallel I/O Controller USART Channel APB Control Logic Receiver RXD USxIRQ Interrupt Control MCK Baud Rate Generator MCK/8 Baud Rate Clock Transmitter TXD SCK 119 6410B-ATARM-12-Jan-10 18.2 Pin Description Each USART channel has the following external signals: Table 18-1. Name SCK TXD RXD Notes: Description USART Serial clock can be configured as input or output: SCK is configured as input if an External clock is selected (USCLKS[1] = 1) SCK is driven as output if the External Clock is disabled (USCLKS[1] = 0) and Clock output is enabled (CLKO = 1) Transmit Serial Data is an output Receive Serial Data is an input 1. After a hardware reset, the USART pins are not enabled by default (see "PIO: Parallel I/O Controller" on page 93). The user must configure the PIO Controller before enabling the transmitter or receiver. 2. If the user selects one of the internal clocks, SCK can be configured as a PIO. 120 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 18.3 Baud Rate Generator The Baud Rate Generator provides the bit period clock (the Baud Rate clock) to both the Receiver and the Transmitter. The Baud Rate Generator can select between external and internal clock sources. The external clock source is SCK. The internal clock sources can be either the master clock (MCK) or the master clock divided by 8 (MCK/8). Note: In all cases, if an external clock is used, the duration of each of its levels must be longer than the system clock (MCK) period. The external clock frequency must be at least 2.5 times lower than the system clock. When the USART is programmed to operate in Asynchronous Mode (SYNC = 0 in the Mode Register US_MR), the selected clock is divided by 16 times the value (CD) written in US_BRGR (Baud Rate Generator Register). If US_BRGR is set to 0, the Baud Rate Clock is disabled. Baud Rate = Selected Clock 16 x CD When the USART is programmed to operate in Synchronous Mode (SYNC = 1) and the selected clock is internal (USCLKS[1] = 0 in the Mode Register US_MR), the Baud Rate Clock is the internal selected clock divided by the value written in US_BRGR. If US_BRGR is set to 0, the Baud Rate Clock is disabled. Baud Rate = Selected Clock CD In Synchronous Mode with external clock selected (USCLKS[1] = 1), the clock is provided directly by the signal on the SCK pin. No division is active. The value written in US_BRGR has no effect. Figure 18-2. Baud Rate Generator USCLKS [0] USCLKS [1] MCK MCK/8 SCK 0 1 0 CLK CD CD 16-bit Counter OUT 1 >1 1 0 0 1 SYNC USCLKS [1] SYNC 0 Divide by 16 0 Baud Rate Clock 1 121 6410B-ATARM-12-Jan-10 18.4 18.4.1 Receiver Asynchronous Receiver The USART is configured for asynchronous operation when SYNC = 0 (bit 7 of US_MR). In Asynchronous Mode, the USART detects the start of a received character by sampling the RXD signal until it detects a valid start bit. A low level (space) on RXD is interpreted as a valid start bit if it is detected for more than 7 cycles of the sampling clock, which is 16 times the baud rate. Hence a space which is longer than 7/16 of the bit period is detected as a valid start bit. A space which is 7/16 of a bit period or shorter is ignored and the receiver continues to wait for a valid start bit. When a valid start bit has been detected, the receiver samples the RXD at the theoretical midpoint of each bit. It is assumed that each bit lasts 16 cycles of the sampling clock (one bit period) so the sampling point is 8 cycles (0.5 bit periods) after the start of the bit. The first sampling point is therefore 24 cycles (1.5 bit periods) after the falling edge of the start bit was detected. Each subsequent bit is sampled 16 cycles (1 bit period) after the previous one. Figure 18-3. Asynchronous Mode: Start Bit Detection 16 x Baud Rate Clock RXD Sampling True Start Detection D0 Figure 18-4. Asynchronous Mode: Character Reception Example: 8-bit, parity enabled 1 stop 0.5 bit periods 1 bit period RXD Sampling D0 D1 True Start Detection D2 D3 D4 D5 D6 D7 Parity Bit Stop Bit 18.4.2 Synchronous Receiver When configured for synchronous operation (SYNC = 1), the receiver samples the RXD signal on each rising edge of the Baud Rate clock. If a low level is detected, it is considered as a start. Data bits, parity bit and stop bit are sampled and the receiver waits for the next start bit. See example in Figure 18-5. 122 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 18-5. Synchronous Mode: Character Reception Example: 8-bit, parity enabled 1 stop SCK RXD Sampling D0 D1 True Start Detection D2 D3 D4 D5 D6 D7 Parity Bit Stop Bit 18.4.3 Receiver Ready When a complete character is received, it is transferred to the US_RHR and the RXRDY status bit in US_CSR is set. If US_RHR has not been read since the last transfer, the OVRE status bit in US_CSR is set. Parity Error Each time a character is received, the receiver calculates the parity of the received data bits, in accordance with the field PAR in US_MR. It then compares the result with the received parity bit. If different, the parity error bit PARE in US_CSR is set. 18.4.4 18.4.5 Framing Error If a character is received with a stop bit at low level and with at least one data bit at high level, a framing error is generated. This sets FRAME in US_CSR. 18.4.6 Time-out This function allows an idle condition on the RXD line to be detected. The maximum delay for which the USART should wait for a new character to arrive while the RXD line is inactive (high level) is programmed in US_RTOR (Receiver Time-out). When this register is set to 0, no timeout is detected. Otherwise, the receiver waits for a first character and then initializes a counter which is decremented at each bit period and reloaded at each byte reception. When the counter reaches 0, the TIMEOUT bit in US_CSR is set. The user can restart the wait for a first character with the STTTO (Start Time-out) bit in US_CR. Calculation of time-out duration: Duration = Value x 4 x Bit period 123 6410B-ATARM-12-Jan-10 18.5 Transmitter The transmitter has the same behavior in both synchronous and asynchronous operating modes. Start bit, data bits, parity bit and stop bits are serially shifted, lowest significant bit first, on the falling edge of the serial clock. See example in Figure 18-6. The number of data bits is selected in the CHRL field in US_MR. The parity bit is set according to the PAR field in US_MR. The number of stop bits is selected in the NBSTOP field in US_MR. When a character is written to US_THR (Transmit Holding), it is transferred to the Shift Register as soon as it is empty. When the transfer occurs, the TXRDY bit in US_CSR is set until a new character is written to US_THR. If Transmit Shift Register and US_THR are both empty, the TXEMPTY bit in US_CSR is set. 18.5.1 Time-guard The Time-guard function allows the transmitter to insert an idle state on the TXD line between two characters. The duration of the idle state is programmed in US_TTGR (Transmitter Timeguard). When this register is set to zero, no time-guard is generated. Otherwise, the transmitter holds a high level on TXD after each transmitted byte during the number of bit periods programmed in US_TTGR Idle state duration between two characters = Time-guard Value x Bit Period 18.5.2 Multi-drop Mode When the field PAR in US_MR equals 11X (binary value), the USART is configured to run in Multi-drop Mode. In this case, the parity error bit PARE in US_CSR is set when data is detected with a parity bit set to identify an address byte. PARE is cleared with the Reset Status Bits Command (RSTSTA) in US_CR. If the parity bit is detected low, identifying a data byte, PARE is not set. The transmitter sends an address byte (parity bit set) when a Send Address Command (SENDA) is written to US_CR. In this case, the next byte written to US_THR will be transmitted as an address. After this any byte transmitted will have the parity bit cleared. Figure 18-6. Synchronous and Asynchronous Modes: Character Transmission Example: 8-bit, parity enabled 1 stop Baud Rate Clock TXD Start Bit D0 D1 D2 D3 D4 D5 D6 D7 Parity Bit Stop Bit 124 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 18.6 Break A break condition is a low signal level which has a duration of at least one character (including start/stop bits and parity). 18.6.1 Transmit Break The transmitter generates a break condition on the TXD line when STTBRK is set in US_CR (Control Register). In this case, the character present in the Transmit Shift Register is completed before the line is held low. To cancel a break condition on the TXD line, the STPBRK command in US_CR must be set. The USART completes a minimum break duration of one character length. The TXD line then returns to high level (idle state) for at least 12 bit periods to ensure that the end of break is correctly detected. Then the transmitter resumes normal operation. The BREAK is managed like a character: * The STTBRK and the STPBRK commands are performed only if the transmitter is ready (bit TXRDY = 1 in US_CSR) * The STTBRK command blocks the transmitter holding register (bit TXRDY is cleared in US_CSR) until the break has started * A break is started when the Shift Register is empty (any previous character is fully transmitted). TXEMPTY is cleared in US_CSR. The break blocks the transmitter shift register until it is completed (high level for at least 12-bit periods after the STPBRK command is requested) In order to avoid unpredictable states: * STTBRK and STPBRK commands must not be requested at the same time * Once an STTBRK command is requested, further STTBRK commands are ignored until the BREAK is ended (high level for at least 12-bit periods) * All STPBRK commands requested without a previous STTBRK command are ignored * A byte written into the Transmit Holding Register while a break is pending but not started (US_CSR.TXRDY = 0) is ignored * It is not permitted to write new data in the Transmit Holding Register while a break is in progress (STPBRK has not been requested), even though TXRDY = 1 in US_CSR. * A new STTBRK command must not be issued until an existing break has ended (TXEMPTY = 1 in US_CSR) The standard break transmission sequence is: 1. Wait for the transmitter ready (US_CSR.TXRDY = 1) 2. Send the STTBRK command (write 0x0200 to US_CR) 3. Wait for the transmitter ready (TXRDY = 1 in US_CSR) 4. Send the STPBRK command (write 0x0400 to US_CR) The next byte can then be sent: 5. Wait for the transmitter ready (TXRDY = 1 in US_CSR) 125 6410B-ATARM-12-Jan-10 6. Send the next byte (write byte to US_THR) Each of these steps can be scheduled by using the interrupt if the bit TXRDY in US_IMR is set. For character transmission, the USART channel must be enabled before sending a break. 18.6.2 Receive Break The receiver detects a break condition when all data, parity and stop bits are low. When the low stop bit is detected, the receiver asserts the RXBRK bit in US_CSR. An end of receive break is detected by a high level for at least 2/16 of a bit period in Asynchronous Mode or at least one sample in Synchronous Mode. RXBRK is also asserted when an end of break is detected. Both the beginning and the end of a break can be detected by interrupt if the bit US_IMR.RXBRK is set. 126 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 18.7 Peripheral Data Controller Each USART channel is closely connected to a corresponding Peripheral Data Controller channel. One is dedicated to the receiver. The other is dedicated to the transmitter. Note: The PDC is disabled if 9-bit character length is selected (MODE9 = 1) in US_MR. The PDC channel is programmed using US_TPR (Transmit Pointer) and US_TCR (Transmit Counter) for the transmitter and US_RPR (Receive Pointer) and US_RCR (Receive Counter) for the receiver. The status of the PDC is given in US_CSR by the ENDTX bit for the transmitter and by the ENDRX bit for the receiver. The pointer registers (US_TPR and US_RPR) are used to store the address of the transmit or receive buffers. The counter registers (US_TCR and US_RCR) are used to store the size of these buffers. The receiver data transfer is triggered by the RXRDY bit and the transmitter data transfer is triggered by TXRDY. When a transfer is performed, the counter is decremented and the pointer is incremented. When the counter reaches 0, the status bit is set (ENDRX for the receiver, ENDTX for the transmitter in US_CSR) which can be programmed to generate an interrupt. Transfers are then disabled until a new non-zero counter value is programmed. 18.8 Interrupt Generation Each status bit in US_CSR has a corresponding bit in US_IER (Interrupt Enable) and US_IDR (Interrupt Disable) which controls the generation of interrupts by asserting the USART interrupt line connected to the Advanced Interrupt Controller. US_IMR (Interrupt Mask Register) indicates the status of the corresponding bits. When a bit is set in US_CSR and the same bit is set in US_IMR, the interrupt line is asserted. 