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| 9223f-avr-04/14 features high performance, low power avr ? 8-bit microcontroller advanced risc architecture 131 powerful instructions ? mo st single clock cycle execution 32 8 general purpose working registers fully static operation up to 16mips throughput at 16mhz on-chip 2-cycle multiplier high endurance non-volatile memory segments 4/8/16k bytes of in-system self-p rogrammable flash program memory 256/512/512 bytes eeprom 512/1k/1k bytes internal sram write/erase cycles: 10,000 flash/100,000 eeprom optional boot code section with independent lock bits in-system programming by on-chip boot program true read-while-write operation programming lock for software security peripheral features two 8-bit timer/counters with se parate prescaler and compare mode one 16-bit timer/counter with separate prescaler, compare mode, and capture mode real time counter with separate oscillator six pwm channels 8-channel 10-bit adc temperature measurement programmable serial usart master/slave spi serial interface byte-oriented 2-wire seri al interface (philips i 2 c compatible) programmable watchdog timer with separate on-chip oscillator on-chip analog comparator interrupt and wake-up on pin change special microcontroller features power-on reset and programmable brown-out detection internal calibrated oscillator external and internal interrupt sources six sleep modes: idle, adc noise reduction, power-save, power-down, standby, and extended standby atmega48pa/atmega88pa/atmega168pa 8-bit avr microcontroller with 4/8/16k8/16kbytes in-system datasheet
atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 2 i/o and packages 23 programmable i/o lines 32-lead tqfp, and 32-pad qfn operating voltage: 2.7v to 5.5v temperature range: ?40 c to +125 c speed grade: 0 to 8mhz at 2.7v to 5.5v, 0 to 16mhz at 4.5v to 5.5v power consumption active mode: 1.4ma at 4mhz 3v 25c power-down mode: 0.8a 3 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 1. pin configurations figure 1-1. pinout atmel atmega48pa/88pa/168pa (pcint19/oc2b/int1) pd3 (pcint20/xck/t0) pd4 (pcint6/xtal1/tosc1) pb6 (pcint7/xtal2/tosc2) pb7 gnd vcc gnd vcc 6 7 8 5 4 3 2 1 32 31 30 29 28 27 26 25 9 10111213141516 19 18 17 20 21 22 23 24 pc1 (adc1/pcint9) (pcint21/oc0b/t1) pd5 (pcint0/clko/icp1) pd5 (pcint23/ain1) pd7 (pcint1/oc1a) pb1 (pcint2/ss/oc1b) pb2 (pcint3/oc2a/mosi) pb3 (pcint4/miso) pb4 (pcint22/oc0a/ain0) pd6 pc0 (adc0/pcint8) avcc pb5 (sck/pcint5) adc7 gnd aref adc6 pd2 (int0/pcint18) pd1 (txd/pcint17) pd0 (rxd/pcint16) pc6 (reset/pcint14) pc5 (adc5/scl/pcint13) pc4 (adc4/sda/pcint12) pc3 (adc3/pcint11) pc2 (adc2/pcint10) (pcint19/oc2b/int1) pd3 (pcint20/xck/t0) pd4 (pcint6/xtal1/tosc1) pb6 (pcint7/xtal2/tosc2) pb7 gnd vcc gnd vcc note: bottom pad should be soldered to ground. 6 7 8 5 4 3 2 1 32 31 30 29 32 qfn top view 28 27 26 25 9 10111213141516 19 18 17 20 21 22 23 24 pc1 (adc1/pcint9) (pcint21/oc0b/t1) pd5 (pcint0/clko/icp1) pd5 (pcint23/ain1) pd7 (pcint1/oc1a) pb1 (pcint2/ss/oc1b) pb2 (pcint3/oc2a/mosi) pb3 (pcint4/miso) pb4 (pcint22/oc0a/ain0) pd6 pc0 (adc0/pcint8) avcc pb5 (sck/pcint5) adc7 gnd aref adc6 pd2 (int0/pcint18) pd1 (txd/pcint17) pd0 (rxd/pcint16) pc6 (reset/pcint14) pc5 (adc5/scl/pcint13) pc4 (adc4/sda/pcint12) pc3 (adc3/pcint11) pc2 (adc2/pcint10) 32 tqfp top view atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 4 1.1 pin descriptions 1.1.1 vcc digital supply voltage. 1.1.2 gnd ground. 1.1.3 port b (pb7:0) xtal1/xtal2/tosc1/tosc2 port b is an 8-bit bi-directional i/o port with internal pull-up resistors (selected for each bit). the port b output buffers h ave symmetrical drive characteristics with both high sink and source capability. as inputs, port b pins that are externally pulled low will source current if the pull-up resi stors are activated. the port b pins are tri-stated when a reset condition becomes active, even if the clock is not running. depending on the clock selection fuse settings, pb6 can be used as input to the inverting oscillator amplifier and input to the internal clock operating circuit. depending on the clock selection fuse settings, pb7 can be us ed as output from the inverting oscillator amplifier. if the internal calibrated rc oscillator is used as chip clock so urce, pb7...6 is used as tosc2...1 input for the asynchronous timer/counter2 if the as2 bit in assr is set. the various special features of port b are elaborated in section 14.3.1 ?alternate functions of port b? on page 71 and section 9. ?system clock and clock options? on page 24 . 1.1.4 port c (pc5:0) port c is a 7-bit bi-directional i/o port with internal pull-up resistors (selected for each bit). the pc5...0 output buffers h ave symmetrical drive characteristics with both high sink and source capability. as inputs, port c pins that are externally pulled low will source current if the pull-up resi stors are activated. the port c pins are tri-stated when a reset condition becomes active, even if the clock is not running. 1.1.5 pc6/reset if the rstdisbl fuse is programmed, pc6 is used as an i/o pin. note that the electrical char acteristics of pc6 differ from those of the other pins of port c. if the rstdisbl fuse is unprogrammed, pc6 is used as a re set input. a low level on this pin for longer than the minimum pulse length will generate a reset, even if the clock is not running. the minimum pulse length is given in table 29-5 on page 272 . shorter pulses are not guaranteed to generate a reset. the various special features of port c are elaborated in section 14.3.2 ?alternate functi ons of port c? on page 74 . 1.1.6 port d (pd7:0) port d is an 8-bit bi-directional i/o port with internal pull-up resistors (selected for each bi t). the port d output buffers h ave symmetrical drive characteristics with both high sink and source capability. as inputs, port d pins that are externally pulled low will source current if the pull-up resi stors are activated. the port d pins are tri-stated when a reset condition becomes active, even if the clock is not running. the various special features of port d are elaborated in section 14.3.3 ?alternate functi ons of port d? on page 76 . 1.1.7 av cc av cc is the supply voltage pin for the a/d converter, pc3: 0, and adc7:6. it should be externally connected to v cc , even if the adc is not used. if the adc is used, it should be connected to v cc through a low-pass filter. note that pc6...4 use digital supply voltage, v cc . 1.1.8 aref aref is the analog reference pin for the a/d converter. 5 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 1.1.9 adc7:6 (tqfp and qfn package only) in the tqfp and qfn package, adc7:6 serve as analog input s to the a/d converter. these pins are powered from the analog supply and serve as 10-bit adc channels. 2. overview the atmel ? atmega48pa/88pa/168pa is a low-power cmos 8-bit microcontroller based on the avr ? enhanced risc architecture. by executing powerful inst ructions in a single clock cycle, t he atmel atmega48pa/88 pa/168pa achieves throughputs approaching 1mips per mhz allowing the system des igner to optimize power consumption versus processing speed. 2.1 block diagram figure 2-1. block diagram power supervision por/ bod and reset oscillator circuits/ clock generation watchdog timer watchdog oscillator program logic debugwire avr cpu eeprom data bus flash gnd vcc a/d conv. 16 bit t/c 1 8 bit t/c 0 internal bandgap analog comp. 8 bit t/c 2 usart 0 spi twi 2 6 port d (8) port b (8) port c (7) sram avcc aref gnd reset xtal[1..2] pd[..7] pb[0..7] pc[0..6] adc[6..7] atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 6 the avr ? core combines a rich instruction set with 32 general purp ose working registers. all t he 32 registers are directly connected to the arithmetic logic unit (alu), allowing two independent registers to be accessed in one single instruction executed in one clock cycle. the resulti ng architecture is more code efficient while achieving throughputs up to ten times faster than conventional cisc microcontrollers. the atmel ? atmega48pa/88pa/168pa provides the following features: 4k/8 kbytes of in-system pr ogrammable flash with read-while-write capabilities, 256/512/512 bytes eeprom, 512/1k/1kbytes sram , 23 general purpose i/o lines, 32 general purpose working registers, three flexible timer/counters with compare modes, intern al and external interrupts, a serial programmable usart, a byte-oriented 2-wire serial interface, an spi serial port, a 8-channel 10-bit adc, a programmable watchdog timer with internal oscillator, and five software se lectable power saving modes. the idle mode stops the cpu while allowing the sram, timer/counters , usart, 2-wire serial interface, spi port, and interrupt system to continue functioning. the power-down mode saves the register cont ents but freezes the oscillator, disablin g all other chip functions until the next interrupt or hardware reset. in power-save mode, the asynchr onous timer continues to run, allowing the user to maintain a timer base while the rest of the device is sleeping. th e adc noise reduction mode stops the cpu and all i/o modules except asynchronous timer and adc, to minimize switch ing noise during adc conversions. in standby mode, the crystal/resonator oscillator is running whil e the rest of the device is sleeping. this allows very fast start-up combined with low power consumption. the device is manufactured using the atmel high density non-vo latile memory technology. the on-chip isp flash allows the program memory to be reprogrammed in-system through an spi serial interface, by a conventional non-volatile memory programmer, or by an on-chip boot program running on the avr core. the boot program can use any interface to download the application program in the application flash memory. software in the boot flash section will continue to run while the application flash section is updated, providing true read-whi le-write operation. by combining an 8-bit risc cpu with in- system self-programmable flash on a monolithic chip, the atmel atmega48pa/88pa/168pa is a powerful microcontroller that provides a highly flexible and cost effect ive solution to many embedded control applications. the atmel atmega48pa/88pa/168pa avr is supported wit h a full suite of program and system development tools including: c compilers, macro assemblers, program debugger /simulators, in-circuit emul ators, and evaluation kits. 2.2 comparison between processors the atmel atmega48pa/88pa/168pa differ only in memory size s, boot loader support, and interrupt vector sizes. table 2-1 summarizes the different memory and in terrupt vector size s for the devices. the atmel atmega48pa/88pa/168pa support a real read-while -write self-programming mech anism. there is a separate boot loader section, and the spm instruction can only execute fr om there. in the atmel atme ga48pa there is no read-while- write support and no separate boot loader section. the spm instruction can execute from the entire flash. table 2-1. memory size summary device flash eeprom ram interrupt vector size atmel atmega48pa/ 4k bytes 256 bytes 512 bytes 1 instruction word/vector atmel atmega88pa 8k bytes 512 bytes 1k bytes 1 instruction word/vector atmel atmega168pa 16k bytes 512 bytes 1k bytes 2 instruction words/vector 7 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 3. automotive quality grade the atmel ? atmega48pa/88pa/168pa have been developed and manufactured according to the most stringent requirements of the internationa l standard iso-ts-16949. this dat a sheet contains limit values extracted from the results of extensive characterization (temperature and voltage). the quality and reliability of the atmel atmega48pa/88pa/168pa have been verified during regular product qualification as per aec-q100 grade 1 (?40c to +125c). 4. resources a comprehensive set of development to ols, application notes and datasheet s are available for download on http://www.at mel.com/avr. note: 1. 5. data retention reliability qualification results show that the projected data retention failure rate is much less than 1 ppm over 20 years at 85c. 6. about code examples this documentation contains simple code examples that briefly show how to use various parts of the device. these code examples assume that the part sp ecific header file is included before compilation. be aware that not all c compiler vendors include bit definitions in the header files and interrupt h andling in c is compiler depende nt. please conf irm with the c compiler documentation for more details. for i/o registers located in extended i/o map, ?in?, ?out?, ?sbis?, ? sbic?, ?cbi?, and ?sbi? instru ctions must be replaced with instructions that allow access to extended i/o. typically ?lds? and ?sts? combined with ?sbrs?, ?sbrc?, ?sbr?, and ?cbr?. table 3-1. temperature grade identification for automotive products temperature (c) temperature identifier comments ?40; +125 z full automotive temperature range atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 8 7. avr cpu core 7.1 overview this section discusses the avr ? core architecture in general. the main function of the cpu core is to ensure correct program execution. the cpu must therefore be able to acce ss memories, perform calculations, control peripherals, and handle interrupts. figure 7-1. block diagram of the avr architecture in order to maximize performance and pa rallelism, the avr uses a harvard architecture ? with separate memories and buses for program and data. instructions in the program memo ry are executed with a single level pipelining. while one instruction is being executed, the next in struction is pre-fetched from the program memory. this co ncept enables instructions to be executed in every clock cycle. the program memory is in-system reprogrammable flash memory. the fast-access register file contains 32 x 8-bit general purpose working regi sters with a single clock cycle access time. this allows single-cycle arithmetic logic unit (alu) operation. in a typical alu operat ion, two operands are output from the register file, the oper ation is executed, and the result is stored back in th e register file ? in one clock cycle. six of the 32 registers can be used as three 16-bit indirect address register pointers for data space addressing ? enabling efficient address calculations. one of the these address pointers c an also be used as an address pointer for look up tables in flash program memory. these added function registers are the 16 -bit x-, y-, and z-register, de scribed later in this section. the alu supports arithmetic and logic operat ions between registers or between a constant and a register. single register operations can also be executed in the alu. after an arithmetic operation, the status register is updated to reflect information about the result of the operation. status and control interrupt unit 32 x 8 general purpose registers alu data bus 8-bit data sram spi unit instruction register instruction decoder watchdog timer analog comparator eeprom i/o lines i/o module n control lines direct addressing indirect addressing i/o module 2 i/o module 1 program counter flash program memory 9 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 program flow is provided by conditional and unconditional ju mp and call instructions, able to directly address the whole address space. most avr ? instructions have a single 16-bit word format. every program memory address contains a 16- or 32-bit instruction. program flash memory space is divided in two sections, the boot program section and the applic ation program section. both sections have dedicated lock bits for write and read/write protection. th e spm instruction that writ es into the application fla sh memory section must reside in the boot program section. during interrupts and subroutine calls, the return address prog ram counter (pc) is stored on the stack. the stack is effectively allocated in the general data sr am, and consequently the stack size is onl y limited by the total sram size and the usage of the sram. all user programs must initialize the sp in the reset routine (before subroutines or interrupts are executed). the stack pointer (sp) is read /write accessible in the i/o space. the data sram can easily be accessed through the five different addressing modes supported in the avr architecture. the memory spaces in the avr architecture are all linear and regular memory maps. a flexible interrupt module has its control registers in the i/o space with an additional global interrupt enable bit in the st atus register. all interrupts have a separate interrupt vector in th e interrupt vector table. the interrupts have priority in accord ance with their interrupt vector position. the lower the interrupt vector address, the higher the priority. the i/o memory space contains 64 addresses for cpu peripheral functions as control registers, spi, and other i/o functions. the i/o memory can be accessed directly, or as the data space lo cations following those of the register file, 0x20 - 0x5f. in addition, the atmel ? atmega48pa/88pa/168pa has extended i/o space from 0x60 - 0xff in sram where only the st/sts/std and ld/lds/ldd instructions can be used. 7.2 alu ? arithmetic logic unit the high-performance avr alu operates in direct connection wi th all the 32 general purpose working registers. within a single clock cycle, arithmetic operations between general pu rpose registers or between a register and an immediate are executed. the alu operations are divided into three main ca tegories ? arithmetic, logica l, and bit-functions. some implementations of the architecture also provide a powerful multiplier supporting both signed/unsigned multiplication and fractional format. see section 32. ?instruction set summary? on page 317 for a detailed description. 7.3 status register the status register contains information about the result of the most rec ently executed arithmetic instruction. this information can be used for altering program flow in order to per form conditional operations. note that the status register is updated after all alu operations, as specifi ed in the instruction set reference. this will in many cases remove the need for using the dedicated compare instructions, re sulting in faster and more compact code. the status register is not automati cally stored when entering an interrupt r outine and restored when returning from an interrupt. this must be handled by software. 7.3.1 sreg ? avr status register the avr status register ? sreg ? is defined as: ? bit 7 ? i: global interrupt enable the global interrupt enable bit must be set for the interrupts to be enabled. the individual interrupt enable control is then performed in separate control registers. if the global interrupt enable register is cleared, none of the interrupts are enabled independent of the individual interrupt enable settings. the i-bi t is cleared by hardware after an interrupt has occurred, and is set by the reti instruction to enable subs equent interrupts. the i-bit can also be se t and cleared by the application with the sei and cli instructions, as describ ed in the instruction set reference. ? bit 6 ? t: bit copy storage the bit copy instructions bld (bit load) and bst (bit store) use the t-bit as source or destination for the operated bit. a bit from a register in the register file can be copied into t by th e bst instruction, and a bit in t can be copied into a bit in a register in the register f ile by the bld instruction. bit 76543210 0x3f (0x5f) i t h s v n z c sreg read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 10 ? bit 5 ? h: half carry flag the half carry flag h indicates a half carry in some arithm etic operations. half carry is useful in bcd arithmetic. see section 32. ?instruction set summary? on page 317 for detailed information. ? bit 4 ? s: sign bit, s = n ? v the s-bit is always an exclusive or between the negativ e flag n and the two?s complement overflow flag v. see section 32. ?instruction set summary? on page 317 for detailed information. ? bit 3 ? v: two?s complement overflow flag the two?s complement overflow flag v supports two?s complement arithmetic. see section 32. ?instruction set summary? on page 317 for detailed information. ? bit 2 ? n: negative flag the negative flag n indicates a negative result in an arithmetic or logic operation. see section 32. ?instruction set summary? on page 317 for detailed information. ? bit 1 ? z: zero flag the zero flag z indicates a zero result in an arithmetic or logic operation. see section 32. ?instruction set summary? on page 317 for detailed information. ? bit 0 ? c: carry flag the carry flag c indicates a carry in an arithmetic or lo gic operation. see section 32. ?instruction set summary? on page 317 for detailed information. 11 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 7.4 general purpose register file the register file is optimized for the avr ? enhanced risc instruction set. in order to achieve the required performance and flexibility, the following in put/output schemes are supported by the register file: one 8-bit output operand and one 8-bit result input two 8-bit output operands and one 8-bit result input two 8-bit output operands and one 16-bit result input one 16-bit output operand an d one 16-bit result input figure 7-2 shows the structure of the 32 general purpose working registers in the cpu. figure 7-2. avr cpu general purpose working registers most of the instructions operating on the regi ster file have direct access to all regi sters, and most of them are single cycle instructions. as shown in figure 7-2 , each register is also assigned a data memory addr ess, mapping them directly into the first 32 locations of the user data space. although not being physically implemented as sram locations, this memory organization provides great flexibility in access of the registers, as the x- , y- and z-pointer registers can be set to index any register i n the file. 70addr. r0 0x00 r1 0x01 r2 0x02 ? r13 0x0d general r14 0x0e purpose r15 0x0f working r16 0x10 registers r17 0x11 ? r26 0x1a x-register low byte r27 0x1b x-register high byte r28 0x1c y-register low byte r29 0x1d y-register high byte r30 0x1e z-register low byte r31 0x1f z-register high byte atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 12 7.4.1 the x-register, y-register, and z-register the registers r26...r31 have some added functions to thei r general purpose usage. these r egisters are 16-bit address pointers for indirect addressing of the data space. the three i ndirect address registers x, y, and z are defined as described in figure 7-3 . figure 7-3. the x-, y-, and z-registers in the different addressing modes these address registers have functions as fixed displacement, automatic increment, and automatic decrement (see section 32. ?instruction set summary? on page 317 ). 7.5 stack pointer the stack is mainly used for storing te mporary data, for storing local variables and for storing return addresses after interrupts and subroutine calls. note that the stack is implemented as growing from higher to lower memory locations. the stack pointer register always points to t he top of the stack. the stack pointer point s to the data sram stack area where the subroutine and interr upt stacks are located. a stack push command will decrease the stack pointer. the stack in the data sram must be def ined by the program before any subroutin e calls are executed or interrupts are enabled. initial stack pointer value equals the last address of the internal sram and the stack pointer must be set to point above start of the sram, see table 8-3 on page 17 . see table 7-1 for stack pointer details. the avr ? stack pointer is implemented as two 8-bit registers in the i/o space. the number of bits actually used is implementation dependent. note that the data space in some impl ementations of the avr architec ture is so small that only spl is needed. in this case, the sph register will not be present. 15 xh xl 0 x-register 7 0 7 0 r27 (0x1b) r26 (0x1a) 15 yh yl 0 y-register 7 0 7 0 r29 (0x1d) r28 (0x1c) 15 zh zl 0 z-register 7 0 7 0 r31 (0x1f) r30 (0x1e) table 7-1. stack pointer instructions instruction stack pointer description push decremented by 1 data is pushed onto the stack call icall rcall decremented by 2 return address is pushed onto the sta ck with a subroutine call or interrupt pop incremented by 1 data is popped from the stack ret reti incremented by 2 return address is popped from the stack with return from subroutine or return from interrupt 13 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 7.5.1 sph and spl ? stack pointer high and stack pointer low register 7.6 instruction execution timing this section describes the general access timi ng concepts for instruction execution. the avr ? cpu is driven by the cpu clock clk cpu , directly generated from the selected clock source for the chip. no internal clock division is used. figure 7-4 shows the parallel instruction fetches and instruction exec utions enabled by the harvard architecture and the fast- access register file concept. this is the basic pipelining co ncept to obtain up to 1mips per mhz with the corresponding unique results for functions per cost, functions per clocks, and functions per power-unit. figure 7-4. the parallel instructio n fetches and instruction executions figure 7-5 shows the internal timing concept for the register file. in a single clock cycle an alu operation using two register operands is executed, and the result is stored back to the destination register. figure 7-5. single cycle alu operation bit 151413121110 9 8 0x3e (0x5e) sp15 sp14 sp13 sp12 sp11 sp10 sp9 sp8 sph 0x3d (0x5d) sp7 sp6 sp5 sp4 sp3 sp2 sp1 sp0 spl 76543210 read/write r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w initial value ramend ramend ramend ramend ramend ramend ramend ramend ramend ramend ramend ramend ramend ramend ramend ramend clk cpu 1st instruction fetch 1st instruction execute 2nd instruction fetch t1 t2 t3 t4 2nd instruction execute 3rd instruction fetch 3rd instruction execute 4th instruction fetch clk cpu 1st instruction fetch 1st instruction execute 2nd instruction fetch t1 t2 t3 t4 2nd instruction execute 3rd instruction fetch 3rd instruction execute 4th instruction fetch atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 14 7.7 reset and interrupt handling the avr ? provides several different interrupt sources. these in terrupts and the separate reset vector each have a separate program vector in the program memory sp ace. all interrupts are assigned individual enable bits which must be written logic one together with the global interrupt enable bit in the status register in order to enable the interrupt. depending on the program counter value, interrupts may be automatically disabled when boot lock bits blb02 or blb12 are programmed. this feature improves software security. see section 28. ?memory programming? on page 251 for details. the lowest addresses in the program memory space are by default defined as the re set and interrupt vect ors. the complete list of vectors is shown in section 12. ?interrupts? on page 50 . the list also determines the prio rity levels of the different interrupts. the lower the addres s the higher is the priority level. reset has the highest priority, and next is int0 ? the external interrupt request 0. the interrupt vectors can be move d to the start of the boot flas h section by setting the ivsel bi t in the mcu control regi ster (mcucr). refer to section 12. ?interrupts? on page 50 for more informati on. the reset vector can also be moved to the start of the boot flash section by programming the bootrst fuse, see section 27. ?boot loader support ? read-while-write self-programming? on page 237 . when an interrupt occurs, the global interrupt enable i-bit is cl eared and all interrupts are disabled. the user software can write logic one to the i-bit to enable nested interrupts. all enab led interrupts can then interrupt the current interrupt routi ne. the i-bit is automatically set when a return fr om interrupt instruction ? reti ? is executed. there are basically two types of interrupts. the first type is triggered by an event that sets the interrupt flag. for these interrupts, the program counter is vectored to the actual interr upt vector in order to execute the interrupt handling routine, and hardware clears the corresponding interrupt flag. interrupt flags can also be cleared by writing a logic one to the flag bi t position(s) to be cleared. if an interrupt condition occurs while the corres ponding interrupt enable bit is cleared, the interr upt flag will be set and remembered until the inte rrupt is enabled, or the flag is cleared by software. similarly, if one or more interrupt conditions occur while the global interrupt enable bit is cleared, the corresponding interrupt flag(s) will be set an d remembered until the global interrupt enable bit is se t, and will then be executed by order of priority. the second type of interrupts will trigger as long as the interr upt condition is present. these interrupts do not necessarily have interrupt flags. if the interrupt condition disappears befo re the interrupt is enabled, the interrupt will not be triggere d. when the avr exits from an interrupt, it will always return to the main program and execute one more instruction before any pending interrupt is served. note that the status regi ster is not automatically stored when entering an in terrupt routine, nor restored when returning from an interrupt routine. this must be handled by software. when using the cli instruction to disable interrupts, the inte rrupts will be immediately disabled. no interrupt will be execute d after the cli instruction, even if it occu rs simultaneously with the cli instruction. the following example shows how this can be used to avoid interrupts during the timed eeprom write sequence. 15 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 when using the sei instruction to enable interrupts, the in struction following sei will be executed before any pending interrupts, as shown in this example. 7.7.1 interrupt response time the interrupt execution response for all the enabled avr ? interrupts is four clock cycles mi nimum. after four clock cycles the program vector address for the actual interr upt handling routine is exec uted. during this four cl ock cycle period, the program counter is pushed onto the stack. the vector is normally a jump to the interrupt routine, and this jump takes three clock cycles. if an interrupt occurs du ring execution of a multi-cycle in struction, this inst ruction is completed before the interrup t is served. if an interrupt occurs when the mcu is in sleep mode, the interrupt execution response time is increased by four clock cycles. this increase comes in addition to the start-up time from the selected sleep mode. a return from an interrupt hand ling routine takes four clock cycl es. during these four clock cycl es, the program counter (two bytes) is popped back from the stack, the stack pointer is incremented by two, and the i-bit in sreg is set. assembly code example in r16, sreg ; store sreg value cli ; disable interrupts during timed sequence sbi eecr, eempe ; start eeprom write sbi eecr, eepe out sreg, r16 ; restore sreg value (i-bit) c code example char csreg; csreg = sreg; /* store sreg value */ /* disable interrupts during timed sequence */ _cli(); eecr |= (1< 17 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 8-2. program memory map at mel atmega88pa, atmel atmega168pa 8.3 sram data memory figure 8-3 shows how the atmel ? atmega48pa/88pa/168pa sram memory is organized. the atmel atmega48pa/88pa/168pa is a complex microcontroller with more peripheral units than can be supported within the 64 locations reserved in the opcode for the in and out inst ructions. for the extended i/o space from 0x60 - 0xff in sram, only the st/sts/std and ld/lds/ldd instructions can be used. the lower 768/1280/1280/2303 data memory locations address both the register file, the i/o memory, extended i/o memory, and the internal data sram. the first 32 locations address the register file, the next 64 location the standard i/o memory, then 160 locations of extended i/o memory, and the next 512/ 1024/1024/2048 locations address the internal data sram. the five different addressing modes for the data memory cover: direct, indirect with displacement , indirect, indirect with pre- decrement, and indirect with post-increment. in the register file , registers r26 to r31 feature the indirect addressing pointer registers. the direct addressing reaches the entire data space. the indirect with displacement mode reaches 63 address locati ons from the base address given by the y- or z-register. when using register indirect addressing modes with automatic pre-decrement and post-increment, the address registers x, y, and z are decremented or incremented. the 32 general purpose working registers, 64 i/o registers, 160 extended i/o registers, and the 512/1024/1024/2048 bytes of internal data sram in the atmel atmega48pa/88pa/168pa are all accessible through all these addressing modes. the register file is described in section 7.4 ?general purpose register file? on page 11 . figure 8-3. data memory map 0x0000 0x3fff/0x1fff/0x3fff boot flash section program memory application flash section 32 registers data memory 0x0000 - 0x001f 0x0020 - 0x005f 0x0060 - 0x00ff 0x0100 0x02ff/0x04ff/0x4ff/0x08ff 64 i/o registers 160 ext i/o registers internal sram (512/1024/1024/2048 x 8) atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 18 8.3.1 data memory access times this section describes the general access timing concepts for internal memory access. the in ternal data sram access is performed in two clk cpu cycles as described in figure 8-4 . figure 8-4. on-chip data sram access cycles 8.4 eeprom data memory the atmel ? atmega48pa/88pa/168pa contains 256/512/512 bytes of data eeprom memory. it is organized as a separate data space, in which single bytes can be read and written. the eeprom has an endurance of at least 100,000 write/erase cycles. the access between the eeprom and the cpu is described in the fo llowing, specifyi ng the eeprom address registers, the eeprom data register , and the eeprom control register. section 28. ?memory programming? on page 251 contains a detailed description on eeprom programming in spi or parallel programming mode. 8.4.1 eeprom read/write access the eeprom access registers are accessible in the i/o space. the write access time fo r the eeprom is given in table 8-2 on page 22 . a self-timing function, however, lets the user software detect when the next byte can be written. if the user code contains instructions that write the eeprom, some precautions must be taken. in h eavily filtered power supplies, v cc is likely to rise or fall slowly on power-up/down. this causes the device for some period of time to run at a volt age lower than specified as minimum for the clock frequency used. see section 8.4.2 ?preventing eepr om corruption? on page 19 for details on how to avoid problems in these situations. in order to prevent unint entional eeprom writes, a specific wr ite procedure must be followed. refer to the descrip tion of the eeprom control register for details on this. when the eeprom is read, the cpu is halted for four clock cycles before the next instru ction is executed. when the eeprom is written, the cpu is ha lted for two clock cycles before the next instruction is executed. clk cpu t1 data data rd wr address valid compute address next instruction write read memory access instruction a ddress t2 t3 19 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 8.4.2 preventing eeprom corruption during periods of low v cc, the eeprom data can be corrupted because the su pply voltage is too low for the cpu and the eeprom to operate properly. these issues are the same as for board level systems using eeprom, and the same design solutions should be applied. an eeprom data corruption can be caused by two situations when the voltage is too low. first, a regu lar write sequence to the eeprom requires a minimum vo ltage to operate correct ly. secondly, the cpu itself can ex ecute instructions incorrectly, if the supply voltage is too low. eeprom data corruption can easily be avoided by following this design recommendation: keep the avr ? reset active (low) during periods of insufficient power supply volt age. this can be don e by enabling the internal brown-out detector (bod). if th e detection level of the internal bod does not match the needed detection level, an external low v cc reset protection circuit can be used. if a reset o ccurs while a write operation is in progress, the write operation will be completed provided that the power supply voltage is sufficient. 8.5 i/o memory the i/o space definition of the atmel ? atmega48pa/88pa/168pa is shown in section 31. ?register summary? on page 310 . all atmel atmega48pa/88pa/168pa i/os and peripherals are placed in the i/o space. all i/o locations may be accessed by the ld/lds/ldd and st/sts/std instructions, transferring data between the 32 general purpose working registers and the i/o space. i/o registers within the address range 0x00 - 0x1f ar e directly bit-accessible using the sbi and cbi instructions. in these registers, the value of single bits can be checked by using the sbis and sbic instruct ions. refer to the instruction set section for more details. when using the i/o specific co mmands in and out, the i/o addresses 0x00 - 0x3f must be used. when addressing i/o registers as data space using ld and st instructions, 0x20 must be added to these addresses. the atmel atmega48pa/88pa/168pa is a complex microcontroller with more peripheral units than can be supported within the 64 location reserved in opcode for the in and out instru ctions. for the extended i/o space from 0x60 - 0xff in sram, only the st/sts/std and ld/lds/ldd instructions can be used. for compatibility with future devices, reserved bits should be wr itten to zero if accessed. re served i/o memory addresses should never be written. some of the status flags are cleared by writing a logical one to them. note t hat, unlike most other avr, the cbi and sbi instructions will only operate on the spec ified bit, and can therefore be used on registers containing such status flags. the cbi and sbi instructions work wit h registers 0x00 to 0x1f only. the i/o and peripherals control registers are explained in later sections. 8.5.1 general purpose i/o registers the atmel atmega48pa/88pa/168pa contains three general purpose i/o registers. these registers can be used for storing any information, and they are particularly useful for storing gl obal variables and status flags. general purpose i/o registers within the address range 0x00 - 0x1f are directly bit- accessible using the sbi, cbi, sbis, and sbic instructions. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 20 8.6 register description 8.6.1 eearh and eearl ? the eeprom address register ? bits 15:9] ? reserved these bits are reserved bits in the atmel ? atmega48pa/88pa/168pa and will always read as zero. ? bits 8:0 ? eear[8:0]: eeprom address the eeprom address registers ? eea rh and eearl specify the eeprom a ddress in the 256 /512/512/1k bytes eeprom space. the eeprom data bytes are addressed linearly between 0 and 255/511/511/10 23. the initial value of eear is undefined. a proper value must be written before the eepr om may be accessed. eear8 is an unused bit in the atmel atmeg a48pa and must always be written to zero. 8.6.2 eedr ? the eeprom data register ? bits 7:0 ? eedr[7:0]: eeprom data for the eeprom write operation, the eedr register contains th e data to be written to the eepr om in the address given by the eear register. for the eeprom read o peration, the eedr contains the data read out from the eeprom at the address given by eear. 8.6.3 eecr ? the eeprom control register ? bits 7:6 ? reserved these bits are reserved bits in the atmel atmega48pa/88pa/168pa and will always read as zero. ? bits 5, 4 ? eepm1 and eepm0: eeprom programming mode bits the eeprom programming mode bit setting defines which programming action that will be triggered when writing eepe. it is possible to program data in one atomic operation (erase the old value and program the new val ue) or to split the erase and write operations in two different o perations. the programming times for the different modes are shown in table 8-1 . while eepe is set, any write to eepmn will be ignored. during reset, the eepmn bits will be reset to 0b00 unless the eeprom is busy programming. bit 151413121110 9 8 0x22 (0x42) ???????eear8eearh 0x21 (0x41) eear7 eear6 eear5 eear4 eear3 eear2 eear1 eear0 eearl 76543210 read/write rrrrrrrr/w r/w r/w r/w r/w r/w r/w r/w r/w initial value0000000x xxxxxxxx bit 76543210 0x20 (0x40) msb lsb eedr read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 0x1f (0x3f) ? ? eepm1 eepm0 eerie eempe eepe eere eecr read/write r r r/w r/w r/w r/w r/w r/w initial value 0 0 x x 0 0 x 0 21 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 ? bit 3 ? eerie: eeprom ready interrupt enable writing eerie to one enables the eeprom ready interrupt if the i bit in sreg is set. writin g eerie to zero disables the interrupt. the eeprom ready interrupt generates a cons tant interrupt when eepe is clea red. the interr upt will not be generated during eeprom write or spm. ? bit 2 ? eempe: eeprom master write enable the eempe bit determines whethe r setting eepe to one causes the eeprom to be written. when eempe is set, setting eepe within four clock cycles will write data to the eeprom at the selected add ress if eempe is zero, setting eepe will have no effect. when eempe has been written to one by software, hardware clears the bit to zero after four clock cycles. see the description of the eepe bi t for an eeprom write procedure. ? bit 1 ? eepe: eeprom write enable the eeprom write enable signal eepe is the write strobe to the eeprom. when address and data are correctly set up, the eepe bit must be written to one to write the value into the eeprom. the eempe bit must be written to one before a logical one is written to eepe, otherwise no eeprom write ta kes place. the following procedure should be followed when writing the eeprom (the order of steps 3 and 4 is not essential): 1. wait until eepe becomes zero. 2. wait until selfprgen in spmcsr becomes zero. 3. write new eeprom address to eear (optional). 4. write new eeprom data to eedr (optional). 5. write a logical one to the eempe bit while writing a zero to eepe in eecr. 6. within four clock cycles after setti ng eempe, write a logical one to eepe. the eeprom can not be programmed during a cpu write to the flash memory. the software must check that the flash programming is completed before initiating a new eeprom write. step 2 is only relevant if t he software contains a boot loader allowing the cpu to program the flash. if the flash is never being updated by the cpu, step 2 can be omitted. see section 27. ?boot loader support ? read-wh ile-write self-programming? on page 237 for details about boot programming. caution: an interrupt between step 5 and step 6 will make the write cycle fail, since the eeprom master write enable will time-out. if an interrupt routine accessing the eeprom is interrupting another eeprom access, the eear or eedr register will be modified, causing the interrupted eeprom access to fail. it is recommended to have the global interrupt flag cleared during all the steps to avoid these problems. when the write access time has elapsed, the eepe bit is cleared by hardware. the user software can poll this bit and wait for a zero before wr iting the next byte. when eepe has be en set, the cpu is halted for two cycles before the ne xt instruction is executed. ? bit 0 ? eere: eeprom read enable the eeprom read enable signal eere is the read strobe to t he eeprom. when the correct address is set up in the eear register, the eere bit must be written to a logic one to trigger the eeprom read. the eeprom read access takes one instruction, and the reques ted data is available immediately. when the eeprom is read, the cpu is halted for four cycles before the next instru ction is executed. the user should poll the eepe bit before starting the read operatio n. if a write operation is in progress, it is neither possib le to read the eeprom, nor to change the eear register. table 8-1. eeprom mode bits eepm1 eepm0 programming time operation 0 0 3.4ms erase and write in one operation (atomic operation) 0 1 1.8ms erase only 1 0 1.8ms write only 1 1 ? reserved for future use atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 22 the calibrated oscillator is used to time the eeprom accesses. table 8-2 lists the typical programming time for eeprom access from the cpu. the following code examples show one assembly and one c functi on for writing to the eeprom . the examples assume that interrupts are controlled (e.g. by disabling interrupts globa lly) so that no interrupts will occur during execution of the se functions. the examples also assume that no flash boot loader is present in the software. if such code is present, the eeprom write function must also wait for any ongoing spm command to finish. table 8-2. eeprom programming time symbol number of calibrated rc oscillator cycles typ programming time eeprom write (from cpu) 26,368 3.3ms assembly code example eeprom_write: ; wait for completion of previous write sbic eecr,eepe rjmp eeprom_write ; set up address (r18:r17) in address register out eearh, r18 out eearl, r17 ; write data (r16) to data register out eedr,r16 ; write logical one to eempe sbi eecr,eempe ; start eeprom write by setting eepe sbi eecr,eepe ret c code example void eeprom_write( unsigned int uiaddress, unsigned char ucdata) { /* wait for completion of previous write */ while(eecr & (1< 25 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 9.1.3 flash clock ? clk flash the flash clock controls operation of the flash interface. the flash clock is usually active simultaneously with the cpu clock. 9.1.4 asynchronous timer clock ? clk asy the asynchronous timer clock allows the asynchronous timer/count er to be clocked directly from an external clock or an external 32khz clock crystal. the dedicated clock domain allo ws using this timer/counter as a real-time counter even when the device is in sleep mode. 9.1.5 adc clock ? clk adc the adc is provided with a dedicated clock do main. this allows halting the cpu and i/o clocks in order to reduce noise generated by digital circuitry. this give s more accurate adc conversion results. 9.2 clock sources the device has the following clock source options, selectable by flash fuse bits as shown below. the clock from the selected source is input to the avr clock gene rator, and routed to the appropriate modules. 9.2.1 default clock source the device is shipped with internal rc osc illator at 8.0mhz and with the fuse ck div8 programmed, resulting in 1.0mhz system clock. the startup time is set to maximum and time-out period enabled. (cksel = ?0010?, sut = ?10?, ckdiv8 = ?0?). the default setting ensures that all users can make their desired clock source setting using any available programming interface. 9.2.2 clock startup sequence any clock source needs a sufficient v cc to start oscillating and a minimum number of oscillating cycles before it can be considered stable. to ensure sufficient v cc , the device issues an internal reset with a time-out delay (t tout ) after the device reset is released by all other reset sources. section 11. ?system control and reset? on page 41 describes the start conditions for the internal reset. the delay (t tout ) is timed from the watchdog oscillator and the number of cycles in the delay is set by the sutx and ckselx fuse bits. the sele ctable delays are shown in table 9-2 . the frequency of the watchdog oscillator is voltage dependent as shown in section 30. ?typical characteristics? on page 279 . table 9-1. device clocking options select (1) device clocking option cksel3...0 low power crystal oscillator 1111 - 1000 full swing crystal oscillator 0111 - 0110 low frequency crystal oscillator 0101 - 0100 internal 128khz rc oscillator 0011 calibrated internal rc oscillator 0010 external clock 0000 reserved 0001 note: 1. for all fuses ?1? means unprogrammed while ?0? means programmed. table 9-2. number of watchdog oscillator cycles typ time-out (v cc = 5.0v) typ time-out (v cc = 3.0v) number of cycles 0ms 0ms 0 4.1ms 4.3ms 512 65ms 69ms 8k (8,192) atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 26 main purpose of the delay is to keep the avr ? in reset until it is supplied with minimum v cc . the delay will not monitor the actual voltage and it will be required to select a delay longer than the v cc rise time. if this is no t possible, an internal or external brown-out detection circuit should be used. a bod circuit will ensure sufficient v cc before it releases the reset, and the time-out delay can be disabled. dis abling the time-out delay without utilizin g a brown-out detection circuit is not recommended. the oscillator is required to oscillate for a minimum number of cycles before the clock is considered stable. an internal rippl e counter monitors the oscillator output clock, and keeps the internal reset active for a given number of clock cycles. the reset is then released and the device will start to execute. the re commended oscillator start-up time is dependent on the clock type, and varies from 6 cycles for an externally applied clock to 32k cycles for a low frequency crystal. the start-up sequence for the clock includes both the time-out delay and the start-up time wh en the device starts up from reset. when starting up from power-save or power-down mode, v cc is assumed to be at a sufficient level and only the start- up time is included. 9.3 low power crystal oscillator pins xtal1 and xtal2 are input and output, respectively, of an inverting amplifier which can be configured for use as an on-chip oscillator, as shown in figure 9-2 on page 26 . either a quartz crystal or a ceramic resonator may be used. this crystal oscillator is a low power oscillator, with reduc ed voltage swing on the xtal2 output. it gives the lowest power consumption, but is not capable of driving other clock inputs, and may be more susceptible to noise in noisy environments. in these cases, refer to the section 9.4 ?full swing crystal oscillator? on page 27 . c1 and c2 should always be equal for both crystals and res onators. the optimal value of the capacitors depends on the crystal or resonator in use, t he amount of stray capacitance, and the electromagnetic noise of the environment. some initial guidelines for choosing capacitors for use with crystals are given in table 9-3 . for ceramic resonators , the capacitor values given by the manufacturer should be used. figure 9-2. crystal o scillator connections the low power oscillator can operate in three different modes, eac h optimized for a specific fr equency range. the operating mode is selected by the fuses cksel3...1 as shown in table 9-3 . table 9-3. low power crystal oscillator operating modes (3) frequency range (mhz) recommended range for capacitors c1 and c2 (pf) cksel3...1 (1) 0.4 - 0.9 ? 100 (2) 0.9 - 3.0 12 - 22 101 3.0 - 8.0 12 - 22 110 8.0 - 16.0 12 - 22 111 notes: 1. this is the recommended cksel settings for the difference frequency ranges. 2. this option should not be used with crystals, only with ceramic resonators. 3. if the crystal frequency exceeds the s pecification of the device (depends on v cc ), the ckdiv8 fuse can be programmed in order to divide the internal frequency by 8. it must be ensured that the resulting divided clock meets the frequency specification of the device. c2 xtal2 (tosc2) xtal1 (tosc1) gnd c1 27 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 the cksel0 fuse together with the sut1...0 fuses select the start-up times as shown in table 9-4 on page 27 . 9.4 full swing crystal oscillator pins xtal1 and xtal2 are input and output, respectively, of an inverting amplifier which can be configured for use as an on-chip oscillator, as shown in figure 9-2 on page 26 . either a quartz crystal or a ceramic resonator may be used. this crystal oscillator is a full swing oscillator, with rail- to-rail swing on the xtal2 output. this is useful for driving oth er clock inputs and in noisy environments. the cu rrent consumption is higher than the section 9.3 ?low power crystal oscillator? on page 26 . note that the full swing crystal oscillator will only operate for v cc = 2.7 - 5.5v. c1 and c2 should always be equal for both crystals and res onators. the optimal value of the capacitors depends on the crystal or resonator in use, t he amount of stray capacitance, and the electromagnetic noise of the environment. some initial guidelines for choosing capacitors for use with crystals are given in table 9-6 on page 28 . for ceramic re sonators, the capacitor values given by the manufacturer should be used. the operating mode is selected by the fuses cksel3...1 as shown in table 9-5 . table 9-4. start-up times for the low power crystal oscillator clock selection oscillator source / power conditions start-up time from power- down and power-save additional delay from reset (v cc = 5.0v) cksel0 sut1...0 ceramic resonator, fast rising power 258ck 14ck + 4.1ms (1) 0 00 ceramic resonator, slowly rising power 258ck 14ck + 65ms (1) 0 01 ceramic resonator, bod enabled 1kck 14ck (2) 0 10 ceramic resonator, fast rising power 1kck 14ck + 4.1ms (2) 0 11 ceramic resonator, slowly rising power 1kck 14ck + 65ms (2) 1 00 crystal oscillator, bod enabled 16kck 14ck 1 01 crystal oscillator, fast rising power 16kck 14ck + 4.1ms 1 10 crystal oscillator, slowly rising power 16kck 14ck + 65ms 1 11 notes: 1. these options should only be used when not operat ing close to the maximum frequency of the device, and only if frequency stability at start-up is not important for the application. these options are not suitable for crystals. 2. these options are intended for use with ceramic res onators and will ensure frequency stability at start-up. they can also be used with crystals when not operatin g close to the maximum frequency of the device, and if frequency stability at start-up is not important for the application. table 9-5. full swing crystal oscillator operating modes frequency range (1) (mhz) recommended range for capacitors c1 and c2 (pf) cksel3...1 0.4 - 20 12 - 22 011 notes: 1. if the crystal frequency exceeds the specification of the device (depends on v cc ), the ckdiv8 fuse can be programmed in order to divide the internal frequency by 8. it must be ensured that the resulting divided clock meets the frequency specification of the device. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 28 figure 9-3. crystal o scillator connections 9.5 low frequency crystal oscillator the low-frequency crystal oscillator is optimized for use wi th a 32.768khz watch crystal. when selecting crystals, load capacitance and crystal?s equivalent series resistance, esr must be taken into consid eration. both values are specified by the crystal vendor. atmel ? atmega48pa/88pa/168pa oscillator is optimized for very low power consumption, and thus when selecting crystals, see table 9-7 for maximum esr recommendations on 6.5pf, 9.0pf and 12.5pf crystals table 9-6. start-up times for the full swing crystal oscillator clock selection oscillator source / power conditions start-up time from power- down and power-save additional delay from reset (v cc = 5.0v) cksel0 sut1...0 ceramic resonator, fast rising power 258ck 14ck + 4.1ms (1) 0 00 ceramic resonator, slowly rising power 258ck 14ck + 65ms (1) 0 01 ceramic resonator, bod enabled 1kck 14ck (2) 0 10 ceramic resonator, fast rising power 1kck 14ck + 4.1ms (2) 0 11 ceramic resonator, slowly rising power 1kck 14ck + 65ms (2) 1 00 crystal oscillator, bod enabled 16kck 14ck 1 01 crystal oscillator, fast rising power 16kck 14ck + 4.1ms 1 10 crystal oscillator, slowly rising power 16kck 14ck + 65ms 1 11 notes: 1. these options should only be used when not operat ing close to the maximum frequency of the device, and only if frequency stability at start-up is not important for the application. these options are not suitable for crystals. 2. these options are intended for use with ceramic res onators and will ensure frequency stability at start-up. they can also be used with crystals when not operati ng close to the maximum frequency of the device, and if frequency stability at start-up is not important for the application. c2 xtal2 (tosc2) xtal1 (tosc1) gnd c1 table 9-7. maximum esr recommendation for 32.768khz crystal crystal cl (pf) max esr [k ] (1) 6.5 75 9.0 65 12.5 30 notes: 1. maximum esr is typical value based on characterization 29 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 the low-frequency crystal oscillator provid es an internal load capacitance, see table 9-8 at each tosc pin. the capacitance (ce + ci) needed at each tosc pin can be calculated by using: c = 2 cl ? c s where: ce - is optional external capacitors as described in figure 9-2 on page 26 ci - is the pin capacitance in table 9-8 cl - is the load capacitance for a 32.768khz crystal specified by the crystal vendor cs - is the total stray capacitance for one tosc pin. crystals specifying load capacitance (cl) higher than 6pf, require external capacitors applied as described in figure 9-2 on page 26 . the low-frequency crystal oscillator must be selected by setting the cksel fuses to ?0110? or ?0111?, as shown in table 9-10 . start-up times are determined by the sut fuses as shown in table 9-9 . table 9-8. capacitance for low-frequency oscillator device 32khz osc. type cap(xtal1/tosc1) cap(xtal2/tosc2) atmel atmega48pa/88pa/168pa system osc. 18pf 8pf timer osc. 18pf 8pf table 9-9. start-up times for the low-freq uency crystal oscillator clock selection sut1...0 additional delay from reset (v cc = 5.0v) recommended usage 00 4 ck fast rising power or bod enabled 01 4 ck + 4.1ms slowly rising power 10 4 ck + 65ms stable frequency at start-up 11 reserved table 9-10. start-up times for the low-freq uency crystal oscillator clock selection cksel3...0 start-up time from power-down and power-save recommended usage 0100 (1) 1k ck 0101 32k ck stable frequency at start-up note: 1. this option should only be used if frequency stabi lity at start-up is not important for the application atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 30 9.6 calibrated internal rc oscillator by default, the internal rc oscillator provides an approx imate 8.0mhz clock. though vo ltage and temperature dependent, this clock can be very accurately calibrated by the user. see table 29-3 on page 271 for more details. the device is shipped with the ckdiv8 fuse programmed. see section 9.11 ?system clock prescaler? on page 32 for more details. this clock may be selected as the system clock by programming the cksel fuses as shown in table 9-1 on page 25 . if selected, it will operate with no exter nal components. during reset, hardware loads the pre-programmed default 3v calibration value into the osccal register and thereby automatica lly calibrates the rc oscillator for 3v operation. if the device is to be used at 5v then the alternate rc oscillator 5v calibration byte ( table 27-5 on page 244 ) can be read from signature row and stored into the osccal register by the us er application program for better 5v frequency accuracy. the accuracy of this calibration is shown as factory calibration in table 29-3 on page 271 . by changing the osccal register from sw, see section 9.12.1 ?osccal ? oscillator calibration register? on page 33 , it is possible to get a higher calibration accuracy than by using the fa ctory calibration. the accuracy of this calibration is shown as user calibration in table 29-3 on page 271 . when this oscillator is used as the chip clock, the watchdog oscillator will still be used for the watchdog timer and for the reset time-out. for more in formation on the pre-programmed calibration value, see section 28.4 ?calibration byte? on page 254 . when this oscillator is selected, start-up times are determined by the sut fuses as shown in table 9-12 . 9.7 128khz internal oscillator the 128khz internal oscillator is a low power oscillator pr oviding a clock of 128khz. the frequency is nominal at 3v and 25c. this clock may be select as th e system clock by programming the cksel fuses to ?11? as shown in table 9-13 . table 9-11. internal calibrated rc oscillator operating modes frequency range (2) (mhz) cksel3...0 7.3 - 8.1 0010 (1) notes: 1. the device is shipped with this option selected. 