127 6410B-ATARM-12-Jan-10 18.9 Channel Modes The USART can be programmed to operate in three different test modes, using the field CHMODE in US_MR. Automatic Echo Mode allows bit by bit re-transmission. When a bit is received on the RXD line, it is sent to the TXD line. Programming the transmitter has no effect. Local Loopback Mode allows the transmitted characters to be received. TXD and RXD pins are not used and the output of the transmitter is internally connected to the input of the receiver. The RXD pin level has no effect and the TXD pin is held high, as in idle state. Remote Loopback Mode directly connects the RXD pin to the TXD pin. The Transmitter and the Receiver are disabled and have no effect. This mode allows bit by bit re-transmission. Figure 18-7. Channel Modes Automatic Echo Receiver RXD Transmitter Disabled TXD Local Loopback Receiver Disabled RXD VDD Transmitter Disabled TXD Remote Loopback Receiver VDD Disabled RXD Transmitter Disabled TXD 128 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 18.10 USART User Interface Base Address USART0: 0xFFFD0000 (Code Label USART0_BASE) Base Address USART1: 0xFFFCC000 (Code Label USART1_BASE) Table 18-2. Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 0x28 0x2C 0x30 0x34 0x38 0x3C USART Memory Map Register Control Register Mode Register Interrupt Enable Register Interrupt Disable Register Interrupt Mask Register Channel Status Register Receiver Holding Register Transmitter Holding Register Baud Rate Generator Register Receiver Time-out Register Transmitter Time-guard Register Reserved Receive Pointer Register Receive Counter Register Transmit Pointer Register Transmit Counter Register Name US_CR US_MR US_IER US_IDR US_IMR US_CSR US_RHR US_THR US_BRGR US_RTOR US_TTGR - US_RPR US_RCR US_TPR US_TCR Access Write-only Read/Write Write-only Write-only Read-only Read-only Read-only Write-only Read/Write Read/Write Read/Write - Read/Write Read/Write Read/Write Read/Write Reset State - 0 - - 0 0x18 0 - 0 0 0 - 0 0 0 0 129 6410B-ATARM-12-Jan-10 18.10.1 Name: USART Control Register US_CR Access Type:Write-only Offset: 31 0x00 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 SENDA 4 RXEN - 11 STTTO 3 RSTTX - 10 STPBRK 2 RSTRX - 9 STTBRK 1 - 8 RSTSTA 0 - 7 TXDIS - 6 TXEN - 5 RXDIS - - * RSTRX: Reset Receiver (Code Label US_RSTRX) 0 = No effect. 1 = The receiver logic is reset. * RSTTX: Reset Transmitter (Code Label US_RSTTX) 0 = No effect. 1 = The transmitter logic is reset. * RXEN: Receiver Enable (Code Label US_RXEN) 0 = No effect. 1 = The receiver is enabled if RXDIS is 0. * RXDIS: Receiver Disable (Code Label US_RXDIS) 0 = No effect. 1 = The receiver is disabled. * TXEN: Transmitter Enable (Code Label US_TXEN) 0 = No effect. 1 = The transmitter is enabled if TXDIS is 0. * TXDIS: Transmitter Disable (Code Label US_TXDIS) 0 = No effect. 1 = The transmitter is disabled. * RSTSTA: Reset Status Bits (Code Label US_RSTSTA) 0 = No effect. 1 = Resets the status bits PARE, FRAME, OVRE and RXBRK in the US_CSR. * STTBRK: Start Break (Code Label US_STTBRK) 0 = No effect. 1 = If break is not being transmitted, start transmission of a break after the characters present in US_THR and the Transmit Shift Register have been transmitted. 130 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB * STPBRK: Stop Break (Code Label US_STPBRK) 0 = No effect. 1 = If a break is being transmitted, stop transmission of the break after a minimum of one character length and transmit a high level during 12 bit periods. * STTTO: Start Time-out (Code Label US_STTTO) 0 = No effect. 1 = Start waiting for a character before clocking the time-out counter. * SENDA: Send Address (Code Label US_SENDA) 0 = No effect. 1 = In Multi-drop Mode only, the next character written to the US_THR is sent with the address bit set. 131 6410B-ATARM-12-Jan-10 18.10.2 Name: USART Mode Register US_MR Access Type:Read/Write Reset Value: 0 Offset: 31 0x04 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 CLKO 10 PAR - 17 MODE9 9 - 16 - 15 CHMODE 7 CHRL - 14 - 13 NBSTOP - 12 - 11 - 8 SYNC 6 5 USCLKS 4 3 2 1 0 - - - - * USCLKS: Clock Selection (Baud Rate Generator Input Clock) Code Label USCLKS 0 0 1 0 1 X Selected Clock MCK MCK/8 External (SCK) US_CLKS US_CLKS_MCK US_CLKS_MCK8 US_CLKS_SCK * CHRL: Character Length Code Label CHRL 0 0 1 1 0 1 0 1 Character Length Five bits Six bits Seven bits Eight bits US_CHRL US_CHRL_5 US_CHRL_6 US_CHRL_7 US_CHRL_8 Start, stop and parity bits are added to the character length. * SYNC: Synchronous Mode Select (Code Label US_SYNC) 0 = USART operates in Asynchronous Mode. 1 = USART operates in Synchronous Mode. 132 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB * PAR: Parity Type Code Label PAR 0 0 0 0 1 1 0 0 1 1 0 1 0 1 0 1 x x Parity Type Even Parity Odd Parity Parity forced to 0 (Space) Parity forced to 1 (Mark) No parity Multi-drop mode US_PAR US_PAR_EVEN US_PAR_ODD US_PAR_SPACE US_PAR_MARK US_PAR_NO US_PAR_MULTIDROP * NBSTOP: Number of Stop Bits The interpretation of the number of stop bits depends on SYNC. Code Label NBSTOP 0 0 1 1 0 1 0 1 Asynchronous (SYNC = 0) 1 stop bit 1.5 stop bits 2 stop bits Reserved Synchronous (SYNC = 1) 1 stop bit Reserved 2 stop bits Reserved US_NBSTOP US_NBSTOP_1 US_NBSTOP_1_5 US_NBSTOP_2 - * CHMODE: Channel Mode Code Label CHMODE 0 0 1 1 0 1 0 1 Mode Description Normal Mode The USART Channel operates as an Rx/Tx USART. Automatic Echo Receiver Data Input is connected to TXD pin. Local Loopback Transmitter Output Signal is connected to Receiver Input Signal. Remote Loopback RXD pin is internally connected to TXD pin. US_CHMODE US_CHMODE_NORMAL US_CHMODE_AUTOMATIC_ECH O US_CHMODE_LOCAL_LOOPBAC K US_CHMODE_REMODE_LOOPB ACK * MODE9: 9-bit Character Length (Code Label US_MODE9) 0 = CHRL defines character length. 1 = 9-bit character length. * CKLO: Clock Output Select (Code Label US_CLKO) 0 = The USART does not drive the SCK pin. 1 = The USART drives the SCK pin if USCLKS[1] is 0. 133 6410B-ATARM-12-Jan-10 18.10.3 Name: USART Interrupt Enable Register US_IER Access Type:Write-only Offset: 31 0x08 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 TXEMPTY 1 TXRDY - 8 TIMEOUT 0 RXRDY - 7 PARE - 6 FRAME - 5 OVRE - 4 ENDTX - 3 ENDRX - 2 RXBRK * RXRDY: Enable RXRDY Interrupt (Code Label US_RXRDY) 0 = No effect. 1 = Enables RXRDY Interrupt. * TXRDY: Enable TXRDY Interrupt (Code Label US_TXRDY) 0 = No effect. 1 = Enables TXRDY Interrupt. * RXBRK: Enable Receiver Break Interrupt (Code Label US_RXBRK) 0 = No effect. 1 = Enables Receiver Break Interrupt. * ENDRX: Enable End of Receive Transfer Interrupt (Code Label US_ENDRX) 0 = No effect. 1 = Enables End of Receive Transfer Interrupt. * ENDTX: Enable End of Transmit Interrupt (Code Label US_ENDTX) 0 = No effect. 1 = Enables End of Transmit Interrupt. * OVRE: Enable Overrun Error Interrupt (Code Label US_OVRE) 0 = No effect. 1 = Enables Overrun Error Interrupt. * FRAME: Enable Framing Error Interrupt (Code Label US_FRAME) 0 = No effect. 1 = Enables Framing Error Interrupt. * PARE: Enable Parity Error Interrupt (Code Label US_PARE) 0 = No effect. 1 = Enables Parity Error Interrupt. 134 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB * TIMEOUT: Enable Time-out Interrupt (Code Label US_TIMEOUT) 0 = No effect. 1 = Enables Reception Time-out Interrupt. * TXEMPTY: Enable TXEMPTY Interrupt (Code Label US_TXEMPTY) 0 = No effect. 1 = Enables TXEMPTY Interrupt. 135 6410B-ATARM-12-Jan-10 18.10.4 Name: USART Interrupt Disable Register US_IDR Access Type:Write-only Offset: 31 0x0C 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 TXEMPTY 1 TXRDY - 8 TIMEOUT 0 RXRDY - 7 PARE - 6 FRAME - 5 OVRE - 4 ENDTX - 3 ENDRX - 2 RXBRK * RXRDY: Disable RXRDY Interrupt (Code Label US_RXRDY) 0 = No effect. 1 = Disables RXRDY Interrupt. * TXRDY: Disable TXRDY Interrupt (Code Label US_TXRDY) 0 = No effect. 1 = Disables TXRDY Interrupt. * RXBRK: Disable Receiver Break Interrupt (Code Label US_RXBRK) 0 = No effect. 1 = Disables Receiver Break Interrupt. * ENDRX: Disable End of Receive Transfer Interrupt (Code Label US_ENDRX) 0 = No effect. 1 = Disables End of Receive Transfer Interrupt. * ENDTX: Disable End of Transmit Interrupt (Code Label US_ENDTX) 0 = No effect. 1 = Disables End of Transmit Interrupt. * OVRE: Disable Overrun Error Interrupt (Code Label US_OVRE) 0 = No effect. 1 = Disables Overrun Error Interrupt. * FRAME: Disable Framing Error Interrupt (Code Label US_FRAME) 0 = No effect. 1 = Disables Framing Error Interrupt. * PARE: Disable Parity Error Interrupt (Code Label US_PARE) 0 = No effect. 1 = Disables Parity Error Interrupt. 136 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB * TIMEOUT: Disable Time-out Interrupt (Code Label US_TIMEOUT) 0 = No effect. 1 = Disables Receiver Time-out Interrupt. * TXEMPTY: Disable TXEMPTY Interrupt (Code Label US_TXEMPTY) 0 = No effect. 1 = Disables TXEMPTY Interrupt. 137 6410B-ATARM-12-Jan-10 18.10.5 Name: USART Interrupt Mask Register US_IMR Access Type:Read-only Reset Value: 0 Offset: 31 0x10 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 TXEMPTY 1 TXRDY - 8 TIMEOUT 0 RXRDY - 7 PARE - 6 FRAME - 5 OVRE - 4 ENDTX - 3 ENDRX - 2 RXBRK * RXRDY: Mask RXRDY Interrupt (Code Label US_RXRDY) 0 = RXRDY Interrupt is Disabled 1 = RXRDY Interrupt is Enabled * TXRDY: Mask TXRDY Interrupt (Code Label US_TXRDY) 0 = TXRDY Interrupt is Disabled 1 = TXRDY Interrupt is Enabled * RXBRK: Mask Receiver Break Interrupt (Code Label US_RXBRK) 0 = Receiver Break Interrupt is Disabled 1 = Receiver Break Interrupt is Enabled * ENDRX: Mask End of Receive Transfer Interrupt (Code Label US_ENDRX) 0 = End of Receive Transfer Interrupt is Disabled 1 = End of Receive Transfer Interrupt is Enabled * ENDTX: Mask End of Transmit Interrupt (Code Label US_ENDTX) 0 = End of Transmit Interrupt is Disabled 1 = End of Transmit Interrupt is Enabled * OVRE: Mask Overrun Error Interrupt (Code Label US_OVRE) 0 = Overrun Error Interrupt is Disabled 1 = Overrun Error Interrupt is Enabled * FRAME: Mask Framing Error Interrupt (Code Label US_FRAME) 0 = Framing Error Interrupt is Disabled 1 = Framing Error Interrupt is Enabled * PARE: Mask Parity Error Interrupt (Code Label US_PARE) 0 = Parity Error Interrupt is Disabled 1 = Parity Error Interrupt is Enabled 138 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB * TIMEOUT: Mask Time-out Interrupt (Code Label US_TIMEOUT) 0 = Receive Time-out Interrupt is Disabled 1 = Receive Time-out Interrupt is Enabled * TXEMPTY: Mask TXEMPTY Interrupt (Code Label US_TXEMPTY) 0 = TXEMPTY Interrupt is Disabled. 1 = TXEMPTY Interrupt is Enabled. 139 6410B-ATARM-12-Jan-10 18.10.6 Name: USART Channel Status Register US_CSR Access Type:Read-only Reset Value: 0x18 Offset: 31 0x14 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 TXEMPTY 1 TXRDY - 8 TIMEOUT 0 RXRDY - 7 PARE - 6 FRAME - 5 OVRE - 4 ENDTX - 3 ENDRX - 2 RXBRK * RXRDY: Receiver Ready (Code Label US_RXRDY) 0 = No complete character has been received since the last read of the US_RHR or the receiver is disabled. 1 = At least one complete character has been received and the US_RHR has not yet been read. * TXRDY: Transmitter Ready (Code Label US_TXRDY) 0 = US_THR contains a character waiting to be transferred to the Transmit Shift Register, or an STTBRK command has been requested. 1 = US_THR is empty and there is no Break request pending TSR availability. Equal to zero when the USART is disabled or at reset. Transmitter Enable command (in US_CR) sets this bit to one. * RXBRK: Break Received/End of Break (Code Label US_RXBRK) 0 = No Break Received nor End of Break has been detected since the last "Reset Status Bits" command in the Control Register. 1 = Break Received or End of Break has been detected since the last "Reset Status Bits" command in the Control Register. * ENDRX: End of Receiver Transfer (Code Label US_ENDRX) 0 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the receiver is inactive. 1 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the receiver is active. * ENDTX: End of Transmitter Transfer (Code Label US_ENDTX) 0 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the transmitter is inactive. 1 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the transmitter is active. * OVRE: Overrun Error (Code Label US_OVRE) 0 = No byte has been transferred from the Receive Shift Register to the US_RHR when RxRDY was asserted since the last "Reset Status Bits" command. 1 = At least one byte has been transferred from the Receive Shift Register to the US_RHR when RxRDY was asserted since the last "Reset Status Bits" command. * FRAME: Framing Error (Code Label US_FRAME) 0 = No stop bit has been detected low since the last "Reset Status Bits" command. 140 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 1 = At least one stop bit has been detected low since the last "Reset Status Bits" command. * PARE: Parity Error (Code Label US_PARE) 1 = At least one parity bit has been detected false (or a parity bit high in Multi-drop Mode) since the last "Reset Status Bits" command. 0 = No parity bit has been detected false (or a parity bit high in Multi-drop Mode) since the last "Reset Status Bits" command. * TIMEOUT: Receiver Time-out (Code Label US_TIMEOUT) 0 = There has not been a time-out since the last "Start Time-out" command or the Time-out Register is 0. 1 = There has been a time-out since the last "Start Time-out" command. * TXEMPTY: Transmitter Empty (Code Label US_TXEMPTY) 0 = There are characters in either US_THR or the Transmit Shift Register or a Break is being transmitted. 1 = There are no characters in US_THR and the Transmit Shift Register and Break is not active. Equal to zero when the USART is disabled or at reset. Transmitter Enable command (in US_CR) sets this bit to one. 141 6410B-ATARM-12-Jan-10 18.10.7 Name: USART Receiver Holding Register US_RHR Access Type:Read-only Reset Value: 0 Offset: 31 0x18 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 RXCHR - 3 - 2 - 1 - 0 * RXCHR: Received Character Last character received if RXRDY is set. When number of data bits is less than 8 bits, the bits are right-aligned. All non-significant bits read zero. 18.10.8 Name: USART Transmitter Holding Register US_THR Access Type:Write-only Offset: 31 0x1C 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 TXCHR - 3 - 2 - 1 - 0 * TXCHR: Character to be Transmitted Next character to be transmitted after the current character if TXRDY is not set. When number of data bits is less than 8 bits, the bits are right-aligned. 142 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 18.10.9 Name: USART Baud Rate Generator Register US_BRGR Access Type:Read/Write Reset Value: 0 Offset: 31 0x20 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 CD - 11 - 10 - 9 - 8 7 6 5 4 CD 3 2 1 0 * CD: Clock Divisor This register has no effect if Synchronous Mode is selected with an external clock. CD 0 1 2 to 65535 Notes: Effect Disables Clock Clock Divisor Bypass (1) Baud Rate (Asynchronous Mode) = Selected Clock / (16 x CD) Baud Rate (Synchronous Mode) = Selected Clock / CD (2) 1. Clock divisor bypass (CD = 1) must not be used when internal clock MCK is selected (USCLKS = 0). 2. In Synchronous Mode, the value programmed must be even to ensure a 50:50 mark:space ratio. 143 6410B-ATARM-12-Jan-10 18.10.10 USART Receiver Time-out Register Name: US_RTOR Access Type:Read/Write Reset Value: 0 Offset: 31 0x24 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 TO - 3 - 2 - 1 - 0 * TO: Time-out Value When a value is written to this register, a Start Time-out Command is automatically performed. TO 0 1 - 255 Disables the RX Time-out function. The Time-out counter is loaded with TO when the Start Time-out Command is given or when each new data character is received (after reception has started). Time-out duration = TO x 4 x Bit period 144 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 18.10.11 USART Transmitter Time-guard Register Name: US_TTGR Access Type:Read/Write Reset Value: 0 Offset: 31 0x28 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 TG - 3 - 2 - 1 - 0 * TG: Time-guard Value TG 0 1 - 255 Disables the TX Time-guard function. TXD is inactive high after the transmission of each character for the time-guard duration. Time-guard duration = TG x Bit period 18.10.12 USART Receive Pointer Register Name: US_RPR Access Type:Read/Write Reset Value: 0 Offset: 31 0x30 30 29 28 RXPTR 27 26 25 24 23 22 21 20 RXPTR 19 18 17 16 15 14 13 12 RXPTR 11 10 9 8 7 6 5 4 RXPTR 3 2 1 0 * RXPTR: Receive Pointer RXPTR must be loaded with the address of the receive buffer. 145 6410B-ATARM-12-Jan-10 18.10.13 USART Receive Counter Register Name: US_RCR Access Type:Read/Write Reset Value: 0 Offset: 31 0x34 30 29 28 27 26 25 24 - 23 - 22 - 21 - 4920 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 RXCTR - 11 - 10 - 9 - 8 7 6 5 4 RXCTR 3 2 1 0 * RXCTR: Receive Counter RXCTR must be loaded with the size of the receive buffer. 0: Stop Peripheral Data Transfer dedicated to the receiver. 1 - 65535: Start Peripheral Data transfer if RXRDY is active. 18.10.14 USART Transmit Pointer Register Name: US_TPR Access Type:Read/Write Reset Value: 0 Offset: 31 0x38 30 29 28 TXPTR 27 26 25 24 23 22 21 20 TXPTR 19 18 17 16 15 14 13 12 TXPTR 11 10 9 8 7 6 5 4 TXPTR 3 2 1 0 * TXPTR: Transmit Pointer TXPTR must be loaded with the address of the transmit buffer. 146 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 18.10.15 USART Transmit Counter Register Name: US_TCR Access Type:Read/Write Reset Value: 0 Offset: 31 0x3C 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 TXCTR - 11 - 10 - 9 - 8 7 6 5 4 TXCTR 3 2 1 0 * TXCTR: Transmit Counter TXCTR must be loaded with the size of the transmit buffer. 0: Stop Peripheral Data Transfer dedicated to the transmitter. 1 - 65535: Start Peripheral Data transfer if TXRDY is active. 147 6410B-ATARM-12-Jan-10 19. TC: Timer Counter The AT91FR40162SB features a Timer Counter block which includes three identical 16-bit timer counter channels. Each channel can be independently programmed to perform a wide range of functions including frequency measurement, event counting, interval measurement, pulse generation, delay timing and pulse width modulation. Each Timer Counter channel has 3 external clock inputs, 5 internal clock inputs, and 2 multi-purpose input/output signals which can be configured by the user. Each channel drives an internal interrupt signal which can be programmed to generate processor interrupts via the AIC (Advanced Interrupt Controller). The Timer Counter block has two global registers which act upon all three TC channels. The Block Control Register allows the three channels to be started simultaneously with the same instruction. The Block Mode Register defines the external clock inputs for each Timer Counter channel, allowing them to be chained. 148 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 19.1 Block Diagram Figure 19-1. TC Block Diagram MCK/2 Parallel IO Controller TCLK0 TIOA1 TIOA2 XC0 XC1 XC2 TC0XC0S SYNC MCK/8 MCK/32 TCLK0 TCLK1 TCLK2 TIOA0 TIOB0 TCLK1 MCK/128 MCK/1024 Timer Counter Channel 0 TIOA TIOA0 TIOB TCLK2 TIOB0 INT TCLK0 TCLK1 TIOA0 TIOA2 TCLK2 XC0 XC1 XC2 TC1XC1S SYNC Timer Counter Channel 1 TIOA TIOA1 TIOB TIOB1 INT TIOA1 TIOB1 TCLK0 TCLK1 TCLK2 TIOA0 TIOA1 XC0 XC1 XC2 TC2XC2S Timer Counter Channel 2 TIOA TIOA2 TIOB TIOB2 SYNC TIOA2 TIOB2 INT Timer Counter Block Advanced Interrupt Controller 149 6410B-ATARM-12-Jan-10 19.2 Signal Description Signal Description Channel Signal XC0, XC1, XC2 TIOA TIOB INT SYNC Block Signals TCLK0, TCLK1, TCLK2 TIOA0 TIOB0 TIOA1 TIOB1 TIOA2 Description External Clock Inputs Capture Mode: General Purpose Input Waveform Mode: General Purpose Output Capture Mode: General Purpose Input Waveform Mode: General Purpose Input/Output Interrupt Signal Output Synchronization Input Signal Description External Clock Inputs TIOA Signal for Channel 0 TIOB Signal for Channel 0 TIOA Signal for Channel 1 TIOB Signal for Channel 1 TIOA Signal for Channel 2 Table 19-1. Note: TIOB2 TIOB Signal for Channel 2 After a hardware reset, the Timer Counter block pins are controlled by the PIO Controller. They must be configured to be controlled by the peripheral before being used. 19.3 Timer Counter Description The three Timer Counter channels are independent and identical in operation. The registers for channel programming are listed in Table 19-3 on page 159. 19.3.1 Counter Each Timer Counter channel is organized around a 16-bit counter. The value of the counter is incremented at each positive edge of the selected clock. When the counter has reached the value 0xFFFF and passes to 0x0000, an overflow occurs and the bit COVFS in TC_SR (Status Register) is set. The current value of the counter is accessible in real-time by reading TC_CV. The counter can be reset by a trigger. In this case, the counter value passes to 0x0000 on the next valid edge of the selected clock. 150 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 19.3.2 Clock Selection At block level, input clock signals of each channel can either be connected to the external inputs TCLK0, TCLK1 or TCLK2, or be connected to the configurable I/O signals TIOA0, TIOA1 or TIOA2 for chaining by programming the TC_BMR (Block Mode). Each channel can independently select an internal or external clock source for its counter: * Internal clock signals: MCK/2, MCK/8, MCK/32, MCK/128, MCK/1024 * External clock signals: XC0, XC1 or XC2 The selected clock can be inverted with the CLKI bit in TC_CMR (Channel Mode). This allows counting on the opposite edges of the clock. The burst function allows the clock to be validated when an external signal is high. The BURST parameter in the Mode Register defines this signal (none, XC0, XC1, XC2). Note: In all cases, if an external clock is used, the duration of each of its levels must be longer than the system clock (MCK) period. The external clock frequency must be at least 2.5 times lower than the system clock (MCK). Figure 19-2. Clock Selection CLKS CLKI MCK/2 MCK/8 MCK/32 MCK/128 MCK/1024 XC0 XC1 XC2 Selected Clock BURST 1 151 6410B-ATARM-12-Jan-10 19.3.3 Clock Control The clock of each counter can be controlled in two different ways: it can be enabled/disabled and started/stopped. * The clock can be enabled or disabled by the user with the CLKEN and the CLKDIS commands in the Control Register. In Capture Mode it can be disabled by an RB load event if LDBDIS is set to 1 in TC_CMR. In Waveform Mode, it can be disabled by an RC Compare event if CPCDIS is set to 1 in TC_CMR. When disabled, the start or the stop actions have no effect: only a CLKEN command in the Control Register can re-enable the clock. When the clock is enabled, the CLKSTA bit is set in the Status Register. * The clock can also be started or stopped: a trigger (software, synchro, external or compare) always starts the clock. The clock can be stopped by an RB load event in Capture Mode (LDBSTOP = 1 in TC_CMR) or a RC compare event in Waveform Mode (CPCSTOP = 1 in TC_CMR). The start and the stop commands have effect only if the clock is enabled. Figure 19-3. Clock Control Selected Clock Trigger CLKSTA CLKEN CLKDIS Q Q S R S R Counter Clock Stop Event Disable Event 19.3.4 Timer Counter Operating Modes Each Timer Counter channel can independently operate in two different modes: * Capture Mode allows measurement on signals * Waveform Mode allows wave generation The Timer Counter Operating Mode is programmed with the WAVE bit in the TC Mode Register. In Capture Mode, TIOA and TIOB are configured as inputs. In Waveform Mode, TIOA is always configured to be an output and TIOB is an output if it is not selected to be the external trigger. 19.3.5 Trigger A trigger resets the counter and starts the counter clock. Three types of triggers are common to both modes, and a fourth external trigger is available to each mode. The following triggers are common to both modes: 152 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB * Software Trigger: Each channel has a software trigger, available by setting SWTRG in TC_CCR. * SYNC: Each channel has a synchronization signal SYNC. When asserted, this signal has the same effect as a software trigger. The SYNC signals of all channels are asserted simultaneously by writing TC_BCR (Block Control) with SYNC set. * Compare RC Trigger: RC is implemented in each channel and can provide a trigger when the counter value matches the RC value if CPCTRG is set in TC_CMR. The Timer Counter channel can also be configured to have an external trigger. In Capture Mode, the external trigger signal can be selected between TIOA and TIOB. In Waveform Mode, an external event can be programmed on one of the following signals: TIOB, XC0, XC1 or XC2. This external event can then be programmed to perform a trigger by setting ENETRG in TC_CMR. If an external trigger is used, the duration of the pulses must be longer than the system clock (MCK) period in order to be detected. Whatever the trigger used, it will be taken into account at the following active edge of the selected clock. This means that the counter value may not read zero just after a trigger, especially when a low frequency signal is selected as the clock. 