2. if 8mhz frequency exceeds the specif ication of the device (depends on v cc ), the ckdiv8 fuse can be pro- grammed in order to divide the internal frequency by 8. table 9-12. start-up times for the internal calibrated rc oscillator clock selection power conditions start-up time from power-down and power-save additional delay from reset (v cc = 5.0v) sut1...0 bod enabled 6ck 14ck (1) 00 fast rising power 6ck 14ck + 4.1ms 01 slowly rising power 6ck 14ck + 65ms (2) 10 reserved 11 note: 1. if the rstdisbl fuse is programmed, this start-up time will be increased to 14ck + 4.1ms to ensure programming mode can be entered. 2. the device is shipped with this option selected. table 9-13. 128khz internal oscillator operating modes nominal frequency (1) cksel3...0 128khz 0011 note: 1. note that the 128khz oscillator is a very low power clock source, and is not designed for high accuracy. 31 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 when this clock source is selected, start-up ti mes are determined by the sut fuses as shown in table 9-14 . 9.8 external clock to drive the device from an external clock source, xtal1 should be driven as shown in figure 9-4 . to run the device on an external clock, the cksel fuses mu st be programmed to ?0000? (see table 9-15 ). figure 9-4. external clock drive configuration when this clock source is selected, start-up ti mes are determined by the sut fuses as shown in table 9-16 . when applying an external clock, it is required to avoid s udden changes in the applied clock frequency to ensure stable operation of the mcu. a variati on in frequency of more than 2% from one clock cycle to the ne xt can lead to unpredictable behavior. if changes of more than 2% is required, ensur e that the mcu is kept in reset during the changes. note that the system clock prescaler can be used to implement run-time changes of the internal clock frequency while still ensuring stable operation. refer to section 9.11 ?system clock prescaler? on page 32 for details. table 9-14. start-up times for the 128khz internal oscillator power conditions start-up time from power-down and power-save additional delay from reset sut1...0 bod enabled 6ck 14ck (1) 00 fast rising power 6ck 14ck + 4ms 01 slowly rising power 6ck 14ck + 64ms 10 reserved 11 note: 1. if the rstdisbl fuse is programmed, this start-up time will be increased to 14ck + 4.1ms to ensure programming mode can be entered. table 9-15. crystal oscillator clock frequency frequency cksel3...0 0 - 16mhz 0000 table 9-16. start-up times for the external clock selection power conditions start-up time from power-down and power-save additional delay from reset (v cc = 5.0v) sut1...0 bod enabled 6ck 14ck 00 fast rising power 6ck 14ck + 4.1ms 01 slowly rising power 6ck 14ck + 65ms 10 reserved 11 xtal2 xtal1 gnd pb7 external clock signal atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 32 9.9 clock output buffer the device can output the system clock on the clko pin. to enable the output, the ckout fuse has to be programmed. this mode is suitable wh en the chip clock is used to driv e other circuits on the system. the clock also will be output during reset, and the normal operation of i/o pin will be overridden w hen the fuse is programmed. any clock source, including the internal rc oscillator, can be selected when the clock is out put on clko. if the system clock prescaler is used, it is the divided system clock that is output. 9.10 timer/counter oscillator the atmel ? atmega48pa/88pa/168pa uses the same crystal oscill ator for low-frequency oscillator and timer/counter oscillator. see section 9.5 ?low frequency crystal oscillator? on page 28 for details on the oscillator and crystal requirements. atmel atmega48pa/88pa/168pa share the timer/counter oscill ator pins (tosc1 and tosc2) with xtal1 and xtal2. when using the timer/counter o scillator, the system clock needs to be four ti mes the oscillator frequen cy. due to this and the pin sharing, the timer/counter oscillator can only be used when the calibrated internal rc oscillator is selected as system clock source. applying an external clock source to tosc1 can be done if extclk in the assr register is written to logic one. see section 18.9 ?asynchronous operation of timer/counter2? on page 135 for further description on selecting external clock as input instead of a 32.768khz watch crystal. 9.11 system clock prescaler the atmel atmega48pa/88 pa/168pa has a system clock prescaler, and t he system clock can be divided by setting the section 9.12.2 ?clkpr ? clock prescale register? on page 33 . this feature can be used to decrease the system clock frequency and the power consumption when the requirement for processing power is low. this can be used with all clock source options, and it will affect the clock frequency of the cpu and all synchronous peripherals. clk i/o , clk adc , clk cpu , and clk flash are divided by a factor as shown in table 29-5 on page 272 . when switching between pr escaler settings, the system clock prescaler ensures that no glitches occurs in the clock system. it also ensures that no intermediate frequency is higher t han neither the clock frequency corresponding to the previous setting, nor the clock frequency corresponding to the new setti ng. the ripple counter that implements the prescaler runs at the frequency of the undivided clock, wh ich may be faster than the cpu's clock frequency. hence, it is not possible to determine the state of the presca ler - even if it were readable, and the exact time it takes to switch from one clock division to the other cannot be ex actly predicted. from the time the clkps values are written, it takes between t1 + t2 and t1 + 2 * t2 before the new clock frequency is active. in this interval, 2 acti ve clock edges are produced. here, t1 is the previous clock period, and t2 is the period corresponding to the new prescaler setting. to avoid unintentional c hanges of clock frequency, a spec ial write procedure must be fo llowed to chan ge the clkps bits: 1. write the clock prescaler change enable (clkpce) bit to one and all other bits in clkpr to zero. 2. within four cycles, write th e desired value to clkps while writing a zero to clkpce. interrupts must be disabled when changing prescaler setti ng to make sure the write pr ocedure is not interrupted. 33 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 9.12 register description 9.12.1 osccal ? oscillator calibration register ? bits 7:0 ? cal[7:0]: oscillator calibration value the oscillator calibration register is used to trim the calibrated internal rc oscillat or to remove process variations from the oscillator frequency. a pre-programmed calibr ation value is automatically written to th is register during chip reset, giving th e factory calibrated frequency as specified in table 29-3 on page 271 . the application software can write this register to change the oscillator frequency. t he oscillator can be calibrated to frequencies as specified in table 29-3 on page 271 . calibration outside that range is not guaranteed. note that this oscillator is used to time eeprom and flash writ e accesses, and these write times will be affected accordingly. if the eeprom or flash are written, do not calibrate to more than 8.8mhz. otherwise, the eeprom or flash write may fail. the cal7 bit determines the range of operat ion for the oscillator. setting this bit to 0 gives the lowest frequency range, setting this bit to 1 gives the highest frequency range. the two frequency ranges are overlapping, in other words a setting of osccal = 0x7f gives a higher frequency than osccal = 0x80. the cal6...0 bits are used to tune the frequency within the selected range. a setting of 0x00 gives the lowest frequency in that range, and a setting of 0x7f gives the highest frequency in the range. 9.12.2 clkpr ? clock prescale register ? bit 7 ? clkpce: clock prescaler change enable the clkpce bit must be written to logic one to enable cha nge of the clkps bits. the clkpce bit is only updated when the other bits in clkpr are simultaneously written to zero. clkpce is cleared by hardware four cycles after it is written or when clkps bits are written. re writing the clkpce bit with in this time-out period does neither extend th e time-out period, nor clear the clkpce bit. ? bits 3:0 ? clkps[3:0]: clock prescaler select bits 3 - 0 these bits define the division factor between the selected cl ock source and the internal system clock. these bits can be written run-time to vary the clock frequency to suit the applic ation requirements. as the divide r divides the master clock inpu t to the mcu, the speed of all synchronous peripherals is reduc ed when a division factor is used. the division factors are given in table 9-17 on page 34 . bit 76543210 (0x66) cal7 cal6 cal5 cal4 cal3 cal2 cal1 cal0 osccal read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value device specific calibration value bit 76543210 (0x61) clkpce ? ? ? clkps3 clkps2 clkps1 clkps0 clkpr read/write r/w r r r r/w r/w r/w r/w initial value 0 0 0 0 see bit description atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 34 the ckdiv8 fuse determines the initial value of the clkps bits. if ckdiv8 is unprogrammed, the cl kps bits will be reset to ?0000?. if ckdiv8 is programmed, clkps bi ts are reset to ?0011?, giving a division factor of 8 at start up. this feature should be used if the selected clock source has a higher fr equency than the maximum frequency of the device at the present operating conditions. note that any value can be written to the clkps bits r egardless of the ckdiv8 fuse setting. the application software must ensure that a sufficient division factor is chosen if the selected clock source has a higher frequency than the maximum frequency of the device at the present operating conditions. the device is shipped with the ckdiv8 fuse programmed. table 9-17. clock prescaler select clkps3 clkps2 clkps1 clkps0 clock division factor 0 0 0 0 1 0 0 0 1 2 0 0 1 0 4 0 0 1 1 8 0 1 0 0 16 0 1 0 1 32 0 1 1 0 64 0 1 1 1 128 1 0 0 0 256 1 0 0 1 reserved 1 0 1 0 reserved 1 0 1 1 reserved 1 1 0 0 reserved 1 1 0 1 reserved 1 1 1 0 reserved 1 1 1 1 reserved 35 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 10. power management and sleep modes sleep modes enable the application to shut down unused modules in the mcu, thereby saving power. the avr ? provides various sleep modes allowing the user to tailor the power consumption to the application?s requirements. when enabled, the brown-out detector (bod) actively monitors the power supply voltage during the sleep periods. to further save power, it is possible to disable the bod in some sleep modes. see section 10.2 ?bod disable(1)? on page 36 for more details. 10.1 sleep modes figure 9-1 on page 24 presents the different clock systems in the atmel ? atmega48pa/88pa/168pa, and their distribution. the figure is helpful in selecting an appropriate sleep mode. table 10-1 shows the different sleep modes, their wake up sources bod disable ability (1) . note: 1. bod disable is only available for atmega48pa/88pa/168pa. to enter any of the six sleep modes, the se bit in smcr must be written to logic one and a sleep instruction must be executed. the sm2, sm1, and sm0 bits in the smcr register select which sleep m ode (idle, adc noise reduction, power- down, power-save, standby, or ex tended standby) will be activated by the sleep instruction. see table 10-2 on page 39 for a summary. if an enabled interru pt occurs while the mcu is in a sleep mode, the mcu wakes up. the mc u is then halted for four cycles in addition to the start-up time, executes the interrupt routine, and resumes execut ion from the instruction following sleep. the contents of the register file and sr am are unaltered when the device wakes up from sleep. if a reset occurs during sleep mode, the mcu wakes up and executes from the reset vector. table 10-1. active clock domains and wake-up sources in the different sleep modes. active clock domains oscillators wake-up sources software bod disable sleep mode clk cpu clk flash clk io clk adc clk asy main clock source enabled timer oscillator enabled int1, int0 and pin change twi address match timer2 spm/eeprom ready adc wdt other i/o idle x x x x x (2) x x x x x x x adc noise reduction x x x x (2) x (3) x x (2) x x x power-down x (3) x x x power-save x x (2) x (3) x x x x standby (1) x x (3) x x x extended standby x (2) x x (2) x (3) x x x x note: 1. only recommended with external crystal or resonator selected as clock source. 2. if timer/counter2 is running in asynchronous mode. 3. for int1 and int0, only level interrupt. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 36 10.2 bod disable (1) when the brown-out detector (bod) is enabled by bodlevel fuses - see table 28-6 on page 253 and onwards, the bod is actively monitoring the power supply voltage during a sleep period. to save power, it is possible to disable the bod by software for some of the sleep modes, see table 10-1 on page 35 . the sleep mode power consumption will then be at the same level as when bod is globally disabled by fuses. if bo d is disabled in software, the bod function is turned off immediately after entering the sleep mode. upon wake-up from sleep, bod is automatically enabled again. this ensures safe operation in case the v cc level has dropped during the sleep period. when the bod has been disabled, the wake-up time from sleep mode will be approximately 60 s to ensure that the bod is working correctly before the mcu continues executing code. bod disable is controlled by bit 6, bods (bod sleep) in the control register mcucr, see section 10.11.2 ?mcucr ? mcu control register? on page 39 . writing this bit to one turns off the bod in relevant sleep modes, while a zero in this bit keeps bod active. defa ult setting keeps bod active, i.e. bods set to zero. writing to the bods bit is controlled by a timed sequence and an enable bit, see section 10.11.2 ?mcucr ? mcu control register? on page 39 . note: 1. bod disable only available in picopower devices atmega48pa/88pa/168pa 10.3 idle mode when the sm2...0 bits are written to 000, the sleep instruction makes the mcu enter idle mode, stopping the cpu but allowing the spi, usart, analog comparat or, adc, 2-wire serial interface, time r/counters, watchdog, and the interrupt system to continue operating. this sleep mode basically halts clk cpu and clk flash , while allowing the other clocks to run. idle mode enables the mcu to wake up from external triggered interrupts as well as internal ones like the timer overflow and usart transmit complete interrupts. if wa ke-up from the analog comparator interrupt is not required, the analog comparator can be powered down by setting the acd bit in the analog comp arator control and status regi ster ? acsr. this will reduce power consumption in idle mode. if the adc is enabled, a c onversion starts automatically when this mode is entered. 10.4 adc noise reduction mode when the sm2...0 bits are wr itten to 001, the sleep instru ction makes the mcu enter adc noise reduction mode, stopping the cpu but allowing the adc, the external interrupts, th e 2-wire serial interface address watch, timer/counter2 (1) , and the watchdog to continue operating (if enabled). this sleep mode basically halts clk i/o , clk cpu , and clk flash , while allowing the other clocks to run. this improves the noise environment for the adc, enabling higher resolution measurements. if the adc is enabled, a conversion starts automatically when th is mode is entered. apart from the adc conversion complete interrupt, only an external reset, a watchdog syst em reset, a watchdog interrupt, a brown-out re set, a 2-wire serial interface address match, a timer/counter2 interrupt, an spm/eeprom ready interrupt, an ex ternal level interrupt on int0 or int1 or a pin change interrupt can wake up the mcu from adc noise reduction mode. notes: 1. timer/counter2 will only keep running in asynchronous mode, see section 18. ?8-bit timer/counter2 with pw m and asynchronous operation? on page 125 for details. 10.5 power-down mode when the sm2...0 bits are written to 010, the sleep instruct ion makes the mcu enter power-d own mode. in this mode, the external oscillator is stopped, while the external interrup ts, the 2-wire serial interface address watch, and the watchdog continue operating (if enabled). only an external reset, a watchdog system reset, a watchdog interrupt, a brown-out reset, a 2-wire serial interface address match, an external level interrupt on int0 or int1, or a pin change interrupt can wake up the mcu. this sleep mode basically halts all generated cl ocks, allowing operation of asynchronous modules only. note: if a level triggered interrupt is used for wake-up fr om power-down, the required le vel must be held long enough for the mcu to complete the wake-up to trigger the leve l interrupt. if the level disa ppears before the end of the start-up time, the mcu will still wake up, but no interrupt will be generated. section 13. ?external interrupts? on page 59 . the start-up time is defined by the sut and cksel fuses as described in section 9. ?system clock and clock options? on page 24 . when waking up from power-down mode, there is a delay fr om the wake-up condition occurs until the wake-up becomes effective. this allows the clock to restart and become stable after having been stopped. the wake-up period is defined by the same cksel fuses that def ine the reset time-out period, as described in section 9.2 ?clock sources? on page 25 . 37 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 10.6 power-save mode when the sm2...0 bits are written to 011, the sleep inst ruction makes the mcu enter power-save mode. this mode is identical to power-down, with one exception: if timer/counter2 is enabled, it will keep running during sleep. the device can wake up from either timer overflow or output compare event from timer/counter2 if the corresponding time r/counter2 interrupt enable bits are set in timsk2, and the global interrupt enable bit in sreg is set. if timer/counter2 is not running, power-down mode is recommended instead of power-save mode. the timer/counter2 can be clocked both synchronously and asynchronously in power-save mode. if timer/counter2 is not using the asynchronous clock, the time r/counter oscillator is st opped during sleep. if timer/ counter2 is not using the synchronous clock, the clock source is stopped during sleep. no te that even if the synchronous clock is running in power- save, this clock is only av ailable for timer/counter2. 10.7 standby mode when the sm2...0 bits are 110 and an ex ternal crystal/resonator clock option is selected, the sleep in struction makes the mcu enter standby mode. this mode is identical to power-down with the exception that the o scillator is kept running. from standby mode, the device wakes up in six clock cycles. 10.8 extended standby mode when the sm2...0 bits are 111 and an ex ternal crystal/resonator clock option is selected, the sleep in struction makes the mcu enter extended standby mode. this mode is identical to power-save with the exception that the oscillator is kept running. from extended stan dby mode, the device wakes up in six clock cycles. 10.9 power reduction register the power reduction register (prr), see section 10.11.3 ?prr ? power reduction register? on page 40 , provides a method to stop the clock to individual peripherals to reduce power co nsumption. the current state of the peripheral is frozen and the i/o registers can not be read or written. resources used by the peripheral when stopping the clock will remain occupied, hence the peripheral should in most cases be disabled befor e stopping the clock. waking up a module, which is done by clearing the bit in prr, puts the module in the same state as before shutdown. module shutdown can be used in idle mode and active mode to significantly reduce the overall power consumption. in all other sleep modes, the clock is already stopped. 10.10 minimizing power consumption there are several possibilities to consider when tr ying to minimize the power consumption in an avr ? controlled system. in general, sleep modes should be used as much as possible, a nd the sleep mode should be selected so that as few as possible of the device?s functions are op erating. all functions not needed should be disabled. in particular, the following modules may need special considerat ion when trying to achieve the lowest possible power consumption. 10.10.1 analog to digital converter if enabled, the adc will be enabled in all sleep modes. to save power, the adc should be disabled before entering any sleep mode. when the adc is turned off and on again, the next conversion will be an extended conversion. refer to section 24. ?analog-to-digital converter? on page 213 for details on adc operation. 10.10.2 analog comparator when entering idle mode, the analog com parator should be disabled if not used. when entering adc noise reduction mode, the analog comparator should be disabled. in other sleep modes, the analog comp arator is automatically disabled. however, if the analog comparator is set up to us e the internal voltage reference as input, the analog comparator should be disabled in all sleep modes. otherwise, the internal voltage refere nce will be enabled, independent of sleep mode. refer to section 23. ?analog comparator? on page 210 for details on how to conf igure the analog comparator. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 38 10.10.3 brown-out detector if the brown-out detector is not needed by the application, this module should be tur ned off. if the brown-out detector is enabled by the bodlevel fuses, it will be enabled in all sleep modes, and hence, always consume power. in the deeper sleep modes, this will contribut e significantly to the total current consumption. refer to section 11.5 ?brown-out detection? on page 43 for details on how to configure the brown-out detector. 10.10.4 internal voltage reference the internal voltage reference will be enabled when needed by the brown-out detection, the ana log comparator or the adc. if these modules are disabled as described in the sections above, the internal volt age reference will be disabled and it will not be consuming power. when turned on again, the user must allow the reference to start up before the output is used. if the reference is kept on in sleep mode, th e output can be used immediately. refer to section 11.7 ?internal voltage reference? on page 44 for details on the start-up time. 10.10.5 watchdog timer if the watchdog timer is not needed in t he application, the module should be turned off. if the watchdog timer is enabled, it will be enabled in all sleep modes and hence always consume power. in the deeper sleep modes, this will contribute significantly to the total cu rrent consumption. refer to section 11.8 ?watchdog timer? on page 45 for details on how to configure the watchdog timer. 10.10.6 port pins when entering a sleep mode, all port pins should be configured to use minimum power. the most important is then to ensure that no pins drive resistive loads. in sleep modes where both the i/o clock (clk i/o ) and the adc clock (clk adc ) are stopped, the input buffers of the device will be disabl ed. this ensures that no power is consum ed by the input logic when not needed. in some cases, the input logic is needed for detecting wake-u p conditions, and it will then be enabled. refer to the section section 14.2.5 ?digital input enable and sleep modes? on page 68 for details on which pins are enabled. if the input buffer is enabled and the input signal is left floating or have an analog signal level close to v cc /2, the input buffer will use excessive power. for analog input pins, the digital input buffer should be disabled at all times. an analog signal level close to v cc /2 on an input pin can cause significant current even in active mode. digital input buffers can be disabled by writing to the digital input disable registers (didr1 and didr0). refer to section 23.3.3 ?didr1 ? digital inpu t disable register 1? on page 212 and section 24.9.5 ?didr0 ? digital input disable register 0? on page 228 for details. 10.10.7 on-chip debug system if the on-chip debug system is enabled by the dwen fuse and the chip enters sleep mode, the main clock source is enabled and hence always consumes power. in the deeper sleep modes, this will contribute significantly to the total current consumption. 10.11 register description 10.11.1 smcr ? sleep mode control register the sleep mode control register contai ns control bits for power management. ? bits [7:4]: reserved these bits are unused in the atmel ? atmega48pa/88pa/168pa, and will always be read as zero. ? bits 3:1 ? sm[2:0]: sleep mode select bits 2, 1, and 0 these bits select between the five available sleep modes as shown in table 10-2 . bit 76543210 0x33 (0x53) ????sm2sm1sm0sesmcr read/write rrrrr/wr/wr/wr/w initial value00000000 39 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 ? bit 0 ? se: sleep enable the se bit must be written to logic one to make the mcu enter the sleep mode when the sleep instruction is executed. to avoid the mcu entering the sleep mode unless it is the progra mmer?s purpose, it is recomm ended to write the sleep enable (se) bit to one just before the executio n of the sleep instruction and to cl ear it immediatel y after waking up. 10.11.2 mcucr ? mcu control register ? bit 6 ? bods: bod sleep () the bods bit must be written to logic one in order to turn off bod during sleep, see table 10-1 on page 35 . writing to the bods bit is controlled by a timed sequence and an enable bit, bodse in mcucr. to disable bod in relevant sleep modes, both bods and bodse must first be set to one. then, to set the bods bit, bods must be set to one and bodse must be set to zero within four clock cycles. the bods bit is active three clock cycles after it is set. a sleep instruction must be executed wh ile bods is active in order t o turn off the bod for the actual sleep mode. the bods bit is automatically cleared after three clock cycles. ? bit 5 ? bodse: bod sleep enable () bodse enables setting of bods control bit, as explained in bods bit description. bod disable is controlled by a timed sequence. note: 1. bods and bodse only available for picopower devices atmega48pa/88pa/168pa table 10-2. sleep mode select sm2 sm1 sm0 sleep mode 0 0 0 idle 0 0 1 adc noise reduction 0 1 0 power-down 0 1 1 power-save 1 0 0 reserved 1 0 1 reserved 1 1 0 standby (1) 1 1 1 external standby (1) note: 1. standby mode is only recommended fo r use with external crystals or resonators. bit 7 6 5 4 3 2 1 0 0x35 (0x55) ? bods () bodse () pud ? ? ivsel ivce mcucr read/write r r/w r/w r/w r r r/w r/w initial value 0 0 0 0 0 0 0 0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 40 10.11.3 prr ? power reduction register ? bit 7 ? prtwi: power reduction twi writing a logic one to this bit shuts down the twi by stopping the clock to the module. when waking up the twi again, the twi should be re initialized to ensure proper operation. ? bit 6 ? prtim2: power reduction timer/counter2 writing a logic one to this bit shuts down the timer/co unter2 module in synchronous mode (as2 is 0). when the timer/counter2 is enabled, operation will continue like before the shutdown. ? bit 5 ? prtim0: power reduction timer/counter0 writing a logic one to this bit shuts do wn the timer/counter0 module . when the timer/counter0 is enabled, operation will continue like before the shutdown. ? bit 4 ? reserved this bit is reserved in atmel ? atmega48pa/88pa/168pa and will always read as zero. ? bit 3 ? prtim1: power reduction timer/counter1 writing a logic one to this bit shuts do wn the timer/counter1 module . when the timer/counter1 is enabled, operation will continue like before the shutdown. ? bit 2 ? prspi: power reducti on serial peripheral interface if using debugwire on-chip debug system, this bit should not be written to one. writing a logic one to this bit shuts down the serial peripheral interface by stopping the clock to the module. when waking up the spi again, the spi should be re in itialized to ensure proper operation. ? bit 1 ? prusart0: power reduction usart0 writing a logic one to this bit shuts down the usart by stopping the clock to the module. when waking up the usart again, the usart should be re initialized to ensure proper operation. ? bit 0 ? pradc: power reduction adc writing a logic one to this bit shuts down the adc. the a dc must be disabled before shut down. the analog comparator cannot use the adc input mux when the adc is shut down. bit 765432 1 0 (0x64) prtwi prtim2 prtim0 ? prtim1 prspi prusart0 pradc prr read/write r/w r/w r/w r r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 41 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 11. system control and reset 11.1 resetting the avr during reset, all i/o registers are set to their initial values, and the program star ts execution from the reset vector. for at mel ? atmega168pa the instruction placed at the reset vector must be a jmp ? absolute jump ? instruction to the reset handling routine. for the atmel atmega48pa and atmel atmega88pa, the in struction placed at the reset vector must be an rjmp ? relative jump ? instruction to the reset handling routine. if the program never enables an interrupt source, the interrupt vectors are not used, and regular program code can be placed at these locations. this is also t he case if the reset vector is in the application section while the interrupt vectors are in t he boot section or vice versa (atmel atmega88pa/168pa only). the circuit diagram in figure 11-1 on page 42 shows the reset logic. table 29-5 on page 272 defines the electrical parameters of the reset circuitry. the i/o ports of the avr ? are immediately reset to their initial state when a reset source goes active. this does not require any clock source to be running. after all reset sources have gone inactive, a delay counter is invo ked, stretching the internal reset. this allows the power to reach a stable level before normal operation starts. the time- out period of the delay counter is defined by the user through the sut and cksel fuses. the different select ions for the delay per iod are presented in section 9.2 ?clock sources? on page 25 . 11.2 reset sources the atmel atmega48pa /88pa/168pa has four sources of reset: power-on reset. the mcu is reset when the supply voltage is below the power-on reset threshold (v pot ). external reset. the mcu is reset wh en a low level is present on the reset pin for longer than the minimum pulse length. watchdog system reset. the mcu is reset when the watc hdog timer period expires and the watchdog system reset mode is enabled. brown-out reset. the mcu is reset when the supply voltage v cc is below the brown-out reset threshold (v bot ) and the brown-out detector is enabled. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 42 figure 11-1. reset logic 11.3 power-on reset a power-on reset (por) pulse is generated by an on-chip detection circuit. the detection level is defined in section 29.5 ?system and reset characteristics? on page 272 . the por is activated whenever v cc is below the detection level. the por circuit can be used to trigger the start-up reset, as well as to detect a failure in supply voltage. a power-on reset (por) circuit ensures that the device is re set from power-on. reaching the power-on reset threshold voltage invokes the delay counter, which determine s how long the device is kept in reset after v cc rise. the reset signal is activated again, without any delay, when v cc decreases below the detection level. figure 11-2. mcu start-up, reset tied to v cc power-on reset circuit brown-out reset circuit mcu status register (mcusr) reset circuit pull-up resistor bodlevel [2..0] s q r data bus ck sut[1:0] cksel[3:0] rstdisbl counter reset internal reset timeout spike filter reset vcc delay counters watchdog timer watchdog oscillator clock generator porf borf wdrf extrf v cc v ccrr reset internal reset time-out t tout v pormax v pormin v rst 43 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 11-3. mcu start-up, reset extended externally 11.4 external reset an external reset is generated by a low level on the reset pin. reset pulses longer than the minimum pulse width (see section 29.5 ?system and reset characteristics? on page 272 ) will generate a reset, even if th e clock is not running. shorter pulses are not guaranteed to generate a reset. when the applied signal reaches the reset threshold voltage ? v rst ? on its positive edge, the delay counter starts the mcu after the time-out period ? t tout ? has expired. the external reset can be disabled by the rstdisbl fuse, see table 28-6 on page 253 . figure 11-4. external reset during operation 11.5 brown-out detection the atmel ? atmega48pa/88pa/168pa has an on-chip brown-out detection (bod) circuit for monitoring the v cc level during operation by comparing it to a fixed trigger level. the trigger level for the bod can be selected by the bodlevel fuses. the trigger level has a hysteresis to ensure spike free brown-out detection. the hysteresis on the detection level should be interpreted as v bot+ = v bot + v hyst /2 and v bot- = v bot ? v hyst /2.when the bod is enabled, and v cc decreases to a value below the trigger level (v bot- in figure 11-5 ), the brown-out reset is i mmediately activated. when v cc increases above the trigger level (v bot+ in figure 11-5 ), the delay counter starts the mcu after the time-out period t tout has expired. the bod circuit will only detect a drop in v cc if the voltage stays below the trigger level for longer than t bod given in section 29.5 ?system and reset characteristics? on page 272 . figure 11-5. brown-out reset during operation v cc reset internal reset time-out v rst t tout v pot t tout reset v cc internal reset time-out v rst v bot- v bot+ t tout v cc reset internal reset time-out atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 44 11.6 watchdog system reset when the watchdog times out, it will generate a short reset pulse of one ck cycle duration. on the falling edge of this pulse, the delay timer starts counting the time-out period t tout . refer to section 11.8 ?watchdog timer? on page 45 for details on operation of the watchdog timer. figure 11-6. watchdog system reset during operation 11.7 internal voltage reference the atmel ? atmega48pa/88pa/168pa features an internal bandgap re ference. this reference is used for brown-out detection, and it can be used as an in put to the analog comparator or the adc. 11.7.1 voltage reference enable signals and start-up time the voltage reference has a start-up time that may influence th e way it should be used. the start-up time is given in section 29.5 ?system and reset characteristics? on page 272 . to save power, the reference is not always turned on. the reference is on during the following situations: 1. when the bod is enabled (by programming the bodlevel [2:0] fuses). 2. when the bandgap reference is connected to the analog comparator (by setting the acbg bit in acsr). 3. when the adc is enabled. thus, when the bod is not enabled, af ter setting the acbg bit or enabling the adc, the user must always allow the reference to start up before the output fr om the analog comparator or adc is used. to reduce power consumption in power- down mode, the user can avoid the three conditions above to en sure that the reference is turned off before entering power- down mode. 1 ck cycle v cc reset internal reset reset time-out wdt time-out t tout 45 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 11.8 watchdog timer 11.8.1 features clocked from separate on-chip oscillator 3 operating modes interrupt system reset interrupt and system reset selectable time-out period from 16ms to 8s possible hardware fuse watchdog always on (wdton) for fail-safe mode 11.8.2 overview the atmel atmega48pa/8 8pa/168pa has an enhanced watch dog timer (wdt). the wdt is a timer counting cycles of a separate on-chip 128khz oscillator. the wdt gives an interrupt or a system reset when the counter reaches a given time- out value. in normal operation mode, it is required that t he system uses the wdr - watchdog timer reset - instruction to restart the counter before the time-out val ue is reached. if the system doesn't restart the counter, an interrupt or system res et will be issued. figure 11-7. watchdog timer in interrupt mode, the wdt gives an interrupt when the timer expires. this interrupt can be used to wake the device from sleep-modes, and also as a general system timer. one exampl e is to limit the maximum time allowed for certain operations, giving an interrupt when the operation has run longer than expected. in system reset mode, the wdt gives a reset when the timer expires. this is typically used to prevent system hang- up in case of runaway code. the third mode, interrupt and system reset mode, combines the other two modes by first giving an interrupt and th en switch to syste m reset mode. this mode will for instance allow a safe shutdown by sa ving critical parameters before a system reset. the watchdog always on (w dton) fuse, if programmed, will force the watch dog timer to system rese t mode. with the fuse programmed the system reset mode bit (wde ) and interrupt mode bit (wdie) are lock ed to 1 and 0 respectively. to further ensure program security, alterations to the watchdog set-up must follow timed sequences. the sequence for clearing wde and changing time-out configuration is as follows: 1. in the same operation, write a logic one to the wa tchdog change enable bit (wdce) and wde. a logic one must be written to wde regardless of t he previous value of the wde bit. 2. within the next four clock cycles, write the wde and watchdog prescaler bits (wdp) as desired, but with the wdce bit cleared. this must be done in one operation. osc/64k osc/16k osc/2k osc/4k osc/8k osc/32k osc/128k osc/256k osc/512k osc/1024k watchdog prescaler wdp0 wde watchdog reset wdif wdie wdp1 wdp2 wdp3 mcu reset interrupt 128khz oscillator atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 46 the following code example shows one assembly and one c function for turning off the watchdog timer. the example assumes that interrupts are controlled (e.g. by disabling in terrupts globally) so that no interrupts will occur during the execution of these functions. assembly code example (1) wdt_off: ; turn off global interrupt cli ; reset watchdog timer wdr ; clear wdrf in mcusr in r16, mcusr andi r16, (0xff & (0< 49 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 ? bit 4 ? wdce: watchdog change enable this bit is used in timed sequences for changing wde and pre scaler bits. to clear the wde bit, and/or change the prescaler bits, wdce must be set. once written to one, hardware will cl ear wdce after four clock cycles. ? bit 3 ? wde: watchdog system reset enable wde is overridden by wdrf in mcusr. this means that wde is always set when wdrf is set. to clear wde, wdrf must be cleared first. this feature ensu res multiple resets during conditions caus ing failure, and a safe start-up after the failure. ? bit 5, 2:0 - wdp[3:0]: watchdog timer prescaler 3, 2, 1 and 0 the wdp[3:0] bits determine the watchdog timer prescaling wh en the watchdog timer is running. the different prescaling values and their corresponding time-out periods are shown in table 11-2 . table 11-1. watchdog timer configuration wdton (1) wde wdie mode action on time-out 1 0 0 stopped none 1 0 1 interrupt mode interrupt 1 1 0 system reset mode reset 1 1 1 interrupt and system reset mode interrupt, then go to system reset mode 0 x x system reset mode reset note: 1. wdton fuse set to ?0? means programmed and ?1? means unprogrammed. table 11-2. watchdog timer prescale select wdp3 wdp2 wdp1 wdp0 number of wdt oscillator cycles typical time-out at v cc = 5.0v 0 0 0 0 2k (2048) cycles 16ms 0 0 0 1 4k (4096) cycles 32ms 0 0 1 0 8k (8192) cycles 64ms 0 0 1 1 16k (16384) cycles 0.125s 0 1 0 0 32k (32768) cycles 0.25s 0 1 0 1 64k (65536) cycles 0.5s 0 1 1 0 128k (131072) cycles 1.0s 0 1 1 1 256k (262144) cycles 2.0s 1 0 0 0 512k (524288) cycles 4.0s 1 0 0 1 1024k (1048576) cycles 8.0s 1 0 1 0 reserved 1 0 1 1 1 1 0 0 1 1 0 1 1 1 1 0 1 1 1 1 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 50 12. interrupts this section describes the specifics of the interrupt handling as performed in the atmel ? atmega48pa/88pa/168pa. for a general explanation of the avr ? interrupt handling, refer to section 7.7 ?reset and interrupt handling? on page 14 . the interrupt vectors in the atmel atmega48pa, atmel atme ga88pa, and atmega168pa are generally the same, with the following differences: each interrupt vector occupies two in struction words in atmel atmega168pa and one instruction word in the atmel atmega48pa and atmel atmega88pa. atmel atmega48pa does not have a separate boot loader section. in the atmel atmega88pa, and atmel atmega168pa, the reset vector is affected by the bootrst fuse, and the interrupt vector start address is affected by the ivsel bit in mcucr. 