153 6410B-ATARM-12-Jan-10 19.4 Capture Operating Mode This mode is entered by clearing the WAVE parameter in TC_CMR (Channel Mode Register). Capture Mode allows the TC Channel to perform measurements such as pulse timing, frequency, period, duty cycle and phase on TIOA and TIOB signals which are inputs. Figure shows the configuration of the TC Channel when programmed in Capture Mode. 19.4.1 Capture Registers A and B (RA and RB) Registers A and B are used as capture registers. This means that they can be loaded with the counter value when a programmable event occurs on the signal TIOA. The parameter LDRA in TC_CMR defines the TIOA edge for the loading of register A, and the parameter LDRB defines the TIOA edge for the loading of Register B. RA is loaded only if it has not been loaded since the last trigger or if RB has been loaded since the last loading of RA. RB is loaded only if RA has been loaded since the last trigger or the last loading of RB. Loading RA or RB before the read of the last value loaded sets the Overrun Error Flag (LOVRS) in TC_SR (Status Register). In this case, the old value is overwritten. 19.4.2 Trigger Conditions In addition to the SYNC signal, the software trigger and the RC compare trigger, an external trigger can be defined. Bit ABETRG in TC_CMR selects input signal TIOA or TIOB as an external trigger. Parameter ETRGEDG defines the edge (rising, falling or both) detected to generate an external trigger. If ETRGEDG = 0 (none), the external trigger is disabled. 19.4.3 Status Register The following bits in the status register are significant in Capture Operating Mode. * CPCS: RC Compare Status There has been an RC Compare match at least once since the last read of the status * COVFS: Counter Overflow Status The counter has attempted to count past $FFFF since the last read of the status * LOVRS: Load Overrun Status RA or RB has been loaded at least twice without any read of the corresponding register, since the last read of the status * LDRAS: Load RA Status RA has been loaded at least once without any read, since the last read of the status * LDRBS: Load RB Status RB has been loaded at least once without any read, since the last read of the status * ETRGS: External Trigger Status An external trigger on TIOA or TIOB has been detected since the last read of the status Note: All the status bits are set when the corresponding event occurs and they are automatically cleared when the Status Register is read. 154 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 19-4. Capture Mode TCCLKS CLKI MCK/2 MCK/8 MCK/32 MCK/128 MCK/1024 XC0 XC1 XC2 LDBSTOP BURST Register C Capture Register A 16-bit Counter CLK OVF RESET CLKSTA CLKEN CLKDIS Q Q S R S R LDBDIS 1 Capture Register B Compare RC = SWTRG SYNC ABETRG ETRGEDG MTIOB Edge Detector LDRA Edge Detector Trig CPCTRG TIOB LDRB Edge Detector If RA is loaded ETRGS COVFS LOVRS LDRAS LDRBS TC_SR CPCS MTIOA If RA is not loaded or RB is loaded TIOA TC_IMR Timer Counter Channel INT 155 6410B-ATARM-12-Jan-10 19.5 Waveform Operating Mode This mode is entered by setting the WAVE parameter in TC_CMR (Channel Mode Register). Waveform Operating Mode allows the TC Channel to generate 1 or 2 PWM signals with the same frequency and independently programmable duty cycles, or to generate different types of one-shot or repetitive pulses. In this mode, TIOA is configured as output and TIOB is defined as output if it is not used as an external event (EEVT parameter in TC_CMR). Figure 19-5 shows the configuration of the TC Channel when programmed in Waveform Operating Mode. 19.5.1 Compare Register A, B and C (RA, RB, and RC) In Waveform Operating Mode, RA, RB and RC are all used as compare registers. RA Compare is used to control the TIOA output. RB Compare is used to control the TIOB (if configured as output). RC Compare can be programmed to control TIOA and/or TIOB outputs. RC Compare can also stop the counter clock (CPCSTOP = 1 in TC_CMR) and/or disable the counter clock (CPCDIS = 1 in TC_CMR). As in Capture Mode, RC Compare can also generate a trigger if CPCTRG = 1. A trigger resets the counter so RC can control the period of PWM waveforms. External Event/Trigger Conditions An external event can be programmed to be detected on one of the clock sources (XC0, XC1, XC2) or TIOB. The external event selected can then be used as a trigger. The parameter EEVT in TC_CMR selects the external trigger. The parameter EEVTEDG defines the trigger edge for each of the possible external triggers (rising, falling or both). If EEVTEDG is cleared (none), no external event is defined. If TIOB is defined as an external event signal (EEVT = 0), TIOB is no longer used as output and the TC channel can only generate a waveform on TIOA. When an external event is defined, it can be used as a trigger by setting bit ENETRG in TC_CMR. As in Capture Mode, the SYNC signal, the software trigger and the RC compare trigger are also available as triggers. 19.5.2 Output Controller The output controller defines the output level changes on TIOA and TIOB following an event. TIOB control is used only if TIOB is defined as output (not as an external event). The following events control TIOA and TIOB: software trigger, external event and RC compare. RA compare controls TIOA and RB compare controls TIOB. Each of these events can be programmed to set, clear or toggle the output as defined in the corresponding parameter in TC_CMR. 156 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB The tables below show which parameter in TC_CMR is used to define the effect of each event. Parameter ASWTRG AEEVT ACPC ACPA Parameter BSWTRG BEEVT BCPC BCPB TIOA Event Software Trigger External Event RC Compare RA Compare TIOB Event Software Trigger External Event RC Compare RB Compare If two or more events occur at the same time, the priority level is defined as follows: 1. Software Trigger 2. External Event 3. RC Compare 4. RA or RB Compare 19.5.3 Status The following bits in the status register are significant in Waveform Mode: * CPAS: RA Compare Status There has been a RA Compare match at least once since the last read of the status * CPBS: RB Compare Status There has been a RB Compare match at least once since the last read of the status * CPCS: RC Compare Status There has been a RC Compare match at least once since the last read of the status * COVFS: Counter Overflow Counter has attempted to count past $FFFF since the last read of the status * ETRGS: External Trigger External trigger has been detected since the last read of the status Note: All the status bits are set when the corresponding event occurs and they are automatically cleared when the Status Register is read. 157 6410B-ATARM-12-Jan-10 Figure 19-5. Waveform Mode TCCLKS CLKSTA MCK/2 MCK/8 MCK/32 MCK/128 MCK/1024 XC0 XC1 XC2 CLKI CLKEN CLKDIS ACPC Q Q S R S CPCDIS Output Controller R ACPA MTIOA TIOA CPCSTOP AEEVT BURST Register A Register B Register C ASWTRG 1 16-bit Counter CLK RESET OVF Compare RA = Compare RB = Compare RC = SWTRG BCPC SYNC Trig BCPB CPCTRG EEVT BEEVT EEVTEDG Edge Detector TIOB ENETRG ETRGS COVFS TC_SR TC_IMR CPCS CPAS CPBS MTIOB Output Controller TIOB BSWTRG Timer Counter Channel INT 158 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 19.6 TC User Interface TC Global Memory Map Channel/Register TC Channel 0 TC Channel 1 TC Channel 2 TC Block Control Register TC Block Mode Register TC_BCR TC_BMR Name Access See Table 19-3 See Table 19-3 See Table 19-3 Write-only Read/Write - 0 Reset State TC Base Address: 0xFFFE0000 (Code Label TC_BASE) Table 19-2. Offset 0x00 0x40 0x80 0xC0 0xC4 TC_BCR (Block Control Register) and TC_BMR (Block Mode Register) control the TC block. TC Channels are controlled by the registers listed in Table 19-3. The offset of each of the Channel registers in Table 19-3 is in relation to the offset of the corresponding channel as mentioned in Table 19-2. Table 19-3. Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 0x28 0x2C Note: TC Channel Memory Map Register Channel Control Register Channel Mode Register Reserved Reserved Counter Value Register A Register B Register C Status Register Interrupt Enable Register Interrupt Disable Register Interrupt Mask Register TC_CV TC_RA TC_RB TC_RC TC_SR TC_IER TC_IDR TC_IMR Read/Write Read/Write Read/Write (1) (1) Name TC_CCR TC_CMR Access Write-only Read/Write Reset State - 0 - - 0 0 0 0 0 - - 0 Read/Write Read-only Write-only Write-only Read-only 1. Read-only if WAVE = 0 159 6410B-ATARM-12-Jan-10 19.6.1 TC Block Control Register Register Name:TC_BCR Access Type:Write-only Offset: 31 0xC0 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 - 3 - 2 - 1 - 0 SYNC - - - - - - - * SYNC: Synchro Command 0 = No effect. 1 = Asserts the SYNC signal which generates a software trigger simultaneously for each of the channels. 160 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 19.6.2 TC Block Mode Register Register Name:TC_BMR Access Type:Read/Write Reset Value: 0 Offset: 31 0xC4 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 TC2XC2S - 4 - 3 TC1XC1S - 2 - 1 TC0XC0S - 0 - - * TC0XC0S: External Clock Signal 0 Selection TC0XC0S 0 0 1 1 0 1 0 1 Signal Connected to XC0 TCLK0 None TIOA1 TIOA2 * TC1XC1S: External Clock Signal 1 Selection TC1XC1S 0 0 1 1 0 1 0 1 Signal Connected to XC1 TCLK1 None TIOA0 TIOA2 * TC2XC2S: External Clock Signal 2 Selection TC2XC2S 0 0 1 1 0 1 0 1 Signal Connected to XC2 TCLK2 None TIOA0 TIOA1 161 6410B-ATARM-12-Jan-10 19.6.3 TC Channel Control Register Register Name:TC_CCR Access Type:Write-only Offset: 31 0x00 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 - 6 - 5 - 4 - 3 - 2 SWTRG - 1 CLKDIS - 0 CLKEN - - - - - * CLKEN: Counter Clock Enable Command (Code Label TC_CLKEN) 0 = No effect. 1 = Enables the clock if CLKDIS is not 1. * CLKDIS: Counter Clock Disable Command (Code Label TC_CLKDIS) 0 = No effect. 1 = Disables the clock. * SWTRG: Software Trigger Command (Code Label TC_SWTRG) 0 = No effect. 1 = A software trigger is performed: the counter is reset and clock is started. 162 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 19.6.4 TC Channel Mode Register: Capture Mode Register Name:TC_CMR Access Type:Read/Write Reset Value: 0 Offset: 31 0x04 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 LDRB 11 - 18 - 17 LDRA - 16 - 15 WAVE = 0 7 LDBDIS - 14 CPCTRG 6 LDBSTOP - 13 - 12 10 ABETRG 2 9 ETRGEDG 1 TCCLKS 8 - 5 BURST - 4 - 3 CLKI 0 * TCCLKS: Clock Selection Code Label TCCLKS 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Clock Selected MCK/2 MCK/8 MCK/32 MCK/128 MCK/1024 XC0 XC1 XC2 TC_CLKS TC_CLKS_MCK2 TC_CLKS_MCK8 TC_CLKS_MCK32 TC_CLKS_MCK128 TC_CLKS_MCK1024 TC_CLKS_XC0 TC_CLKS_XC1 TC_CLKS_XC2 * CLKI: Clock Invert (Code Label TC_CLKI) 0 = Counter is incremented on rising edge of the clock. 1 = Counter is incremented on falling edge of the clock. * BURST: Burst Signal Selection Code Label BURST 0 0 1 1 0 1 0 1 Selected BURST The clock is not gated by an external signal XC0 is ANDed with the selected clock XC1 is ANDed with the selected clock XC2 is ANDed with the selected clock TC_BURST TC_BURST_NONE TC_BURST_XC0 TC_BURST_XC1 TC_BURST_XC2 163 6410B-ATARM-12-Jan-10 * LDBSTOP: Counter Clock Stopped with RB Loading (Code Label TC_LDBSTOP) 0 = Counter clock is not stopped when RB loading occurs. 1 = Counter clock is stopped when RB loading occurs. * LDBDIS: Counter Clock Disable with RB Loading (Code Label TC_LDBDIS) 0 = Counter clock is not disabled when RB loading occurs. 1 = Counter clock is disabled when RB loading occurs. * ETRGEDG: External Trigger Edge Selection Code Label ETRGEDG 0 0 1 1 0 1 0 1 Edge None Rising Edge Falling Edge Each Edge TC_ETRGEDG TC_ETRGEDG_EDGE_NONE TC_ETRGEDG_RISING_EDGE TC_ETRGEDG_FALLING_EDGE TC_ETRGEDG_BOTH_EDGE * ABETRG: TIOA or TIOB External Trigger Selection Code Label ABETRG 0 1 Selected ABETRG TIOB is used as an external trigger. TIOA is used as an external trigger. TC_ABETRG TC_ABETRG_TIOB TC_ABETRG_TIOA * CPCTRG: RC Compare Trigger Enable (Code Label TC_CPCTRG) 0 = RC Compare has no effect on the counter and its clock. 1 = RC Compare resets the counter and starts the counter clock. * WAVE = 0 (Code Label TC_WAVE) 0 = Capture Mode is enabled. 1 = Capture Mode is disabled (Waveform Mode is enabled). * LDRA: RA Loading Selection Code Label LDRA 0 0 1 1 0 1 0 1 Edge None Rising edge of TIOA Falling edge of TIOA Each edge of TIOA TC_LDRA TC_LDRA_EDGE_NONE TC_LDRA_RISING_EDGE TC_LDRA_FALLING_EDGE TC_LDRA_BOTH_EDGE 164 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB * LDRB: RB Loading Selection Code Label LDRB 0 0 1 1 0 1 0 1 Edge None Rising edge of TIOA Falling edge of TIOA Each edge of TIOA TC_LDRB TC_LDRB_EDGE_NONE TC_LDRB_RISING_EDGE TC_LDRB_FALLING_EDGE TC_LDRB_BOTH_EDGE 165 6410B-ATARM-12-Jan-10 19.6.5 TC Channel Mode Register: Waveform Mode Register Name:TC_CMR Access Type:Read/Write Reset Value: 0 Offset: 31 BSWTRG 23 ASWTRG 15 WAVE = 1 7 CPCDIS 14 CPCTRG 6 CPCSTOP 13 22 21 AEEVT 12 ENETRG 4 BURST 3 CLKI 11 EEVT 2 1 TCCLKS 0x04 30 29 BEEVT 20 19 ACPC 10 9 EEVTEDG 0 28 27 BCPC 18 17 ACPA 8 26 25 BCPB 16 24 - 5 * TCCLKS: Clock Selection Code Label TCCLKS 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Clock Selected MCK/2 MCK/8 MCK/32 MCK/128 MCK/1024 XC0 XC1 XC2 TC_CLKS TC_CLKS_MCK2 TC_CLKS_MCK8 TC_CLKS_MCK32 TC_CLKS_MCK128 TC_CLKS_MCK1024 TC_CLKS_XC0 TC_CLKS_XC1 TC_CLKS_XC2 * CLKI: Clock Invert (Code Label TC_CLKI) 0 = Counter is incremented on rising edge of the clock. 