12.1 interrupt vectors in atmel atmega48pa table 12-1. reset and interrupt vectors in atmega48pa vector no. program address source interrupt definition 1 0x000 reset external pin, power-on reset, brown-out reset and watchdog system reset 2 0x001 int0 external interrupt request 0 3 0x002 int1 external interrupt request 1 4 0x003 pcint0 pin change interrupt request 0 5 0x004 pcint1 pin change interrupt request 1 6 0x005 pcint2 pin change interrupt request 2 7 0x006 wdt watchdog time-out interrupt 8 0x007 timer2 compa timer/counter2 compare match a 9 0x008 timer2 compb timer/counter2 compare match b 10 0x009 timer2 ovf timer/counter2 overflow 11 0x00a timer1 capt timer/counter1 capture event 12 0x00b timer1 compa timer/counter1 compare match a 13 0x00c timer1 compb timer/coutner1 compare match b 14 0x00d timer1 ovf timer/counter1 overflow 15 0x00e timer0 compa timer/counter0 compare match a 16 0x00f timer0 compb timer/counter0 compare match b 17 0x010 timer0 ovf timer/counter0 overflow 18 0x011 spi, stc spi serial transfer complete 19 0x012 usart, rx usart rx complete 20 0x013 usart, udre usart, data register empty 21 0x014 usart, tx usart, tx complete 22 0x015 adc adc conversion complete 23 0x016 ee ready eeprom ready 24 0x017 analog comp analog comparator 25 0x018 twi 2-wire serial interface 26 0x019 spm ready store program memory ready 51 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 the most typical and general program setup for th e reset and interrupt vector addresses in atmel ? atmega48pa is: address labels code comments 0x000 rjmp reset ; reset handler 0x001 rjmp ext_int0 ; irq0 handler 0x002 rjmp ext_int1 ; irq1 handler 0x003 rjmp pcint0 ; pcint0 handler 0x004 rjmp pcint1 ; pcint1 handler 0x005 rjmp pcint2 ; pcint2 handler 0x006 rjmp wdt ; watchdog timer handler 0x007 rjmp tim2_compa ; timer2 compare a handler 0x008 rjmp tim2_compb ; timer2 compare b handler 0x009 rjmp tim2_ovf ; timer2 overflow handler 0x00a rjmp tim1_capt ; timer1 capture handler 0x00b rjmp tim1_compa ; timer1 compare a handler 0x00c rjmp tim1_compb ; timer1 compare b handler 0x00d rjmp tim1_ovf ; timer1 overflow handler 0x00e rjmp tim0_compa ; timer0 compare a handler 0x00f rjmp tim0_compb ; timer0 compare b handler 0x010 rjmp tim0_ovf ; timer0 overflow handler 0x011 rjmp spi_stc ; spi transfer complete handler 0x012 rjmp usart_rxc ; usart, rx complete handler 0x013 rjmp usart_udre ; usart, udr empty handler 0x014 rjmp usart_txc ; usart, tx complete handler 0x015 rjmp adc ; adc conversion complete handler 0x016 rjmp ee_rdy ; eeprom ready handler 0x017 rjmp ana_comp ; analog comparator handler 0x018 rjmp twi ; 2-wire serial interface handler 0x019 rjmp spm_rdy ; store program memory ready handler ; 0x01a reset: ldi r16, high(ramend); main program start 0x01b out sph,r16 ; set stack pointer to top of ram 0x01c ldi r16, low(ramend) 0x01d out spl,r16 0x01e sei ; enable interrupts 0x01f atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 52 12.2 interrupt vectors in the atmel atmega88pa table 12-2. reset and interrupt vectors in the atmel atmega88pa vector no. program address (2) source interrupt definition 1 0x000 (1) reset external pin, power-on reset, brown-out reset and watchdog system reset 2 0x001 int0 external interrupt request 0 3 0x002 int1 external interrupt request 1 4 0x003 pcint0 pin change interrupt request 0 5 0x004 pcint1 pin change interrupt request 1 6 0x005 pcint2 pin change interrupt request 2 7 0x006 wdt watchdog time-out interrupt 8 0x007 timer2 compa timer/counter2 compare match a 9 0x008 timer2 compb timer/counter2 compare match b 10 0x009 timer2 ovf timer/counter2 overflow 11 0x00a timer1 capt timer/counter1 capture event 12 0x00b timer1 compa timer/counter1 compare match a 13 0x00c timer1 compb timer/coutner1 compare match b 14 0x00d timer1 ovf timer/counter1 overflow 15 0x00e timer0 compa timer/counter0 compare match a 16 0x00f timer0 compb timer/counter0 compare match b 17 0x010 timer0 ovf timer/counter0 overflow 18 0x011 spi, stc spi serial transfer complete 19 0x012 usart, rx usart rx complete 20 0x013 usart, udre usart, data register empty 21 0x014 usart, tx usart, tx complete 22 0x015 adc adc conversion complete 23 0x016 ee ready eeprom ready 24 0x017 analog comp analog comparator 25 0x018 twi 2-wire serial interface 26 0x019 spm ready store program memory ready notes: 1. when the bootrst fuse is programmed, the device will jump to the boot loader address at reset, see section 27. ?boot loader support ? read-wh ile-write self-programming? on page 237 . 2. when the ivsel bit in mcucr is set, interrupt vectors will be moved to the start of the boot flash section. the address of each interrupt vector will then be the address in this table added to the start address of the boot flash section. 53 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 12-3 shows reset and interrupt vectors plac ement for the various combinations of bootrst and ivsel settings. if the program never enables an interrupt source, the interrupt vector s are not used, and regular progr am code can be placed at these locations. this is also the case if the reset vector is in the application section while the interrupt vectors are in the boot section or vice versa. the most typical and general program setup for the reset and interrupt vector addresses in the atmel ? atmega88pa is: addresslabels code comments 0x000 rjmp reset ; reset handler 0x001 rjmp ext_int0 ; irq0 handler 0x002 rjmp ext_int1 ; irq1 handler 0x003 rjmp pcint0 ; pcint0 handler 0x004 rjmp pcint1 ; pcint1 handler 0x005 rjmp pcint2 ; pcint2 handler 0x006 rjmp wdt ; watchdog timer handler 0x007 rjmp tim2_compa ; timer2 compare a handler 0x008 rjmp tim2_compb ; timer2 compare b handler 0x009 rjmp tim2_ovf ; timer2 overflow handler 0x00a rjmp tim1_capt ; timer1 capture handler 0x00b rjmp tim1_compa ; timer1 compare a handler 0x00c rjmp tim1_compb ; timer1 compare b handler 0x00d rjmp tim1_ovf ; timer1 overflow handler 0x00e rjmp tim0_compa ; timer0 compare a handler 0x00f rjmp tim0_compb ; timer0 compare b handler 0x010 rjmp tim0_ovf ; timer0 overflow handler 0x011 rjmp spi_stc ; spi transfer complete handler 0x012 rjmp usart_rxc ; usart, rx complete handler 0x013 rjmp usart_udre ; usart, udr empty handler 0x014 rjmp usart_txc ; usart, tx complete handler 0x015 rjmp adc ; adc conversion complete handler 0x016 rjmp ee_rdy ; eeprom ready handler 0x017 rjmp ana_comp ; analog comparator handler 0x018 rjmp twi ; 2-wire serial interface handler 0x019 rjmp spm_rdy ; store program memory ready handler 0x01a reset: ldi r16, high(ramend); main program start 0x01b out sph,r16 ; set stack pointer to top of ram 0x01c ldi r16, low(ramend) 0x01d out spl,r16 0x01e sei ; enable interrupts 0x01f atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 54 when the bootrst fuse is unprogrammed, the boot section si ze set to 2k bytes and the ivsel bit in the mcucr register is set before any interrupts are enabled, the most typical and general program setup for the reset and interrupt vector addresses in the atmel ? atmega88pa is: address labels code comments 0x000 reset: ldi r16,high(ramend); main program start 0x001 out sph,r16 ; set stack pointer to top of ram 0x002 ldi r16,low(ramend) 0x003 out spl,r16 0x004 sei ; enable interrupts 0x005 55 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 12.3 interrupt vectors in the atmel atmega168pa table 12-4. reset and interrupt vectors in the atmel atmega168pa vector no. program address (2) source interrupt definition 1 0x0000 (1) reset external pin, power-on reset, brown-out reset and watchdog system reset 2 0x0002 int0 external interrupt request 0 3 0x0004 int1 external interrupt request 1 4 0x0006 pcint0 pin change interrupt request 0 5 0x0008 pcint1 pin change interrupt request 1 6 0x000a pcint2 pin change interrupt request 2 7 0x000c wdt watchdog time-out interrupt 8 0x000e timer2 compa timer/counter2 compare match a 9 0x0010 timer2 compb timer/counter2 compare match b 10 0x0012 timer2 ovf timer/counter2 overflow 11 0x0014 timer1 capt timer/counter1 capture event 12 0x0016 timer1 compa timer/counter1 compare match a 13 0x0018 timer1 compb timer/coutner1 compare match b 14 0x001a timer1 ovf timer/counter1 overflow 15 0x001c timer0 compa timer/counter0 compare match a 16 0x001e timer0 compb timer/counter0 compare match b 17 0x0020 timer0 ovf timer/counter0 overflow 18 0x0022 spi, stc spi serial transfer complete 19 0x0024 usart, rx usart rx complete 20 0x0026 usart, udre usart, data register empty 21 0x0028 usart, tx usart, tx complete 22 0x002a adc adc conversion complete 23 0x002c ee ready eeprom ready 24 0x002e analog comp analog comparator 25 0x0030 twi 2-wire serial interface 26 0x0032 spm ready store program memory ready notes: 1. when the bootrst fuse is programmed, the device will jump to the boot loader address at reset, see section 27. ?boot loader support ? read-wh ile-write self-programming? on page 237 . 2. when the ivsel bit in mcucr is set, interrupt vectors will be moved to the start of the boot flash section. the address of each interrupt vector will then be the address in this table added to the start address of the boot flash section. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 56 table 12-5 shows reset and interrupt vectors plac ement for the various combinations of bootrst and ivsel settings. if the program never enables an interrupt source, the interrupt vector s are not used, and regular progr am code can be placed at these locations. this is also the case if the reset vector is in the application section while the interrupt vectors are in the boot section or vice versa. the most typical and general program setup for the reset and interrupt vector addresses in the atmel ? atmega168pa is: address labels code comments 0x0000 jmp reset ; reset handler 0x0002 jmp ext_int0 ; irq0 handler 0x0004 jmp ext_int1 ; irq1 handler 0x0006 jmp pcint0 ; pcint0 handler 0x0008 jmp pcint1 ; pcint1 handler 0x000a jmp pcint2 ; pcint2 handler 0x000c jmp wdt ; watchdog timer handler 0x000e jmp tim2_compa ; timer2 compare a handler 0x0010 jmp tim2_compb ; timer2 compare b handler 0x0012 jmp tim2_ovf ; timer2 overflow handler 0x0014 jmp tim1_capt ; timer1 capture handler 0x0016 jmp tim1_compa ; timer1 compare a handler 0x0018 jmp tim1_compb ; timer1 compare b handler 0x001a jmp tim1_ovf ; timer1 overflow handler 0x001c jmp tim0_compa ; timer0 compare a handler 0x001e jmp tim0_compb ; timer0 compare b handler 0x0020 jmp tim0_ovf ; timer0 overflow handler 0x0022 jmp spi_stc ; spi transfer complete handler 0x0024 jmp usart_rxc ; usart, rx complete handler 0x0026 jmp usart_udre ; usart, udr empty handler 0x0028 jmp usart_txc ; usart, tx complete handler 0x002a jmp adc ; adc conversion complete handler 0x002c jmp ee_rdy ; eeprom ready handler 0x002e jmp ana_comp ; analog comparator handler 0x0030 jmp twi ; 2-wire serial interface handler 0x0032 jmp spm_rdy ; store program memory ready handler ; 0x0033 reset: ldi r16, high(ramend); main program start 0x0034 out sph,r16 ; set stack pointer to top of ram 0x0035 ldi r16, low(ramend) 0x0036 out spl,r16 0x0037 sei ; enable interrupts 0x0038 57 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 when the bootrst fuse is unprogrammed, the boot section size set to 2kbytes and the ivsel bit in the mcucr register is set before any interrupts are enabled, the most typical and general program setup for the reset and interrupt vector addresses in the atmel ? atmega168pa is: address labels code comments 0x0000 reset: ldi r16,high(ramend); main program start 0x0001 out sph,r16 ; set stack pointer to top of ram 0x0002 ldi r16,low(ramend) 0x0003 out spl,r16 0x0004 sei ; enable interrupts 0x0005 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 58 12.4 register description 12.4.1 moving interrupts between application and boot space, atmel atmega88pa, atmega168pa the mcu control register controls the pl acement of the interrupt vector table. mcucr ? mcu control register note: bods and bodse only available for picopower devices atmega48pa/88pa/168pa ? bit 1 ? ivsel: interrupt vector select when the ivsel bit is cleared (zero), the interrupt vectors are placed at the start of the flash memory. when this bit is set (one), the interrupt vectors are moved to t he beginning of the boot loader section of t he flash. the actual address of the star t of the boot flash section is determined by the bootsz fuses. refer to the section 27. ?boot loader support ? read-while-write self-programming? on page 237 for details. to avoid unintentional changes of interrupt vector tables, a special writ e procedure must be followed to change the ivsel bit: a. write the interrupt vector change enable (ivce) bit to one. b. within four cycles, write th e desired value to ivsel whil e writing a zero to ivce. interrupts will automat ically be disabled while this sequence is executed. interrupts ar e disabled in the cycle ivce is set, an d they remain disabled until after the instru ction following th e write to ivsel. if ivsel is not written, interrupts remain disab led for four cycles. the i-bit in th e status register is unaffect ed by the automatic disabling. note: if interrupt vectors are placed in the boot loader se ction and boot lock bit blb02 is programmed, interrupts are disabled while executing from the application section. if interrupt vectors are placed in the application section and boot lock bit blb12 is programed, interrupts are disa bled while executing from the boot loader section. refer to the section 27. ?boot loader support ? read-wh ile-write self-programming? on page 237 for details on boot lock bits. ? bit 0 ? ivce: interrupt vector change enable the ivce bit must be written to logic one to enable change of t he ivsel bit. ivce is cleared by hardware four cycles after it is written or when ivsel is written. setting the ivce bit will disable interrupts, as explained in the ivsel description above. see code example below. bit 76 5 43210 0x35 (0x55) ? bods (1) bodse (1) pud ? ? ivsel ivce mcucr read/write r r/w r/w r/w r r r/w r/w initial value00 0 00000 assembly code example move_interrupts: ; enable change of interrupt vectors ldi r16, (1< atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 60 13.2 register description 13.2.1 eicra ? external inte rrupt control register a the external interrupt control register a contai ns control bits for interrupt sense control. ? bit 7:4 ? reserved these bits are unused bits in the atmel ? atmega48pa/88pa/168pa, and will always read as zero. ? bit 3, 2 ? isc11, isc10: interrupt sense control 1 bit 1 and bit 0 the external interrupt 1 is activated by the external pin int1 if the sreg i-flag and the corre sponding interrupt mask are set. the level and edges on the external int1 pin that activate the interrupt are defined in table 13-1 . the value on the int1 pin is sampled before detecting edges. if edge or toggle interrupt is selected, pulses that last l onger than one clock period will generate an interrupt. shorter pulses are no t guaranteed to generate an interrupt. if low level interrupt is selected, the low level must be held until the completion of the current ly executing instruction to generate an interrupt. ? bit 1, 0 ? isc01, isc00: interrupt sense control 0 bit 1 and bit 0 the external interrupt 0 is activated by the external pin int0 if the sreg i-flag and the corre sponding interrupt mask are set. the level and edges on the external int0 pin that activate the interrupt are defined in table 13-2 . the value on the int0 pin is sampled before detecting edges. if edge or toggle interrupt is selected, pulses that last l onger than one clock period will generate an interrupt. shorter pulses are no t guaranteed to generate an interrupt. if low level interrupt is selected, the low level must be held until the completion of the current ly executing instruction to generate an interrupt. bit 76543210 (0x69) ? ? ? ? isc11 isc10 isc01 isc00 eicra read/write r r r r r/w r/w r/w r/w initial value00000000 table 13-1. i nterrupt 1 sense control isc11 isc10 description 0 0 the low level of int1 generates an interrupt request. 0 1 any logical change on int1 generates an interrupt request. 1 0 the falling edge of int1 generates an interrupt request. 1 1 the rising edge of int1 generates an interrupt request. table 13-2. interrupt 0 sense control isc01 isc00 description 0 0 the low level of int0 generates an interrupt request. 0 1 any logical change on int0 generates an interrupt request. 1 0 the falling edge of int0 generates an interrupt request. 1 1 the rising edge of int0 generates an interrupt request. 61 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 13.2.2 eimsk ? external interrupt mask register ? bit 7:2 ? reserved these bits are unused bits in the atmel ? atmega48pa/88pa/168pa, and will always read as zero. ? bit 1 ? int1: external interrupt request 1 enable when the int1 bit is set (one) and the i-bit in the status regi ster (sreg) is set (one), the ex ternal pin interrupt is enabled. the interrupt sense control1 bits 1/0 (isc11 and isc10) in t he external interrupt control r egister a (eicra) define whether the external interrupt is activated on rising and/or falling edge of the int1 pin or level sensed. activity on the pin will cau se an interrupt request even if int1 is configured as an output. th e corresponding interrupt of external interrupt request 1 is executed from the int1 interrupt vector. ? bit 0 ? int0: external interrupt request 0 enable when the int0 bit is set (one) and the i-bit in the status regi ster (sreg) is set (one), the ex ternal pin interrupt is enabled. the interrupt sense control0 bits 1/0 (isc01 and isc00) in t he external interrupt control r egister a (eicra) define whether the external interrupt is activated on rising and/or falling edge of the int0 pin or level sensed. activity on the pin will cau se an interrupt request even if int0 is configured as an output. th e corresponding interrupt of external interrupt request 0 is executed from the int0 interrupt vector. 13.2.3 eifr ? external interrupt flag register ? bit 7:2 ? reserved these bits are unused bits in the atmel atmega48pa/88pa/168pa, and will always read as zero. ? bit 1 ? intf1: external interrupt flag 1 when an edge or logic change on the int1 pin triggers an inte rrupt request, intf1 becomes set (one). if the i-bit in sreg and the int1 bit in eimsk are set (one), the mcu will jump to the corresponding interrupt vector. the flag is cleared when the interrupt routine is executed. alternatively, the flag can be cleared by writing a logical one to it. this flag is always c leared when int1 is configured as a level interrupt. ? bit 0 ? intf0: external interrupt flag 0 when an edge or logic change on the int0 pin triggers an inte rrupt request, intf0 becomes set (one). if the i-bit in sreg and the int0 bit in eimsk are set (one), the mcu will jump to the corresponding interrupt vector. the flag is cleared when the interrupt routine is executed. alternatively, the flag can be cleared by writing a logical one to it. this flag is always c leared when int0 is configured as a level interrupt. bit 76543210 0x1d (0x3d) ??????int1int0eimsk read/write rrrrrrr/wr/w initial value00000000 bit 76543210 0x1c (0x3c) ??????intf1intf0eifr read/writerrrrrrr/wr/w initial value00000000 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 62 13.2.4 pcicr ? pin change interrupt control register ? bit 7:3 ? reserved these bits are unused bits in the atmel ? atmega48pa/88pa/168pa, and will always read as zero. ? bit 2 ? pcie2: pin change interrupt enable 2 when the pcie2 bit is set (one) and the i-bit in the status regi ster (sreg) is set (one), pin change interrupt 2 is enabled. an y change on any enabled pcint[23:16] pin will cause an interrupt. the corresponding interrupt of pin change interrupt request is executed from the pci2 interrupt ve ctor. pcint[23:16] pins are enabled i ndividually by the pcmsk2 register. ? bit 1 ? pcie1: pin change interrupt enable 1 when the pcie1 bit is set (one) and the i-bit in the status regi ster (sreg) is set (one), pin change interrupt 1 is enabled. an y change on any enabled pcint[14:8] pin will cause an interrupt. the corresponding interrupt of pin change interrupt request is executed from the pci1 interrupt vector. pcint[14:8] pins are enabled in dividually by the pcmsk1 register. ? bit 0 ? pcie0: pin change interrupt enable 0 when the pcie0 bit is set (one) and the i-bit in the status regi ster (sreg) is set (one), pin change interrupt 0 is enabled. an y change on any enabled pcint[7:0] pin will cause an interrupt. th e corresponding interrupt of pin change interrupt request is executed from the pci0 interrupt vector. pcint[7:0] pins are enabled individually by the pcmsk0 register. 13.2.5 pcifr ? pin change interrupt flag register ? bit 7:3 ? reserved these bits are unused bits in the atmel atmega48pa/88pa/168pa, and will always read as zero. ? bit 2 ? pcif2: pin change interrupt flag 2 when a logic change on any pcint[23:16] pin triggers an in terrupt request, pcif2 becomes set (one). if the i-bit in sreg and the pcie2 bit in pcicr are set (one), the mcu will jump to the corresponding interrupt vector. the flag is cleared when the interrupt routine is executed. alternatively, the flag can be cleared by writing a logical one to it. ? bit 1 ? pcif1: pin change interrupt flag 1 when a logic change on any pcint[14:8] pin triggers an interrup t request, pcif1 becomes set (one). if the i-bit in sreg and the pcie1 bit in pcicr are set (one), the mcu will jump to the corresponding interrupt vector. the flag is cleared when the interrupt routine is executed. alternatively, the flag can be cleared by writing a logical one to it. ? bit 0 ? pcif0: pin change interrupt flag 0 when a logic change on any pcint[7:0] pin triggers an interrupt request, pcif0 becomes set (one) . if the i-bit in sreg and the pcie0 bit in pcicr are set (one), the mcu will jump to t he corresponding interrupt vector. the flag is cleared when the interrupt routine is executed. alternatively, the fl ag can be cleared by writing a logical one to it. bit 76543210 (0x68) ?????pcie2pcie1pcie0pcicr read/write rrrrrr/wr/wr/w initial value00000000 bit 76543210 0x1b (0x3b) ?????pcif2pcif1pcif0pcifr read/write rrrrrr/wr/wr/w initial value00000000 63 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 13.2.6 pcmsk2 ? pin change mask register 2 ? bit 7:0 ? pcint[23:16]: pin change enable mask 23...16 each pcint[23:16]-bit selects whether pin change interrupt is enabled on the corresp onding i/o pin. if pcint[23:16] is set and the pcie2 bit in pcicr is set, pin change interrupt is enab led on the corresponding i/o pin. if pcint[23:16] is cleared, pin change interrupt on the corresponding i/o pin is disabled. 13.2.7 pcmsk1 ? pin change mask register 1 ? bit 7 ? reserved this bit is an unused bit in the atmel ? atmega48pa/88pa/168pa, and will always read as zero. ? bit 6:0 ? pcint[14:8]: pin change enable mask 14...8 each pcint[14:8]-bit selects whether pin ch ange interrupt is enabled on the corresponding i/o pin. if pcint[14:8] is set and the pcie1 bit in pcicr is set, pin change interrupt is enabled on the corresponding i/o pin. if pcint[14:8] is cleared, pin change interrupt on the corresponding i/o pin is disabled. 13.2.8 pcmsk0 ? pin change mask register 0 ? bit 7:0 ? pcint[7:0]: pin change enable mask 7...0 each pcint[7:0] bit selects whether pin change interrupt is ena bled on the corresponding i/o pin. if pcint[7:0] is set and the pcie0 bit in pcicr is set, pin change interrupt is enabled on the corresponding i/o pin. if pcint[7:0] is cleared, pin change interrupt on the corresponding i/o pin is disabled. bit 76543210 (0x6d) pcint23 pcint22 pcint21 pcint20 pcint19 pcint18 pcint17 pcint16 pcmsk2 read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 bit 76543210 (0x6c) ? pcint14 pcint13 pcint12 pcint11 pcint10 pcint9 pcint8 pcmsk1 read/write r r/w r/w r/w r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 bit 76543210 (0x6b) pcint7 pcint6 pcint5 pcint4 pcin t3 pcint2 pcint1 pcint0 pcmsk0 read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 64 14. i/o-ports 14.1 overview all avr ? ports have true read-modify- write functionality when used as general digita l i/o ports. this means that the direction of one port pin can be changed without uni ntentionally changing the direction of any other pin with the sbi and cbi instructions. the same applies when changing drive value (if configured as output) or enabling/ disabling of pull-up resistors (if configured as input). each output buffer has symmetrical dr ive characteristics with both high sink and source capability. the pin driver is strong enough to drive le d displays directly. all port pins have individually selectable pull-up resistors wi th a supply-voltage invariant resi stance. all i/o pins have protection diodes to both v cc and ground as indicated in figure 14-1 . refer to section 29. ?electrical characteristics? on page 268 for a complete list of parameters. figure 14-1. i/o pin equivalent schematic all registers and bit references in this section are written in general form. a lower case ?x? represents the numbering letter for the port, and a lower case ?n? represents the bit number. howeve r, when using the register or bit defines in a program, the precise form must be used. for example, portb3 for bit no. 3 in port b, here documented generally as portxn. the physical i/o registers and bit locations are listed in section 14.4 ?register description? on page 79 . three i/o memory address locations are allocated for each po rt, one each for the data register ? portx, data direction register ? ddrx, and the port input pins ? pi nx. the port input pins i/o location is read only, while the data register and the data direction register are read/write. howeve r, writing a logic one to a bit in the pinx register, will result in a toggle in the corresponding bit in the data register. in addition, the pull-up disable ? pud bit in mcucr disables the pull-up function for a ll pins in all ports when set. using the i/o port as general digital i/o is described in section 14.2 ?ports as general digital i/o? on page 65 . most port pins are multiplexed with alternate functions for the peripheral features on the device. how each alternate functi on interferes with the port pin is described in section 14.3 ?alternate port functions? on page 69 . refer to the individual module sections for a full description of the alternate functions. note that enabling the alternate function of some of the port pins does not affect the use of the other pins in the port as general digital i/o. c pin r pu pxn logic see figure general digital i/o for details 65 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 14.2 ports as general digital i/o the ports are bi-directional i/o port s with optional internal pull-ups. figure 14-2 shows a functional description of one i/o- port pin, here generically called pxn. figure 14-2. general digital i/o (1) note: 1. wrx, wpx, wdx, rrx, rpx, and rdx are common to all pins within the same port. clk i/o , sleep, and pud are common to all ports. 14.2.1 configuring the pin each port pin consists of three register bits: ddxn, portxn, and pinxn. as shown in section 14.4 ?register description? on page 79 , the ddxn bits are accessed at the d drx i/o address, the portxn bits at the portx i/o address, and the pinxn bits at the pinx i/o address. the ddxn bit in the ddrx register selects th e direction of this pin. if ddxn is writte n logic one, pxn is configured as an outp ut pin. if ddxn is written logic zero, px n is configured as an input pin. if portxn is written logic one when the pin is configured as an input pin, the pull-up resistor is activated. to switch the pul l- up resistor off, portxn has to be written logic zero or the pin has to be configured as an output pin. the port pins are tri- stated when reset condition becomes active, even if no clocks are running. if portxn is written logic one when the pin is configured as an output pin, the port pin is driven high (one). if portxn is written logic zero when the pin is configured as an output pin, the port pin is driven low (zero). d 0 1 q wrx rrx wpx pxn clr reset synchronizer data bus portxn q q l d q q d q pinxn reset rpx wdx: write ddrx wrx: wpx: rpx: rrx: read portx register read portx pin write pinx register rdx: write portx read ddrx pud: pullup disable clk i/o : sleep: i/o clock sleep control rdx clk i/o pud wdx sleep d q clr ddxn q atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 66 14.2.2 toggling the pin writing a logic one to pinxn toggles the value of portxn, independent on the value of ddrxn. note that the sbi instruction can be used to toggle one single bit in a port. 14.2.3 switching between input and output when switching between tri-state ({ddxn, portxn} = 0b00) and output high ({ddxn, portxn} = 0b11), an intermediate state with either pull-up enabled {ddxn, portxn} = 0b01) or output low ({ddxn, portxn} = 0 b10) must occur. normally, the pull-up enabled state is fully acceptable , as a high-impedance environment will not notice the difference between a strong high driver and a pull-up. if this is not the case, the pud bit in the mcucr register can be set to disable all pull-ups in all ports. switching between input with pull-up and out put low generates the same problem. th e user must use ei ther the tri-state ({ddxn, portxn} = 0b00) or the out put high state ({ddxn, portxn} = 0b11) as an intermediate step. table 14-1 summarizes the control signals for the pin value. 14.2.4 reading the pin value independent of the setting of data direct ion bit ddxn, the port pin can be read thro ugh the pinxn register bit. as shown in figure 14-2 on page 65 , the pinxn register bit and the preceding latch co nstitute a synchronizer. this is needed to avoid metastability if the physical pin changes value near the edge of the internal clock, but it also introduces a delay. figure 14-3 shows a timing diagram of the synchronization when reading an externally applied pin value. the maximum and minimum propagation delays are denoted t pd,max and t pd,min respectively. figure 14-3. synchronization when reading an externally applied pin value consider the clock period starting shortl y after the first fallin g edge of the system cl ock. the latch is closed when the clock is low, and goes transparent when the clock is high, as indicate d by the shaded region of the ?sync latch? signal. the signal value is latched when the system clock goes low. it is clocked into the pinxn regist er at the succeeding positive clock edge. as indicated by the two arrows tpd,max and tpd,min, a sing le signal transition on the pin will be delayed between ? and 1? system clock period depending upon the time of assertion. table 14-1. port pin configurations ddxn portxn pud (in mcucr) i/o pull-up comment 0 0 x input no tri-state (hi-z) 0 1 0 input yes pxn will source current if ext. pulled low. 0 1 1 input no tri-state (hi-z) 1 0 x output no output low (sink) 1 1 x output no output high (source) system clk instructions sync latch pinxn r17 xxx xxx 0x00 0xff in r17, pinx t pd, max t pd, min 67 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 when reading back a software assigned pin value, a nope instruction must be inserted as indicated in figure 14-4 . the out instruction sets the ?sync latch? signal at the positive edge of the clock. in this case, the delay tpd through the synchronizer is 1 system clock period. figure 14-4. synchronization when reading a software assigned pin value the following code example shows how to set port b pins 0 and 1 high, 2 and 3 low, and define the port pins from 4 to 7 as input with pull-ups assigned to port pins 6 and 7. the resulting pin values are read back again, but as previously discussed, a nope instruction is included to be able to read back the value recently assigned to some of the pins. assembly code example (1) ... ; define pull-ups and set outputs high ; define directions for port pins ldi r16,(1< 69 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 14.3 alternate port functions most port pins have alternate functions in addition to being general digital i/os. figure 14-5 shows how the port pin control signals from the simplified figure 14-2 on page 65 can be overridden by alternate functions. the overriding signals may not be present in all port pins, but the figure serves as a generic description applicable to all port pins in the avr ? microcontroller family. figure 14-5. alternate port functions (1) note: 1. wrx, wpx, wdx, rrx, rpx, and rdx are common to all pins within the same port. clk i/o , sleep, and pud are common to all ports. all other signals are unique for each pin. d 0 1 q wrx rrx wpx ptoexn pxn clr reset synchronizer data bus portxn q 0 1 q l d set clr clr q q d q pinxn 0 1 reset rpx pxn pull-up override enable pxn pull-up override value pud: pull-up disable puoexn: pxn port value override value pvovxn: pxn port value override enable pvoexn: pxn data direction override enable pxn data direction override value ddoexn: ddovxn: sleep control sleep: pxn, port toggle override enable ptoexn: pxn digital input enable override value dieovxn: pxn digital input enable override enable dieoexn: i/o clock rdx: rpx: write pinx wrx: analog input/output pin n on portx digital input pin n on portx rrx: read portx register wpx: write portx aioxn: dixn: read portx pin wdx: read ddrx write ddrx puovxn: rdx clk i/o dixn aioxn clk: i/o dieovxn dieoexn pvoexn ddovxn pvovxn 0 1 puoexn puovxn 0 1 ddoexn sleep pud wdx d q clr ddxn q atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 70 table 14-2 summarizes the function of the overriding signals. the pin and port indexes from figure 14-5 on page 69 are not shown in the succeeding tables. the overriding signals are generat ed internally in the modules having the alternate function. the following subsections shortly describe the alternate functi ons for each port, and relate the overriding signals to the alternate function. refer to the alternat e function description for further details. table 14-2. generic description of overri ding signals for alternate functions signal name full name description puoe pull-up override enable if this signal is set, the pull-up enable is controlled by the puov signal. if this signal is cleared, the pull-up is enabled when {ddxn, portxn, pud} = 0b010. puov pull-up override value if puoe is set, the pull-up is enabled/disabled when puov is set/cleared, regardless of the setting of the ddxn, portxn, and pud register bits. ddoe data direction override enable if this signal is set, the output driver enable is controlled by the ddov signal. if this signal is cleared, the output driver is enabled by the ddxn register bit. ddov data direction override value if ddoe is set, the output driver is enabled/disabled when ddov is set/cleared, regardless of the se tting of the ddxn register bit. pvoe port value override enable if this signal is set and the output driver is enabled, the port value is controlled by the pvov signal. if pvoe is cleared, and the output driver is enabled, the port value is controlled by the portxn register bit. pvov port value override value if pvoe is set, the port value is set to pvov, regardless of the setting of the portxn register bit. ptoe port toggle override enable if ptoe is set, the portxn register bit is inverted. dieoe digital input enable override enable if this bit is set, the digital input enabl e is controlled by the dieov signal. if this signal is cleared, the digital input enable is determined by mcu state (normal mode, sleep mode). dieov digital input enable override value if dieoe is set, the digital input is enabled/disabled when dieov is set/cleared, regardless of the m cu state (normal mode, sleep mode). di digital input this is the digital input to alternate f unctions. in the figure, the signal is connected to the output of the schmitt trigger but before the synchronizer. unless the digital input is used as a clock source, the module with the alternate function will use its own synchronizer. aio analog input/output this is the analog input/output to/from alternate functions. the signal is connected directly to the pad, and can be used bi-directionally. 71 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 14.3.1 alternate functions of port b the port b pins with alternate functions are shown in table 14-3 . the alternate pin configuration is as follows: ? xtal2/tosc2/pcint7 ? port b, bit 7 xtal2: chip clock oscillator pin 2. used as clock pin for crystal oscillator or low-frequency crystal oscillator. when used as a clock pin, the pin can not be used as an i/o pin. tosc2: timer oscillator pin 2. used only if internal calibrated rc oscillator is selected as chip cl ock source, and the asynchronous timer is enabled by the correct setting in assr. when the as2 bit in assr is set (one) and the exclk bit is cleared (zero) to enable asynchronous clocking of timer/counter 2 using the crystal oscillator, pin pb7 is disconnected from the port, and becomes the inverting output of the oscillator amplifier. in this mode, a crystal oscillator is connected to this pin, and the pin cannot be used as an i/o pin. pcint7: pin change interrupt source 7. the pb7 pin can serve as an external interrupt source. if pb7 is used as a clock pin, ddb7, portb7 and pinb7 will all read 0. ? xtal1/tosc1/pcint6 ? port b, bit 6 xtal1: chip clock oscilla tor pin 1. used for all chip clock sources except internal calibrat ed rc oscillator. when used as a clock pin, the pin can not be used as an i/o pin. tosc1: timer oscillator pin 1. used only if internal calibrated rc oscillator is selected as chip cl ock source, and the asynchronous timer is enabled by the correct setting in assr. when the as2 bit in assr is set (one) to enable asynchronous clocking of timer/counter2, pin pb6 is disconnec ted from the port, and becomes the input of the inverting oscillator amplifier. in this mode, a cryst al oscillator is connected to this pin, and the pin can not be used as an i/o pin. pcint6: pin change interrupt source 6. the pb6 pin can serve as an external interrupt source. if pb6 is used as a clock pin, ddb6, portb6 and pinb6 will all read 0. table 14-3. port b pins alternate functions port pin alternate functions pb7 xtal2 ( chip clock oscillator pin 2 ) tosc2 ( timer oscillator pin 2 ) pcint7 (pin change interrupt 7) pb6 xtal1 (chip clock oscillator pin 1 or external clock input) tosc1 (timer oscillator pin 1) pcint6 (pin change interrupt 6) pb5 sck (spi bus master clock input) pcint5 (pin change interrupt 5) pb4 miso (spi bus master input/slave output) pcint4 (pin change interrupt 4) pb3 mosi (spi bus master output/slave input) oc2a (timer/counter2 output compare match a output) pcint3 (pin change interrupt 3) pb2 ss (spi bus master slave select) oc1b (timer/counter1 output compare match b output) pcint2 (pin change interrupt 2) pb1 oc1a (timer/counter1 output compare match a output) pcint1 (pin change interrupt 1) pb0 icp1 (timer/counter1 input capture input) clko (divided system clock output) pcint0 (pin change interrupt 0) atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 72 ? sck/pcint5 ? port b, bit 5 sck: master clock output, slave clock input pin for spi channel. wh en the spi is enabled as a slave, this pin is configured as an input regardless of the setting of ddb5. when the spi is enabled as a master, the data direct ion of this pin is controlled