1 = Counter is incremented on falling edge of the clock. * BURST: Burst Signal Selection Code Label BURST 0 0 1 1 0 1 0 1 Selected BURST The clock is not gated by an external signal. XC0 is ANDed with the selected clock. XC1 is ANDed with the selected clock. XC2 is ANDed with the selected clock. TC_BURST TC_BURST_NONE TC_BURST_XC0 TC_BURST_XC1 TC_BURST_XC2 166 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB * CPCSTOP: Counter Clock Stopped with RC Compare (Code Label TC_CPCSTOP) 0 = Counter clock is not stopped when counter reaches RC. 1 = Counter clock is stopped when counter reaches RC. * CPCDIS: Counter Clock Disable with RC Compare (Code Label TC_CPCDIS) 0 = Counter clock is not disabled when counter reaches RC. 1 = Counter clock is disabled when counter reaches RC. * EEVTEDG: External Event Edge Selection Code Label EEVTEDG 0 0 1 1 0 1 0 1 Edge None Rising edge Falling edge Each edge TC_EEVTEDG TC_EEVTEDG_EDGE_NONE TC_EEVTEDG_RISING_EDGE TC_EEVTEDG_FALLING_EDGE TC_EEVTEDG_BOTH_EDGE * EEVT: External Event Selection Signal Selected as External Event 0 1 0 TIOB XC0 XC1 Code Label TIOB Direction Input(1) Output Output TC_EEVT TC_EEVT_TIOB TC_EEVT_XC0 TC_EEVT_XC1 EEVT 0 0 1 1 Note: 1 XC2 Output TC_EEVT_XC2 If TIOB is chosen as the external event signal, it is configured as an input and no longer generates waveforms. * ENETRG: External Event Trigger Enable (Code Label TC_ENETRG) 0 = The external event has no effect on the counter and its clock. In this case, the selected external event only controls the TIOA output. 1 = The external event resets the counter and starts the counter clock. * CPCTRG: RC Compare Trigger Enable (Code Label TC_CPCTRG) 0 = RC Compare has no effect on the counter and its clock. 1 = RC Compare resets the counter and starts the counter clock. * WAVE = 1 (Code Label TC_WAVE) 0 = Waveform Mode is disabled (Capture Mode is enabled). 1 = Waveform Mode is enabled. 167 6410B-ATARM-12-Jan-10 * ACPA: RA Compare Effect on TIOA Code Label ACPA 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_ACPA TC_ACPA_OUTPUT_NONE TC_ACPA_SET_OUTPUT TC_ACPA_CLEAR_OUTPUT TC_ACPA_TOGGLE_OUTPUT * ACPC: RC Compare Effect on TIOA Code Label ACPC 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_ACPC TC_ACPC_OUTPUT_NONE TC_ACPC_SET_OUTPUT TC_ACPC_CLEAR_OUTPUT TC_ACPC_TOGGLE_OUTPUT * AEEVT: External Event Effect on TIOA Code Label AEEVT 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_AEEVT TC_AEEVT_OUTPUT_NONE TC_AEEVT_SET_OUTPUT TC_AEEVT_CLEAR_OUTPUT TC_AEEVT_TOGGLE_OUTPUT * ASWTRG: Software Trigger Effect on TIOA Code Label ASWTRG 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_ASWTRG TC_ASWTRG_OUTPUT_NONE TC_ASWTRG_SET_OUTPUT TC_ASWTRG_CLEAR_OUTPUT TC_ASWTRG_TOGGLE_OUTPUT 168 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB * BCPB: RB Compare Effect on TIOB Code Label BCPB 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_BCPB TC_BCPB_OUTPUT_NONE TC_BCPB_SET_OUTPUT TC_BCPB_CLEAR_OUTPUT TC_BCPB_TOGGLE_OUTPUT * BCPC: RC Compare Effect on TIOB Code Label BCPC 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_BCPC TC_BCPC_OUTPUT_NONE TC_BCPC_SET_OUTPUT TC_BCPC_CLEAR_OUTPUT TC_BCPC_TOGGLE_OUTPUT * BEEVT: External Event Effect on TIOB Code Label BEEVT 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_BEEVT TC_BEEVT_OUTPUT_NONE TC_BEEVT_SET_OUTPUT TC_BEEVT_CLEAR_OUTPUT TC_BEEVT_TOGGLE_OUTPUT * BSWTRG: Software Trigger Effect on TIOB Code Label BSWTRG 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_BSWTRG TC_BSWTRG_OUTPUT_NONE TC_BSWTRG_SET_OUTPUT TC_BSWTRG_CLEAR_OUTPUT TC_BSWTRG_TOGGLE_OUTPUT 169 6410B-ATARM-12-Jan-10 19.6.6 TC Counter Value Register Register Name:TC_CVR Access Type:Read-only Reset Value: 0 Offset: 31 0x10 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 CV - 11 - 10 - 9 - 8 7 6 5 4 CV 3 2 1 0 * CV: Counter Value (Code Label TC_CV) CV contains the counter value in real-time. 19.6.7 TC Register A Register Name:TC_RA Access Type:Read-only if WAVE = 0, Read/Write if WAVE = 1 Reset Value: 0 Offset: 31 0x14 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 RA - 11 - 10 - 9 - 8 7 6 5 4 RA 3 2 1 0 * RA: Register A (Code Label TC_RA) RA contains the Register A value in real-time. 170 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 19.6.8 TC Register B Register Name:TC_RB Access Type:Read-only if WAVE = 0, Read/Write if WAVE = 1 Reset Value: 0 Offset: 31 0x18 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 RB - 11 - 10 - 9 - 8 7 6 5 4 RB 3 2 1 0 * RB: Register B (Code Label TC_RB) RB contains the Register B value in real-time. 19.6.9 TC Register C Register Name:TC_RC Access Type:Read/Write Reset Value: 0 Offset: 31 0x1C 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 RC - 11 - 10 - 9 - 8 7 6 5 4 RC 3 2 1 0 * RC: Register C (Code Label TC_RC) RC contains the Register C value in real-time. 171 6410B-ATARM-12-Jan-10 19.6.10 TC Status Register Register Name:TC_SR Access Type:Read-only Reset Value: 0 Offset: 31 0x20 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 MTIOB 10 - 17 MTIOA 9 - 16 CLKSTA 8 - 15 - 14 - 13 - 12 - 11 - 7 ETRGS - 6 LDRBS - 5 LDRAS - 4 CPCS - 3 CPBS - 2 CPAS - 1 LOVRS - 0 COVFS * COVFS: Counter Overflow Status (Code Label TC_COVFS) 0 = No counter overflow has occurred since the last read of the Status Register. 1 = A counter overflow has occurred since the last read of the Status Register. * LOVRS: Load Overrun Status (Code Label TC_LOVRS) 0 = Load overrun has not occurred since the last read of the Status Register or WAVE = 1. 1 = RA or RB have been loaded at least twice without any read of the corresponding register since the last read of the Status Register, if WAVE = 0. * CPAS: RA Compare Status (Code Label TC_CPAS) 0 = RA Compare has not occurred since the last read of the Status Register or WAVE = 0. 1 = RA Compare has occurred since the last read of the Status Register, if WAVE = 1. * CPBS: RB Compare Status (Code Label TC_CPBS) 0 = RB Compare has not occurred since the last read of the Status Register or WAVE = 0. 1 = RB Compare has occurred since the last read of the Status Register, if WAVE = 1. * CPCS: RC Compare Status (Code Label TC_CPCS) 0 = RC Compare has not occurred since the last read of the Status Register. 1 = RC Compare has occurred since the last read of the Status Register. * LDRAS: RA Loading Status (Code Label TC_LDRAS) 0 = RA Load has not occurred since the last read of the Status Register or WAVE = 1. 1 = RA Load has occurred since the last read of the Status Register, if WAVE = 0. * LDRBS: RB Loading Status (Code Label TC_LDRBS) 0 = RB Load has not occurred since the last read of the Status Register or WAVE = 1. 1 = RB Load has occurred since the last read of the Status Register, if WAVE = 0. * ETRGS: External Trigger Status (Code Label TC_ETRGS) 0 = External trigger has not occurred since the last read of the Status Register. 172 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 1 = External trigger has occurred since the last read of the Status Register. * CLKSTA: Clock Enabling Status (Code Label TC_CLKSTA) 0 = Clock is disabled. 1 = Clock is enabled. * MTIOA: TIOA Mirror (Code Label TC_MTIOA) 0 = TIOA is low. If WAVE = 0, this means that TIOA pin is low. If WAVE = 1, this means that TIOA is driven low. 1 = TIOA is high. If WAVE = 0, this means that TIOA pin is high. If WAVE = 1, this means that TIOA is driven high. * MTIOB: TIOB Mirror (Code Label TC_MTIOB) 0 = TIOB is low. If WAVE = 0, this means that TIOB pin is low. If WAVE = 1, this means that TIOB is driven low. 1 = TIOB is high. If WAVE = 0, this means that TIOB pin is high. If WAVE = 1, this means that TIOB is driven high. 173 6410B-ATARM-12-Jan-10 19.6.11 TC Interrupt Enable Register Register Name:TC_IER Access Type:Write-only Offset: 31 0x24 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 ETRGS - 6 LDRBS - 5 LDRAS - 4 CPCS - 3 CPBS - 2 CPAS - 1 LOVRS - 0 COVFS * COVFS: Counter Overflow (Code Label TC_COVFS) 0 = No effect. 1 = Enables the Counter Overflow Interrupt. * LOVRS: Load Overrun (Code Label TC_LOVRS) 0 = No effect. 1: Enables the Load Overrun Interrupt. * CPAS: RA Compare (Code Label TC_CPAS) 0 = No effect. 1 = Enables the RA Compare Interrupt. * CPBS: RB Compare (Code Label TC_CPBS) 0 = No effect. 1 = Enables the RB Compare Interrupt. * CPCS: RC Compare (Code Label TC_CPCS) 0 = No effect. 1 = Enables the RC Compare Interrupt. * LDRAS: RA Loading (Code Label TC_LDRAS) 0 = No effect. 1 = Enables the RA Load Interrupt. * LDRBS: RB Loading (Code Label TC_LDRBS) 0 = No effect. 1 = Enables the RB Load Interrupt. * ETRGS: External Trigger (Code Label TC_ETRGS) 0 = No effect. 1 = Enables the External Trigger Interrupt. 174 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 19.6.12 TC Interrupt Disable Register Register Name:TC_IDR Access Type:Write-only Offset: 31 0x28 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 ETRGS - 6 LDRBS - 5 LDRAS - 4 CPCS - 3 CPBS - 2 CPAS - 1 LOVRS - 0 COVFS * COVFS: Counter Overflow (Code Label TC_COVFS) 0 = No effect. 1 = Disables the Counter Overflow Interrupt. * LOVRS: Load Overrun (Code Label TC_LOVRS) 0 = No effect. 1 = Disables the Load Overrun Interrupt (if WAVE = 0). * CPAS: RA Compare (Code Label TC_CPAS) 0 = No effect. 1 = Disables the RA Compare Interrupt (if WAVE = 1). * CPBS: RB Compare (Code Label TC_CPBS) 0 = No effect. 1 = Disables the RB Compare Interrupt (if WAVE = 1). * CPCS: RC Compare (Code Label TC_CPCS) 0 = No effect. 1 = Disables the RC Compare Interrupt. * LDRAS: RA Loading (Code Label TC_LDRAS) 0 = No effect. 1 = Disables the RA Load Interrupt (if WAVE = 0). * LDRBS: RB Loading (Code Label TC_LDRBS) 0 = No effect. 1 = Disables the RB Load Interrupt (if WAVE = 0). * ETRGS: External Trigger (Code Label TC_ETRGS) 0 = No effect. 1 = Disables the External Trigger Interrupt. 175 6410B-ATARM-12-Jan-10 19.6.13 TC Interrupt Mask Register Register Name:TC_IMR Access Type:Read-only Reset Value: 0 Offset: 31 0x2C 30 29 28 27 26 25 24 - 23 - 22 - 21 - 20 - 19 - 18 - 17 - 16 - 15 - 14 - 13 - 12 - 11 - 10 - 9 - 8 - 7 ETRGS - 6 LDRBS - 5 LDRAS - 4 CPCS - 3 CPBS - 2 CPAS - 1 LOVRS - 0 COVFS * COVFS: Counter Overflow (Code Label TC_COVFS) 0 = The Counter Overflow Interrupt is disabled. 1 = The Counter Overflow Interrupt is enabled. * LOVRS: Load Overrun (Code Label TC_LOVRS) 0 = The Load Overrun Interrupt is disabled. 1 = The Load Overrun Interrupt is enabled. * CPAS: RA Compare (Code Label TC_CPAS) 0 = The RA Compare Interrupt is disabled. 1 = The RA Compare Interrupt is enabled. * CPBS: RB Compare (Code Label TC_CPBS) 0 = The RB Compare Interrupt is disabled. 1 = The RB Compare Interrupt is enabled. * CPCS: RC Compare (Code Label TC_CPCS) 0 = The RC Compare Interrupt is disabled. 1 = The RC Compare Interrupt is enabled. * LDRAS: RA Loading (Code Label TC_LDRAS) 0 = The Load RA Interrupt is disabled. 1 = The Load RA Interrupt is enabled. * LDRBS: RB Loading (Code Label TC_LDRBS) 0 = The Load RB Interrupt is disabled. 1 = The Load RB Interrupt is enabled. * ETRGS: External Trigger (Code Label TC_ETRGS) 0 = The External Trigger Interrupt is disabled. 1 = The External Trigger Interrupt is enabled. 176 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 20. AT91FR40162SB Electrical Characteristics 20.1 Absolute Maximum Ratings Absolute Maximum Ratings* *NOTICE: 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. Table 20-1. Operating Temperature (Industrial) . -40 C to + 85 C Storage Temperature..................... -60 C to + 150 C Voltage on Any Input Pin with Respect to Ground ................................................. -0.3V to max of VDDIO .......................................................... + 0.3V and 3.6V Maximum Operating Voltage (VDDIO) ....................3.6V Maximum Operating Voltage (VDDCORE) .............1.95V 177 6410B-ATARM-12-Jan-10 20.2 AT91FR40162SB DC Characteristics The following characteristics are applicable to the Operating Temperature range: TA = -40 C to +85 C, unless otherwise specified and are certified for a Junction Temperature up to 100 C. Table 20-2. Symbol DC Characteristics Parameter DC Supply I/Os DC Supply Core Input Low Voltage Input High Voltage Pin Group 1(2): IOL = 16 mA(1) Conditions Min 2.7 1.65 -0.3 2.0 Typ Max 3.6 1.95 0.8 VDDIO + 0.3 0.4 0.4 0.4 0.2 VDDIO - 0.4 VDDIO - 0.4 VDDIO - 0.4 VDDIO - 0.2 10 VDDIO = 3.6V, VIN = 0V Pin Group 1 (2) (3) Units V V V V V V V V V VDDIO VDDCORE VIL VIH VOL Output Low Voltage Pin Group 2 : IOL = 8 mA Pin Group 3 : IOL = 2 mA (4) (3) (1) (1) (1) All Output Pins: IOL = 0 mA (3) (4) Pin Group 1(2): IOH = 16 mA(1) VOH Output High Voltage Pin Group 2 : IOH = 8 mA Pin Group 3 : IOH = 2 mA (1) (1) (1) All Output Pins: IOH = 0 mA ILEAK IPULL Input Leakage Current Input Pull-up Current A A mA mA mA pF A 400 16 8 2 5.3 IOUT Output Current Pin Group 2 : Pin Group 3(4): CIN Input Capacitance 121-BGA Package VDDIO= 3.6V, VDDCORE = 1.95V, MCKI = 0Hz All Inputs Driven TMS, TCK, TDI, NRST = 1 TA = 25 C TA = 85 C 400 ISC Static Current 2.3 mA Notes: 1. IOL = Output Current at low level. IOH= Output Current at high level. 2. Pin Group 1 = NUB/NWR1, NWE/NWR0, NOE/NRD1 3. Pin Group 2 = D0-D15, A0/NLB, A1-A19, P28/A20/CS7, P29/A21/CS6, P30/A22/CS5, P31/A23/CS4, NCS0, NCS1, P26/NCS2, P27/NCS3 4. Pin Group 3 = All Others 178 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 20.3 Flash DC Characteristics Flash DC Characteristics Condition VIN = 0V to VCC VI/O = 0V to VCC CE = VCC - 0.3V to VCC f = 5 MHz; IOUT = 0 mA 15 10 Min Typ Max 2 2 25 15 25 0.6 2.0 Units A A A mA mA V V Table 20-3. Symbol ILI ILO ISB ICC (1) ICC1 VIL VIH Parameter Input Load Current Output Leakage Current VCC Standby Current CMOS VCC Active Read Current VCC Programming Current Input Low Voltage Input High Voltage Note: 1. In the erase mode, ICC is 45 mA. 20.4 Flash Operating Modes Flash Operating Modes Mode CE VIL VIL VIH X OE VIL VIH X (1) Table 20-4. WE VIH VIL X VIH X X X X RESET VIH VIH VIH VIH VIH VIH VIH VIL VIH Ai Ai Ai X I/O DOUT DIN High-Z Read Program/Erase Standby/Program Inhibit X VIL X VIH X Program Inhibit X X Output Disable Reset X X High-Z X A0 = VIL, A1 - A19 = VIL A0 = VIH, A1 - A19 = VIL High-Z Manufacturer Code(2) Device Code(2) Product Identification Software Notes: 1. X can be VIL or VIH. 2. Manufacturer Code: 001FH, Device Code: 01C0H 179 6410B-ATARM-12-Jan-10 20.5 Power Consumption The values in the following tables are values measured in the typical operating conditions (i.e., VDDIO = 3.3V, VDDCORE = 1.8V, TA = 25 C) on the AT91EB40A Evaluation Board and are given as demonstrative values. Table 20-5. Mode Reset Fetch in ARM mode from internal SRAM All peripheral clocks activated Fetch in ARM mode from internal SRAM All peripheral clocks deactivated Normal Fetch in ARM mode from external SRAM(1) All peripheral clocks deactivated Fetch in Thumb mode from external SRAM(1) All peripheral clocks deactivated All peripheral clocks activated Idle All peripheral clocks deactivated Note: 1. With two Wait States. 0.06 Power Consumption on VDDCORE Conditions Consumption 0.02 0.83 0.73 0.20 0.24 0.16 mW/MHz Unit Table 20-6. Peripheral PIO Controller Power Consumption per Peripheral on VDDCORE Consumption 15.3 15.0 W/MHz 36.3 27.8 Unit Timer/Counter Channel Timer/Counter Block (3 Channels) USART 180 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 20.6 Clock Waveforms Master Clock Waveform Parameters Parameter Oscillator Frequency Oscillator Period High Half-period Low Half-period 12.2 5.0 5.5 Conditions Min Max 82.1 Units MHz ns ns ns Table 20-7. Symbol 1/(tCP) tCP tCH tCL Table 20-8. Symbol tCDLH Clock Propagation Times Parameter Rising Edge Propagation Time Conditions CMCKO = 0 pF CMCKO derating Falling Edge Propagation Time CMCKO = 0 pF CMCKO derating Min 4.4 0.199 4.5 0.153 Max 6.6 0.295 6.7 0.228 Units ns ns/pF ns ns/pF tCDHL Figure 20-1. Clock Waveform tCH MCKI 2.0V 2.0V 0.8V tCL tCP 0.8V 0.8V MCKO tCDLH 0.5 VDDIO 0.5 VDDIO tCDHL Table 20-9. Symbol tD NRST to MCKO Parameter NRST Rising Edge to MCKO Valid Time Min 3(tCP/2) Max 7(tCP/2) Units ns 181 6410B-ATARM-12-Jan-10 Figure 20-2. MCKO Relative to NRST NRST tD MCKO 182 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 21. AC Characteristics 21.1 21.1.1 Applicable Conditions and Derating Data Conditions and Timing Results The delays are given as typical values in the following conditions: * VDDIO = 3.0V * VDDCORE = 1.8V * Ambient Temperature = 25 C * Load Capacitance = 0 pF * The output level change detection is 0.5 x VDDIO * The input level is 0.8V for a low-level detection and is 2.0V for a high level detection. The minimum and maximum values given in the AC characteristic tables of this datasheet take into account the process variation and the design. In order to obtain the timing for other conditions, the following equation should be used: t = T x ( VDDCORE x t DATASHEET ) + VDDIO x Where: * T is the derating factor in temperature given in Figure 21-1 on page 184. * VDDCORE is the derating factor for the Core Power Supply given in Figure 21-2 on page 184. * tDATASHEET is the minimum or maximum timing value given in this datasheet for a load capacitance of 0 pF. * VDDIO is the derating factor for the I/O Power Supply given in Figure 21-3 on page 185. * CSIGNAL is the capacitance load on the considered output pin.(1) * CSIGNAL is the load derating factor depending on the capacitance load on the related output pins given in Min and Max values in this datasheet. The input delays are given as typical values. Note: 1. The user must take into account the package capacitance load contribution (CIN) described in Table 20-2 on page 178. ( CSIGNAL x CSIGNAL ) 183 6410B-ATARM-12-Jan-10 21.1.2 Temperature Derating Factor Figure 21-1. Derating Curve for Different Operating Temperatures 1,2 1,1 Derating Factor 1 Derating Factor for Typ Case is 1 0,9 0,8 -60 -40 -20 0 20 40 60 80 100 120 140 160 Operating Temperature C 21.1.3 Core Voltage Derating Factor Figure 21-2. Core Voltage Derating Factor 3 2,5 Derating Factor Derating Factor for Typ Case is 1 2 1 ,5 1 0,5 1 1,05 1,1 1,15 1,2 1,25 1,3 1,35 1,4 1,45 1,5 1,55 1,6 1,65 1,7 1,75 1,8 1,85 1,9 1,95 Core Supply Voltage (V) 184 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 21.1.4 IO Voltage Derating Factor Figure 21-3. Derating Factor for Different VDDIO Power Supply Levels 1,6 1,5 Derating Factor 1,4 1,3 1,2 1,1 1 0,9 0,8 2 2,2 2,4 2,6 2,8 3 3,2 3,4 3,6 VDDIO Voltage Level Derating Factor for Typ Case is 1 185 6410B-ATARM-12-Jan-10 21.2 21.2.1 Peripheral Signals USART Signals The inputs have to meet the minimum pulse width and period constraints shown in Table 21-1 and Table 21-2, and represented in Figure 21-4. Table 21-1. Symbol US1 USART Input Minimum Pulse Width Parameter SCK/RXD Minimum Pulse Width Min Pulse Width 5(tCP/2) Units ns Table 21-2. Symbol US2 USART Minimum Input Period Parameter SCK Minimum Input Period Min Input Period 9(tCP/2) Units ns Figure 21-4. USART Signals US1 RXD US2 US1 SCK 21.2.2 Timer/Counter Signals Due to internal synchronization of input signals, there is a delay between an input event and a corresponding output event. This delay is 3(tCP) in Waveform Event Detection mode and 4(tCP) in Waveform Total-count Detection mode. The inputs have to meet the minimum pulse width and minimum input period shown in Table 21-3 and Table 21-4, and as represented in Figure 21-5. Table 21-3. Symbol TC1 Timer Input Minimum Pulse Width Parameter TCLK/TIOA/TIOB Minimum Pulse Width Min Pulse Width 3(tCP/2) Units ns Table 21-4. Symbol TC2 Timer Input Minimum Period Parameter TCLK/TIOA/TIOB Minimum Input Period Min Input Period 5(tCP/2) Units ns 186 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 21-5. Timer Input TC2 3(tCP/2) 3(tCP/2) MCKI TC1 TIOA/ TIOB/ TCLK 21.2.3 Reset Signals A minimum pulse width is necessary, as shown in Table 21-5 and as represented in Figure 21-6. Table 21-5. Symbol RST1 Reset Minimum Pulse Width Parameter NRST Minimum Pulse Width Min Pulse-width 10(tCP) Units ns Figure 21-6. Reset Signal RST1 NRST Only the NRST rising edge is synchronized with MCKI. The falling edge is asynchronous. 21.2.4 Advanced Interrupt Controller Signals Inputs have to meet the minimum pulse width and minimum input period shown in Table 21-6 and Table 21-7 and represented in Figure 21-7. Table 21-6. Symbol AIC1 AIC Input Minimum Pulse Width Parameter FIQ/IRQ0/IRQ1/IRQ2/IRQ3 Minimum Pulse Width Min Pulse Width 3(tCP/2) Units ns Table 21-7. Symbol AIC2 AIC Input Minimum Period Parameter AIC Minimum Input Period Min Input Period 5(tCP/2) Units ns 187 6410B-ATARM-12-Jan-10 Figure 21-7. AIC Signals AIC2 MCKI AIC1 FIQ/IRQ0/ IRQ1/IRQ2/ IRQ3 Input 21.2.5 Parallel I/O Signals The inputs have to meet the minimum pulse width shown in Table 21-8 and represented in Figure 21-8. Table 21-8. Symbol PIO1 PIO Input Minimum Pulse Width Parameter PIO Input Minimum Pulse Width Min Pulse Width 3(tCP/2) Units ns Figure 21-8. PIO Signal PIO1 PIO Inputs 21.2.6 ICE Interface Signals Table 21-9. Symbol ICE0 ICE1 ICE2 ICE3 ICE4 ICE5 ICE6 ICE7 ICE8 ICE9 ICE Interface Timing Specifications Parameter NTRST Minimum Pulse Width NTRST High Recovery to TCK High NTRST High Removal from TCK High TCK Low Half-period TCK High Half-period TCK Period TDI, TMS Setup before TCK High TDI, TMS Hold after TCK High TDO Hold Time CTDO = 0 pF CTDO derating CTDO = 0 pF CTDO derating Conditions Min 10.9 0.9 -0.3 23.5 22.7 46.1 0.4 0.4 3.3 0.001 7.4 0.28 Max Units ns ns ns ns ns ns ns ns ns ns/pF ns ns/pF TCK Low to TDO Valid 188 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 21-9. ICE Interface Signal ICE0 NTRST ICE1 ICE5 TCK ICE3 ICE4 ICE2 TMS/TDI ICE6 ICE7 TDO ICE8 ICE9 189 6410B-ATARM-12-Jan-10 21.3 EBI Signals Relative to MCKI The following tables show timings relative to operating condition limits defined in the section "Conditions and Timing Results" on page 183. Table 21-10. General-purpose EBI Signals Symbol EBI1 Parameter MCKI Falling to NUB Valid Conditions CNUB = 0 pF CNUB derating MCKI Falling to NLB/A0 Valid CNLB = 0 pF CNLB derating MCKI Falling to A1 - A23 Valid MCKI Falling to Chip Select Change NWAIT Setup before MCKI Rising NWAIT Hold after MCKI Rising CADD = 0 pF CADD derating CNCS = 0 pF CNCS derating Min 4.4 0.030 3.7 0.045 3.4 0.045 3.7 0.045 1.7 1.7 Max 8.9 0.043 6.7 0.069 7.8 0.076 8.6 0.078 Units ns ns/pF ns ns/pF ns ns/pF ns ns/pF ns ns EBI2 EBI3 EBI4 EBI5 EBI6 Table 21-11. EBI Write Signals Symbol EBI7 Parameter MCKI Rising to NWR Active (No Wait States) Conditions CNWR = 0 pF CNWR derating MCKI Rising to NWR Active (Wait States) CNWR = 0 pF CNWR derating MCKI Falling to NWR Inactive (No Wait States) CNWR = 0 pF CNWR derating MCKI Rising to NWR Inactive (Wait States) CNWR = 0 pF CNWR derating MCKI Rising to D0 - D15 Out Valid CDATA = 0 pF CDATA derating NWR High to NUB Change CNUB = 0 pF CNUB derating NWR High to NLB/A0 Change CNLB = 0 pF CNLB derating NWR High to A1 - A23 Change CADD = 0 pF CADD derating NWR High to Chip Select Inactive CNCS = 0 pF CNCS derating Min 3.9 0.029 4.4 0.029 3.8 0.029 4.2 0.029 4.2 0.045 3.1 0.030 3.1 0.043 2.9 0.043 2.9 0.052 Max 6.3 0.043 7.0 0.043 6.3 0.044 6.7 0.044 7.5 0.080 7.0 0.043 5.4 0.073 7.0 0.076 6.8 0.067 Units ns ns/pF ns ns/pF ns ns/pF ns ns/pF ns ns/pF ns ns/pF ns ns/pF ns ns/pF ns ns/pF EBI8 EBI9 EBI10 EBI11 EBI12 EBI13 EBI14 EBI15 190 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Table 21-11. EBI Write Signals (Continued) Symbol Parameter Conditions C = 0 pF EBI16 Data Out Valid before NWR High (No Wait States) (1) Min tCH - 1.8 -0.080 0.044 n x tCP - 1.3(2) -0.080 0.044 2.2 tCP/2 + EBI18 Max Units ns ns/pF ns/pF ns ns/pF ns/pF ns ns ns ns/pF CDATA derating CNWR derating C = 0 pF EBI17 Data Out Valid before NWR High (Wait States)(1) CDATA derating CNWR derating EBI18 EBI18bis EBI19 Data Out Valid after NWR High (No Wait States) Data Out Valid after NWR High (Wait States) NWR Minimum Pulse Width (No Wait States)(1) CNWR = 0 pF CNWR derating NWR Minimum Pulse Width (Wait States)(1) 1. The derating factor should not be applied to tCH or tCP. 2. n = number of standard wait states inserted. CNWR = 0 pF CNWR derating tCH - 0.6 0 n x tCP - 0.9 0 (2) ns ns/pF EBI20 Notes: Table 21-12. EBI Read Signals Symbol EBI21 Parameter MCKI Falling to NRD Active(1) Conditions CNRD = 0 pF CNRD derating MCKI Rising to NRD Active(2) CNRD = 0 pF CNRD derating MCKI Falling to NRD Inactive(1) CNRD = 0 pF CNRD derating MCKI Falling to NRD Inactive(2) D0 - D15 In Setup before MCKI Falling Edge D0 - D15 In Hold after MCKI Falling Edge(6) NRD High to NUB Change CNUB = 0 pF CNUB derating NRD High to NLB/A0 Change CNLB = 0 pF CNLB derating NRD High to A1 - A23 Change CADD = 0 pF CADD derating NRD High to Chip Select Inactive CNCS = 0 pF CNCS derating (5) Min 4.5 0.029 3.8 0.029 4.1 0.030 3.9 0.030 1.5 1.2 3.2 0.030 3.2 0.043 2.8 0.043 2.9 0.052 Max 7.9 0.043 7.3 0.043 6.5 0.044 5.8 0.044 Units ns ns/pF ns ns/pF ns ns/pF ns ns/pF ns ns EBI22 EBI23 EBI24 EBI25 EBI26 EBI27 CNRD = 0 pF CNRD derating 7.1 0.043 4.6 0.073 6.1 0.076 6.2 0.067 ns ns/pF ns ns/pF ns ns/pF ns ns/pF EBI28 EBI29 EBI30 191 6410B-ATARM-12-Jan-10 Table 21-12. EBI Read Signals (Continued) Symbol EBI31 Parameter Data Setup before NRD High (5) Conditions CNRD = 0 pF CNRD derating Data Hold after NRD High(6) CNRD = 0 pF CNRD derating NRD Minimum Pulse Width(1)(3) CNRD = 0 pF CNRD derating NRD Minimum Pulse Width(2)(3) 1. Early Read Protocol. 2. Standard Read Protocol. 3. The derating factor should not be applied to tCH or tCP. 4. n = number of standard wait states inserted. 5. Only one of these two timings, EB25 or EBI31, needs to be met. 6. Only one of these two timings, EB26 or EBI32, needs to be met. CNRD = 0 pF CNRD derating Min 8.0 0.044 -3.1 -0.030 (n +1) tCP - 1.9(4) 0.001 n x tCP + (tCH - 1.5) 0.001 (4) Max Units ns ns/pF ns ns/pF ns ns/pF ns ns/pF EBI32 EBI33 EBI34 Notes: Table 21-13. EBI Read and Write Control Signals. Capacitance Limitation Symbol TCPLNRD(1) TCPLNWR(2) Notes: Parameter Master Clock Low Due to NRD Capacitance Conditions CNRD = 0 pF CNRD derating Master CLock Low Due to NWR Capacitance CNWR = 0 pF CNWR derating Min 7.3 0.044 7.6 0.044 Max Units ns ns/pF ns ns/pF 1. If this condition is not met, the action depends on the read protocol intended for use. * Early Read Protocol: Programing an additional tDF (Data Float Output Time) cycle. * Standard Read Protocol: Programming an additional tDF Cycle and an additional wait state. 2. Applicable only for chip select programmed with 0 wait state. If this condition is not met, at least one wait state must be programmed. 192 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Figure 21-10. EBI Signals Relative to MCKI MCKI EBI4 EBI4 NCS CS EBI3 A1 - A23 EBI5 NWAIT EBI6 EBI1/EBI2 NUB/NLB/A0 EBI21 EBI33 EBI27-30 EBI23 NRD(1) EBI22 NRD(2) EBI31 EBI24 EBI34 EBI32 EBI25 EBI26 D0 - D15 Read EBI7 NWR (No Wait States) EBI9 EBI19 EBI8 NWR (Wait States) EBI11 EBI16 D0 - D15 to Write No Wait Wait EBI18 EBI20 EBI17 EBI18bis EBI10 EBI12-15 Notes: 1. Early Read Protocol. 2. Standard Read Protocol. 193 6410B-ATARM-12-Jan-10 21.4 AC Flash Read Characteristics Table 21-14. AC Flash Read Characteristics Symbol tRC tACC tCE (1) Parameter Read Cycle Time Address to Output Delay CE to Output Delay OE to Output Delay CE or OE to Output Float Output Hold from OE, CE or Address, whichever occurred first RESET to Output Delay Min 70 Max Units ns 70 70 0 0 0 100 20 25 ns ns ns ns ns ns tOE(2) tDF (3)(4) tOH tRO 21.4.1 AC Read Waveforms Figure 21-11. AC Read Waveforms(1) (2) (3) (4) tRC ADDRESS ADDRESS VALID CE tCE OE tOE tDF tACC RESET HIGH Z tRO OUTPUT VALID tOH OUTPUT Notes: 1. CE may be delayed up to tACC - tCE after the address transition without impact on tACC. 2. OE may be delayed up to tCE - tOE after the falling edge of CE without impact on tCE or by tACC tOE after an address change without impact on tACC. 3. tDF is specified from OE or CE, whichever occurs first (CL = 5 pF). 4. This parameter is characterized and is not 100% tested. 194 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 21.4.2 Input Test Waveforms and Measurement Level Figure 21-12. Input Test Waveforms and Measurement Level tR, tF < 5 ns 21.4.3 Output Test Load Figure 21-13. Output Test Load 21.4.4 Pin Capacitance Table 21-15. Pin Capacitance f = 1 MHz, T = 25C(1) Symbol CIN COUT Note: Conditions VIN = 0V VOUT = 0V 1. This parameter is characterized and is not 100% tested. Typ 4 8 Max 6 12 Units pF pF 195 6410B-ATARM-12-Jan-10 21.5 AC Flash Byte/Word Load Waveforms Table 21-16. AC Byte/Word Load Waveforms Symbol tAS, tOES tAH tCS tCH tWP tWPH tDS tDH, tOEH Parameter Address, OE Setup Time Address Hold Time Chip Select Setup Time Chip Select Hold Time Write Pulse Width (WE or CE) Write Pulse Width High Data Setup Time Data, OE Hold Time Min 0 35 0 0 35 35 35 0 Max Units ns ns ns ns ns ns ns ns 21.5.1 WE Controlled Figure 21-14. WE Controlled 196 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 21.5.2 CE Controlled Figure 21-15. CE Controlled 197 6410B-ATARM-12-Jan-10 21.6 Flash Program Cycle Characteristics Table 21-17. Program Cycle Characteristics Symbol Parameter Min Typ Max Units tBP tAS tAH tDS tDH tWP tWPH tWC tRP tEC tSEC1 tSEC2 tES tPS tERES Byte/Word Programming Time Address Setup Time Address Hold Time Data Setup Time Data Hold Time Write Pulse Width Write Pulse Width High Write Cycle Time Reset Pulse Width Chip Erase Cycle Time Sector Erase Cycle Time (4K Word Sectors) Sector Erase Cycle Time (32K Word Sectors) Erase Suspend Time Program Suspend Time Delay between Erase Resume and Erase Suspend 500 0 35 35 0 35 35 70 500 12 200 s ns ns ns ns ns ns ns ns 25 0.3 1.0 3.0 6.0 15 10 seconds seconds seconds s s ns 21.6.1 Program Cycle Waveforms Figure 21-16. Program Cycle Waveforms PROGRAM CYCLE OE CE tWP tWPH tBP WE tAS tAH 555 AAA tDH 555 ADDRESS 555 A0 - A19 tWC tDS AA 55 A0 INPUT DATA AA DATA 198 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 21.6.2 Sector or Chip Erase Cycle Waveforms Figure 21-17. Sector or Chip Erase Cycle Waveforms OE (1) CE tWP tWPH WE tAS tAH 555 AAA tDH 555 555 AAA Note 2 A0-A19 tWC tDS AA 55 WORD 1 80 WORD 2 AA WORD 3 55 WORD 4 Note 3 WORD 5 tEC DATA WORD 0 Notes: 1. OE must be high only when WE and CE are both low. 2. For chip erase, the address should be 555. For sector erase, the address depends on what sector is to be erased. (See footnote (3) of Table 12-2, "Command Definition Table," on page 63.) 3. For chip erase, the data should be 10H, and for sector erase, the data should be 30H. 199 6410B-ATARM-12-Jan-10 21.7 Flash Data Polling Characteristics Table 21-18. Data Polling Characteristics(1) Symbol tDH tOEH tOE tWR Notes: Parameter Data Hold Time OE Hold Time OE to Output Delay (2) Min 10 10 Typ Max Units ns ns ns Write Recovery Time 1. These parameters are characterized and not 100% tested. 2. See tOE spec in "AC Flash Read Characteristics" on page 194. 0 ns 21.7.1 Data Polling Waveforms Figure 21-18. Data Polling Waveforms WE CE OE tDH I/O7 A0-A19 tOEH tOE An HIGH Z An An An tWR An 200 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 21.8 Flash Toggle Bit Characteristics Table 21-19. Toggle Bit Characteristics(1) Symbol tDH tOEH tOE tOEHP tWR Notes: Parameter Data Hold Time OE Hold Time OE to Output Delay OE High Pulse Write Recovery Time 1. These parameters are characterized and not 100% tested. 2. See tOE spec in "AC Flash Read Characteristics" on page 194. (2) Min 10 10 Typ Max Units ns ns ns 50 0 ns ns 21.8.1 Toggle Bit Waveforms Figure 21-19. Toggle Bit Waveforms (1)(2)(3) Notes: 1. Toggling either OE or CE or both OE and CE will operate toggle bit. The tOEHP specification must be met by the toggling input(s). 2. Beginning and ending state of I/O6 will vary. 3. Any address location may be used but the address should not vary. 201 6410B-ATARM-12-Jan-10 22. Mechanical Characteristics 22.1 Package Drawing Figure 22-1. AT91FR40162SBPackage Table 22-1. 194 Device and 121-ball BGA Package Maximum Weight mg Table 22-2. Ball diameter Ball land 121-ball BGA Package Characteristics 0.35 mm 0.4 0.05 mm 0.3 0.05 mm Copper Sn/Ag/Cu 3 Solder mask opening Plating material Solder ball material Moisture Sensitivity Level 202 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Table 22-3. Package Reference e1 JESD97 Classification This package respects the recommendations of the NEMI User Group 22.2 Soldering Profile Table 22-4 gives the recommended soldering profile from J-STD-20C. Table 22-4. Soldering Profile Convection or IR/Convection 3 C/sec. max. 180 sec. max 60 sec. to 150 sec. 20 sec. to 40 sec. 260 C 6 C/sec. 8 min. max Profile Feature Average Ramp-up Rate (183 C to Peak) Preheat Temperature 125 C 25 C Temperature Maintained Above 183 C Time within 5 C of Actual Peak Temperature Peak Temperature Range Ramp-down Rate Time 25 C to Peak Temperature Note: It is recommended to apply a soldering temperature higher than 250C. A maximum of three reflow passes is allowed per component. 203 6410B-ATARM-12-Jan-10 23. Ordering Information Table 23-1. Ordering Information Package BGA 121 Package Type Green Temperature Operating Range Industrial (-40 C to 85 C) Ordering Code AT91FR40162SB-CU 204 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 24. AT91FR40162SB Errata 24.1 Marking All devices are marked with the Atmel logo and the ordering code. Additional marking has the following format: YYWW V XXXXXXXXX where * "YY": manufactory year ARM * "WW": manufactory week * "V": revision "XXXXXXXXX": lot number 24.2 24.2.1 Flash Flash: Erroneous Read of the first instruction out of the integrated Flash memory At power-up when fetching the first instruction out of the integrated Flash memory, the ARM processor may read the first two 16-bit words at 0xFFFF instead of the prgrammed value, preventing the device to start-up correctly. Problem Fix/Workaround Software workaround is to add 0xFFFFFFFF, 32-bit instruction at the beginning of the program code. When reading instruction 0xFFFFFFFF, equivalent to a NOP instruction, the ARM7TDMI processor will execute the next instruction corresponding to the true first instruction of the program you want the processor to run. 205 6410B-ATARM-12-Jan-10 206 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 25. Revision History Change Request Ref. First Issue Section 2.3.3 "Erase Cycle Timings", updated section. Section 24. "AT91FR40162SB Errata", Section 24.2.1 "Flash: Wrong Read of the first instruction out of the integrated Flash memory", added to errata. 5617 6942 Doc. Rev. 6410A 6410B 207 6410B-ATARM-12-Jan-10 208 AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB Table of Contents Features ..................................................................................................... 1 1 2 Description ............................................................................................... 2 Migrating from the AT91FR40162S to the AT91FR40162SB ................ 2 2.1 2.2 2.3 Hardware Requirements ....................................................................................2 Software Requirements .....................................................................................2 Flash Memory Difference ..................................................................................2 3 4 5 6 Pin Configuration ..................................................................................... 4 Signal Description ................................................................................... 5 Block Diagram .......................................................................................... 7 Architectural Overview ............................................................................ 8 6.1 6.2 Memories ...........................................................................................................8 Peripherals ........................................................................................................8 7 Product Overview .................................................................................. 10 7.1 7.2 7.3 7.4 7.5 7.6 7.7 Power Supply ..................................................................................................10 Input/Output Considerations ............................................................................10 Master Clock ....................................................................................................10 Reset ...............................................................................................................10 Emulation Functions ........................................................................................11 Memory Controller ...........................................................................................12 AT91 Flash Memory Uploader (FMU) Software ..............................................15 8 Peripherals ............................................................................................. 17 8.1 8.2 System Peripherals .........................................................................................18 User Peripherals ..............................................................................................19 9 Memory Map ........................................................................................... 20 10 Peripheral Memory Map ........................................................................ 21 11 EBI: External Bus Interface ................................................................... 22 11.1 11.2 11.3 11.4 11.5 External Memory Mapping ...............................................................................22 External Bus Interface Pin Description ...........................................................23 Chip Select Lines .............................................................................................24 Data Bus Width ................................................................................................25 Byte Write or Byte Select Access ....................................................................26 i 6410B-ATARM-12-Jan-10 11.6 11.7 11.8 11.9 11.10 11.11 Boot on NCS0 ..................................................................................................28 Read Protocols ................................................................................................28 Write Data Hold Time ......................................................................................30 Wait States ......................................................................................................31 Memory Access Waveforms ............................................................................34 EBI User Interface ...........................................................................................46 12 Flash Memory ......................................................................................... 51 12.1 12.2 12.3 12.4 12.5 12.6 12.7 12.8 12.9 12.10 12.11 Block Diagram .................................................................................................52 Device Operation .............................................................................................52 Sector Lockdown .............................................................................................55 Status Bit Table ...............................................................................................62 Flash Memory Command Definition ................................................................63 Protection Register Addressing .......................................................................64 Sector Address ...............................................................................................65 Software Product Identification Entry ..............................................................66 Software Product Identification Exit .................................................................66 Sector Lockdown Enable Algorithm .................................................................67 Common Flash Interface Definition .................................................................68 13 PS: Power-saving ................................................................................... 70 13.1 13.2 Peripheral Clocks ............................................................................................70 Power Saving (PS) User Interface ...................................................................71 14 AIC: Advanced Interrupt Controller ..................................................... 76 14.1 14.2 14.3 14.4 14.5 14.6 14.7 14.8 14.9 14.10 14.11 14.12 14.13 Block Diagram .................................................................................................76 Hardware Interrupt Vectoring ..........................................................................78 Priority Controller .............................................................................................78 Interrupt Handling ............................................................................................78 Interrupt Masking .............................................................................................79 Interrupt Clearing and Setting ..........................................................................79 Fast Interrupt Request .....................................................................................79 Software Interrupt ............................................................................................79 Spurious Interrupt ............................................................................................79 Protect Mode ...................................................................................................80 Standard Interrupt Sequence ..........................................................................81 Fast Interrupt Sequence ..................................................................................82 AIC User Interface ...........................................................................................84 ii AT91FR40162SB 6410B-ATARM-12-Jan-10 AT91FR40162SB 15 PIO: Parallel I/O Controller .................................................................... 93 15.1 15.2 15.3 15.4 15.5 15.6 Multiplexed I/O Lines .......................................................................................93 Output Selection ..............................................................................................93 I/O Levels ........................................................................................................93 Interrupts .........................................................................................................94 User Interface ..................................................................................................94 PIO User Interface ...........................................................................................97 16 WD: Watchdog Timer ........................................................................... 107 16.1 16.2 16.3 Block Diagram ...............................................................................................107 WD Enabling Sequence ................................................................................108 WD User Interface .........................................................................................109 17 SF: Special Function Registers .......................................................... 113 17.1 17.2 Chip Identification ..........................................................................................113 SF User Interface ..........................................................................................114 18 USART: Universal Synchronous Asynchronous Receiver Transmitter ................................................................................................................ 119 18.1 18.2 18.3 18.4 18.5 18.6 18.7 18.8 18.9 18.10 Block Diagram ...............................................................................................119 Pin Description ..............................................................................................120 Baud Rate Generator ....................................................................................121 Receiver ........................................................................................................122 Transmitter ....................................................................................................124 Break .............................................................................................................125 Peripheral Data Controller .............................................................................127 Interrupt Generation ......................................................................................127 Channel Modes .............................................................................................128 USART User Interface ...................................................................................129 19 TC: Timer Counter ............................................................................... 148 19.1 19.2 19.3 19.4 19.5 19.6 Block Diagram ...............................................................................................149 Signal Description ..........................................................................................150 Timer Counter Description .............................................................................150 Capture Operating Mode ...............................................................................154 Waveform Operating Mode ...........................................................................156 TC User Interface ..........................................................................................159 20 AT91FR40162SB Electrical Characteristics ...................................... 177 iii 6410B-ATARM-12-Jan-10 20.1 20.2 20.3 20.4 20.5 20.6 Absolute Maximum Ratings ...........................................................................177 AT91FR40162SB DC Characteristics ...........................................................178 Flash DC Characteristics ...............................................................................179 Flash Operating Modes .................................................................................179 Power Consumption ......................................................................................180 Clock Waveforms ..........................................................................................181 21 AC Characteristics ............................................................................... 183 21.1 21.2 21.3 21.4 21.5 21.6 21.7 21.8 Applicable Conditions and Derating Data ......................................................183 Peripheral Signals .........................................................................................186 EBI Signals Relative to MCKI ........................................................................190 AC Flash Read Characteristics .....................................................................194 AC Flash Byte/Word Load Waveforms ..........................................................196 Flash Program Cycle Characteristics ............................................................198 Flash Data Polling Characteristics .................................................................200 Flash Toggle Bit Characteristics ....................................................................201 22 Mechanical Characteristics ................................................................. 202 22.1 22.2 Package Drawing ..........................................................................................202 Soldering Profile ............................................................................................203 23 Ordering Information ........................................................................... 204 24 AT91FR40162SB Errata ....................................................................... 205 24.1 24.2 Marking ..........................................................................................................205 Flash ..............................................................................................................205 25 Revision History ................................................................................... 207 Table of Contents....................................................................................... i iv AT91FR40162SB 6410B-ATARM-12-Jan-10 Headquarters Atmel Corporation 2325 Orchard Parkway San Jose, CA 95131 USA Tel: 1(408) 441-0311 Fax: 1(408) 487-2600 International Atmel Asia Unit 1-5 & 16, 19/F BEA Tower, Millennium City 5 418 Kwun Tong Road Kwun Tong, Kowloon Hong Kong Tel: (852) 2245-6100 Fax: (852) 2722-1369 Atmel Europe Le Krebs 8, Rue Jean-Pierre Timbaud BP 309 78054 Saint-Quentin-enYvelines Cedex France Tel: (33) 1-30-60-70-00 Fax: (33) 1-30-60-71-11 Atmel Japan 9F, Tonetsu Shinkawa Bldg. 1-24-8 Shinkawa Chuo-ku, Tokyo 104-0033 Japan Tel: (81) 3-3523-3551 Fax: (81) 3-3523-7581 Product Contact Web Site www.atmel.com www.atmel.com/AT91SAM Technical Support AT91SAM Support Atmel techincal support Sales Contacts www.atmel.com/contacts/ Literature Requests www.atmel.com/literature Disclaimer: The information in this document is provided in connection with Atmel products. No license, express or implied, by estoppel or otherwise, to any intellectual property right is granted by this document or in connection with the sale of Atmel products. EXCEPT AS SET FORTH IN ATMEL'S TERMS AND CONDITIONS OF SALE LOCATED ON ATMEL'S WEB SITE, ATMEL ASSUMES NO LIABILITY WHATSOEVER AND DISCLAIMS ANY EXPRESS, IMPLIED OR STATUTORY WARRANTY RELATING TO ITS PRODUCTS INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTY OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, CONSEQUENTIAL, PUNITIVE, SPECIAL OR INCIDENTAL DAMAGES (INCLUDING, WITHOUT LIMITATION, DAMAGES FOR LOSS OF PROFITS, BUSINESS INTERRUPTION, OR LOSS OF INFORMATION) ARISING OUT OF THE USE OR INABILITY TO USE THIS DOCUMENT, EVEN IF ATMEL HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. Atmel makes no representations or warranties with respect to the accuracy or completeness of the contents of this document and reserves the right to make changes to specifications and product descriptions at any time without notice. Atmel does not make any commitment to update the information contained herein. Unless specifically provided otherwise, Atmel products are not suitable for, and shall not be used in, automotive applications. Atmel's products are not intended, authorized, or warranted for use as components in applications intended to support or sustain life. (c) 2010 Atmel Corporation. All rights reserved. Atmel(R), Atmel logo and combinations thereof and others are registered trademarks or trademarks of Atmel Corporation or its subsidiaries. ARM (R), the ARMPowered(R) logo, ARM7TDMI(R), Thumb (R) and others are registered trademarks or trademarks of ARM Ltd. Windows (R) and others are registered trademarks or trademarks of Microsoft Corporation in the US and/or in other countries, IBM (R) is a registered trademark of IBM Corporation. Other terms and product names may be trademarks of others. 6410B-ATARM-12-Jan-10 vi AT91FR40162SB 6410B-ATARM-12-Jan-10 |
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