by ddb5. when the pin is forced by the spi to be an inpu t, the pull-up can still be co ntrolled by the portb5 bit. pcint5: pin change interrupt source 5. the pb5 pin can serve as an external interrupt source. ? miso/pcint4 ? port b, bit 4 miso: master data input, slave data output pin for spi channel. when the spi is enabled as a master, this pin is configured as an input regardless of the setting of ddb 4. when the spi is enabled as a slave, th e data direction of this pin is controlled by ddb4. when the pin is forced by the spi to be an inpu t, the pull-up can still be co ntrolled by the portb4 bit. pcint4: pin change interrupt source 4. the pb4 pin can serve as an external interrupt source. ? mosi/oc2/pcint3 ? port b, bit 3 mosi: spi master data output, slave data input for spi channel. wh en the spi is enabled as a slav e, this pin is configured as an input regardless of the setting of ddb3. when the spi is enabled as a master, the data direction of this pin is controlled by ddb3. when the pi n is forced by the spi to be an input, the pull- up can still be controlled by the portb3 bit. oc2, output compare match output: the pb3 pin can serve as an external output for the timer/counter2 compare match. the pb3 pin has to be configured as an output (ddb3 set (one)) to serve this function. the oc2 pin is also the output pin for the pwm mode timer function. pcint3: pin change interrupt source 3. the pb3 pin can serve as an external interrupt source. ?ss /oc1b/pcint2 ? port b, bit 2 ss : slave select input. when the spi is enabled as a slave, this pin is configured as an input regardless of the setting of ddb2. as a slave, the spi is activated when this pin is dr iven low. when the spi is enabled as a master, the data direction of this pin is controlled by ddb2. when the pin is forced by th e spi to be an input, the pull-up can still be controlled by the portb2 bit. oc1b, output compare match output: the pb2 pin can serve as an external output for the timer/counter1 compare match b. the pb2 pin has to be configured as an output (ddb2 set (one)) to serve this function. the oc1b pin is also the output pin for the pwm mode timer function. pcint2: pin change interrupt source 2. the pb2 pin can serve as an external interrupt source. ? oc1a/pcint1 ? port b, bit 1 oc1a, output compare match output: the pb1 pin can serve as an external output for the timer/counter1 compare match a. the pb1 pin has to be configured as an output (ddb1 set (one)) to serve this function. the oc1a pin is also the output pin for the pwm mode timer function. pcint1: pin change interrupt source 1. the pb1 pin can serve as an external interrupt source. ? icp1/clko/pcint0 ? port b, bit 0 icp1, input capture pin: the pb0 pin can act as an input capture pin for timer/counter1. clko, divided system clock: the divided system clock can be out put on the pb0 pin. the divi ded system clock will be output if the ckout fuse is programmed, regardless of the port b0 and ddb0 settings. it will also be output during reset. pcint0: pin change interrupt source 0. the pb0 pin can serve as an external interrupt source. 73 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 14-4 and table 14-5 relate the alternate functions of port b to the overriding signals shown in figure 14-5 . spi mstr input and spi slave output constitute the miso signal, while mosi is divided into spi mstr output and spi slave input. table 14-4. overriding signals for alternate functions in pb7...pb4 signal name pb7/xtal2/ tosc2/pcint7 (1) pb6/xtal1/ tosc1/pcint6 (1) pb5/sck/ pcint5 pb4/miso/ pcint4 puoe intrc extck + as2 intrc + as2 spe mstr spe mstr puov 0 0 portb5 pud portb4 pud ddoe intrc extck + as2 intrc + as2 spe mstr spe mstr ddov 0 0 0 0 pvoe 0 0 spe mstr spe mstr pvov 0 0 sck output spi slave output dieoe intrc extck + as2 + pcint7 pcie0 intrc + as2 + pcint6 pcie0 pcint5 pcie0 pcint4 pcie0 dieov (intrc + extck) as2 intrc as2 1 1 di pcint7 input pcint6 input pcint5 input sck input pcint4 input spi mstr input aio oscillator output oscillator/clock input ? ? notes: 1. intrc means that one of the internal rc oscillat ors are selected (by the cksel fuses), extck means that external clock is sele cted (by the cksel fuses) table 14-5. overriding signals for alternate functions in pb3...pb0 signal name pb3/mosi/ oc2/pcint3 pb2/ss / oc1b/pcint2 pb1/oc1a/ pcint1 pb0/icp1/ pcint0 puoe spe mstr spe mstr 0 0 puov portb3 pud portb2 pud 0 0 ddoe spe mstr spe mstr 0 0 ddov 0 0 0 0 pvoe spe mstr + oc2a enable oc1b enable oc1a enable 0 pvov spi mstr output + oc2a oc1b oc1a 0 dieoe pcint3 pcie0 pcint2 pcie0 pcint1 pcie0 pcint0 pcie0 dieov 1 1 1 1 di pcint3 input spi slave input pcint2 input spi ss pcint1 input pcint0 input icp1 input aio ? ? ? ? atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 74 14.3.2 alternate functions of port c the port c pins with alternate functions are shown in table 14-6 . the alternate pin configuration is as follows: ? reset /pcint14 ? port c, bit 6 reset , reset pin: when the rstdisbl fuse is programmed, this pi n functions as a normal i/o pin, and the part will have to rely on power-on reset and brown-out reset as its reset sour ces. when the rstdisbl fuse is unprogrammed, the reset circuitry is connected to the pin, and the pin can not be used as an i/o pin. if pc6 is used as a reset pin, d dc6, portc6 and pinc6 will all read 0. pcint14: pin change interrupt source 14. the pc6 pin can serve as an external interrupt source. ? scl/adc5/pcint13 ? port c, bit 5 scl, 2-wire serial interface clock: when the twen bit in twcr is set (one) to enable the 2-wire serial interface, pin pc5 is disconnected from the port and becomes the serial clock i/o pin for the 2-wire serial interface. in this mode, there is a spike filter on the pin to suppress spikes shorte r than 50 ns on the input signal, and the pi n is driven by an open drain driver with slew-rate limitation. pc5 can also be used as adc input channel 5. no te that adc input channel 5 uses digital power. pcint13: pin change interrupt source 13. the pc5 pin can serve as an external interrupt source. ? sda/adc4/pcint12 ? port c, bit 4 sda, 2-wire serial interface data: when the twen bit in twcr is set (one) to enable the 2-wire serial interface, pin pc4 is disconnected from the port and becomes the serial data i/o pin fo r the 2-wire serial interface. in this mode, there is a spike filter on the pin to suppress spikes shorte r than 50 ns on the input signal, and the pi n is driven by an open drain driver with slew-rate limitation. pc4 can also be used as adc input channel 4. no te that adc input channel 4 uses digital power. pcint12: pin change interrupt source 12. the pc4 pin can serve as an external interrupt source. table 14-6. port c pins alternate functions port pin alternate function pc6 reset (reset pin) pcint14 (pin change interrupt 14) pc5 adc5 (adc input channel 5) scl (2-wire serial bus clock line) pcint13 (pin change interrupt 13) pc4 adc4 (adc input channel 4) sda (2-wire serial bus data input/output line) pcint12 (pin change interrupt 12) pc3 adc3 (adc input channel 3) pcint11 (pin change interrupt 11) pc2 adc2 (adc input channel 2) pcint10 (pin change interrupt 10) pc1 adc1 (adc input channel 1) pcint9 (pin change interrupt 9) pc0 adc0 (adc input channel 0) pcint8 (pin change interrupt 8) 75 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 ? adc3/pcint11 ? port c, bit 3 pc3 can also be used as adc input channel 3. no te that adc input channel 3 uses analog power. pcint11: pin change interrupt source 11. the pc3 pin can serve as an external interrupt source. ? adc2/pcint10 ? port c, bit 2 pc2 can also be used as adc input channel 2. no te that adc input channel 2 uses analog power. pcint10: pin change interrupt source 10. the pc2 pin can serve as an external interrupt source. ? adc1/pcint9 ? port c, bit 1 pc1 can also be used as adc input channel 1. no te that adc input channel 1 uses analog power. pcint9: pin change interrupt source 9. the pc1 pin can serve as an external interrupt source. ? adc0/pcint8 ? port c, bit 0 pc0 can also be used as adc input channel 0. no te that adc input channel 0 uses analog power. pcint8: pin change interrupt source 8. the pc0 pin can serve as an external interrupt source. table 14-7 and table 14-8 on page 76 relate the alternate functions of port c to the overriding signals shown in figure 14-5 on page 69 . table 14-7. overriding signals for alternate functions in pc6...pc4 (1) signal name pc6/reset /pcint14 pc5/scl/adc5/pcint13 pc4/sda/adc4/pcint12 puoe rstdisbl twen twen puov 1 portc5 pud portc4 pud ddoe rstdisbl twen twen ddov 0 scl_out sda_out pvoe 0 twen twen pvov 0 0 0 dieoe rstdisbl + pcint14 pcie1 pcint13 pcie1 + adc5d pcint12 pcie1 + adc4d dieov rstdisbl pcint13 pcie1 pcint12 pcie1 di pcint14 input pcint13 input pcint12 input aio reset input adc5 input / scl input adc4 input / sda input note: 1. when enabled, the 2-wire serial interface enables slew -rate controls on the output pins pc4 and pc5. this is not shown in the figure. in addition, spike filters ar e connected between the aio outputs shown in the port figure and the digital logic of the twi module. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 76 14.3.3 alternate functions of port d the port d pins with alter nate functions are shown in table 14-9 . the alternate pin configuration is as follows: ? ain1/oc2b/pcint23 ? port d, bit 7 ain1, analog comparator negative input. configure the port pin as input with the internal pull-up switched off to avoid the digital port function from interfering with the function of the analog comparator. pcint23: pin change interrupt source 23. the pd7 pin can serve as an external interrupt source. table 14-8. overriding signals for alternate functions in pc3...pc0 signal name pc3/adc3/ pcint11 pc2/adc2/ pcint10 pc1/adc1/ pcint9 pc0/adc0/ pcint8 puoe 0 0 0 0 puov 0 0 0 0 ddoe 0 0 0 0 ddov 0 0 0 0 pvoe 0 0 0 0 pvov 0 0 0 0 dieoe pcint11 pcie1 + adc3d pcint10 pcie1 + adc2d pcint9 pcie1 + adc1d pcint8 pcie1 + adc0d dieov pcint11 pcie1 pcint10 pcie1 pcint9 pcie1 pcint8 pcie1 di pcint11 input pcint10 input pcint9 input pcint8 input aio adc3 input adc2 input adc1 input adc0 input table 14-9. port d pins alternate functions port pin alternate function pd7 ain1 (analog comparator negative input) pcint23 (pin change interrupt 23) pd6 ain0 (analog comparator positive input) oc0a (timer/counter0 output compare match a output) pcint22 (pin change interrupt 22) pd5 t1 (timer/counter 1 external counter input) oc0b (timer/counter0 output compare match b output) pcint21 (pin change interrupt 21) pd4 xck (usart external clock input/output) t0 (timer/counter 0 external counter input) pcint20 (pin change interrupt 20) pd3 int1 (external interrupt 1 input) oc2b (timer/counter2 output compare match b output) pcint19 (pin change interrupt 19) pd2 int0 (external interrupt 0 input) pcint18 (pin change interrupt 18) pd1 txd (usart output pin) pcint17 (pin change interrupt 17) pd0 rxd (usart input pin) pcint16 (pin change interrupt 16) 77 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 ? ain0/oc0a/pcint22 ? port d, bit 6 ain0, analog comparator positiv e input. configure the port pin as input with th e internal pull-up switched off to avoid the digital port function from interfering with the function of the analog comparator. oc0a, output compare match output: the pd6 pin can serve as an external output for the timer/counter0 compare match a. the pd6 pin has to be configured as an output (ddd6 set (one)) to serve this function. the oc0a pin is also the output pin for the pwm mode timer function. pcint22: pin change interrupt source 22. the pd6 pin can serve as an external interrupt source. ? t1/oc0b/pcint21 ? port d, bit 5 t1, timer/counter1 counter source. oc0b, output compare match output: the pd5 pin can serve as an external output for the timer/counter0 compare match b. the pd5 pin has to be configured as an output (ddd5 set (one)) to serve this function. the oc0b pin is also the output pin for the pwm mode timer function. pcint21: pin change interrupt source 21. the pd5 pin can serve as an external interrupt source. ? xck/t0/pcint20 ? port d, bit 4 xck, usart ex ternal clock. t0, timer/counter0 counter source. pcint20: pin change interrupt source 20. the pd4 pin can serve as an external interrupt source. ? int1/oc2b/pcint19 ? port d, bit 3 int1, external interrupt source 1: the pd3 pin can serve as an external interrupt source. oc2b, output compare match output: the pd3 pin can serve as an external output for the timer/counter0 compare match b. the pd3 pin has to be configured as an output (ddd3 set (one)) to serve this function. the oc2b pin is also the output pin for the pwm mode timer function. pcint19: pin change interrupt source 19. the pd3 pin can serve as an external interrupt source. ? int0/pcint18 ? port d, bit 2 int0, external interrupt source 0: the pd2 pin can serve as an external interrupt source. pcint18: pin change interrupt source 18. the pd2 pin can serve as an external interrupt source. ? txd/pcint17 ? port d, bit 1 txd, transmit data (data output pin for the usart). when the usart transmitter is enabled, this pin is configured as an output regardless of the value of ddd1. pcint17: pin change interrupt source 17. the pd1 pin can serve as an external interrupt source. ? rxd/pcint16 ? port d, bit 0 rxd, receive data (data input pin for the usart). when the usart receiver is enabled this pin is configured as an input regardless of the value of ddd0. when t he usart forces this pin to be an input, the pull-up can still be controlled by the portd0 bit. pcint16: pin change interrupt source 16. the pd0 pin can serve as an external interrupt source. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 78 table 14-10 and table 14-11 relate the alternate functions of port d to the overriding signals shown in figure 14-5 on page 69 . table 14-10. overriding signals for alternate functions pd7...pd4 signal name pd7/ain1 /pcint23 pd6/ain0/ oc0a/pcint22 pd5/t1/oc0b/ pcint21 pd4/xck/ t0/pcint20 puoe 0 0 0 0 puo 0 0 0 0 ddoe 0 0 0 0 ddov 0 0 0 0 pvoe 0 oc0a enable oc0b enable umsel pvov 0 oc0a oc0b xck output dieoe pcint23 pcie2 pcint22 pcie2 pcint21 pcie2 pcint20 pcie2 dieov 1 1 1 1 di pcint23 input pcint22 input pcint21 input t1 input pcint20 input xck input t0 input aio ain1 input ain0 input ? ? table 14-11. overriding signals for alternate functions in pd3...pd0 signal name pd3/oc2b/int1/ pcint19 pd2/int0/ pcint18 pd1/txd/ pcint17 pd0/rxd/ pcint16 puoe 0 0 txen rxen puo 0 0 0 portd0 pud ddoe 0 0 txen rxen ddov 0 0 1 0 pvoe oc2b enable 0 txen 0 pvov oc2b 0 txd 0 dieoe int1 enable + pcint19 pcie2 int0 enable + pcint18 pcie1 pcint17 pcie2 pcint16 pcie2 dieov 1 1 1 1 di pcint19 input int1 input pcint18 input int0 input pcint17 input pcint16 input rxd aio ? ? ? ? 79 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 14.4 register description 14.4.1 mcucr ? mcu control register note: 1. bods and bodse only available for picopower devices atmega48pa/88pa/168pa ? bit 4 ? pud: pull-up disable when this bit is written to one, the pull-ups in the i/o po rts are disabled even if the ddxn and portxn registers are configured to enable the pull-ups ({ddxn, portxn} = 0b01). see section 14.2.1 ?configuring the pin? on page 65 for more details about this feature. 14.4.2 portb ? the port b data register 14.4.3 ddrb ? the port b data direction register 14.4.4 pinb ? the port b input pins address 14.4.5 portc ? the port c data register 14.4.6 ddrc ? the port c data direction register bit 7 6 5 4 3 2 1 0 0x35 (0x55) ? bods (1) bodse (1) pud ? ? ivsel ivce mcucr read/write r r/w r/w r/w r r r/w r/w initial value 0 0 0 0 0 0 0 0 bit 76543210 0x05 (0x25) portb7 portb6 portb5 portb4 port b3 portb2 portb1 portb0 portb read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 bit 76543210 0x04 (0x24) ddb7 ddb6 ddb5 ddb4 ddb3 ddb2 ddb1 ddb0 ddrb read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 bit 76543210 0x03 (0x23) pinb7 pinb6 pinb5 pinb4 pinb3 pinb2 pinb1 pinb0 pinb read/write r r r r r r r r initial value n/a n/a n/a n/a n/a n/a n/a n/a bit 76543210 0x08 (0x28) ? portc6 portc5 portc4 portc 3 portc2 portc1 portc0 portc read/write r r/w r/w r/w r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 bit 76543210 0x07 (0x27) ? ddc6 ddc5 ddc4 ddc3 ddc2 ddc1 ddc0 ddrc read/write r r/w r/w r/w r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 80 14.4.7 pinc ? the port c input pins address 14.4.8 portd ? the port d data register 14.4.9 ddrd ? the port d data direction register 14.4.10 pind ? the port d input pins address bit 76543210 0x06 (0x26) ? pinc6 pinc5 pinc4 pinc3 pinc2 pinc1 pinc0 pinc read/write r r r r r r r r initial value 0 n/a n/a n/a n/a n/a n/a n/a bit 76543210 0x0b (0x2b) portd7 portd6 portd5 portd4 port d3 portd2 portd1 portd0 portd read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 bit 76543210 0x0a (0x2a) ddd7 ddd6 ddd5 ddd4 ddd3 ddd2 ddd1 ddd0 ddrd read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 0x09 (0x29) pind7 pind6 pind5 pind4 pind3 pind2 pind1 pind0 pind read/write r r r r r r r r initial value n/a n/a n/a n/a n/a n/a n/a n/a 81 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 15. 8-bit timer/counter0 with pwm 15.1 features two independent output compare units double buffered out put compare registers clear timer on compare match (auto reload) glitch free, phase correct pulse width modulator (pwm) variable pwm period frequency generator three independent interrupt sources (tov0, ocf0a, and ocf0b) 15.2 overview timer/counter0 is a general purpose 8-bit timer/counter mo dule, with two independent outpu t compare units, and with pwm support. it allows accurate program execution timing (event management) and wave generation. a simplified block diagram of the 8-bit timer/counter is shown in figure 15-1 . for the actual placemen t of i/o pins, refer to section 1-1 ?pinout atmel atmega48pa/88pa/168pa? on page 3 . cpu accessible i/o registers, including i/o bits and i/o pins, are shown in bold. the device-specific i/o register and bit locations are listed in section 15.9 ?register description? on page 91 . the prtim0 bit in section 10.10 ?minimizing power consumption? on page 37 must be written to zero to enable timer/counter0 module. figure 15-1. 8-bit time r/counter block diagram control logic tcntn timer/counter count clear direction clk tn ocrna ocrnb tccrna tccrnb = edge detector (from prescaler) clock select top bottom tovn (int. req.) ocna (int. req.) tn waveform generation fixed top value data bus = = = 0 ocna ocnb (int. req.) waveform generation ocnb atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 82 15.2.1 definitions many register and bit references in this section are written in general form. a lower case ?n? replaces the timer/counter number, in this case 0. a lower case ?x? replaces the output compare unit, in this case compare unit a or compare unit b. however, when using the register or bit defines in a progr am, the precise form must be used, i.e., tcnt0 for accessing timer/counter0 counter value and so on. the definitions in table 15-1 are also used extensively throughout the document. 15.2.2 registers the timer/counter (tcnt0) and output compare registers (o cr0a and ocr0b) are 8-bit registers. interrupt request (abbreviated to int.req. in the figure) sign als are all visible in the timer interrupt flag register (tifr0). all interrupts ar e individually masked with the timer inte rrupt mask register (timsk0). tifr0 and timsk0 are not shown in the figure. the timer/counter can be clocked internally, via the prescaler, or by an external clock source on the t0 pin. th e clock select logic block controls which clock source and edge the timer/ counter uses to increment (o r decrement) its value. the timer/counter is inactive when no clock source is selected. the out put from the clock select logic is referred to as the timer clock (clk t0 ). the double buffered output compare registers (ocr0a and ocr0b) are compared with the timer/counter value at all times. the result of the compare can be used by the waveform generator to generate a pwm or variable frequency output on the output compare pins (oc0a and oc0b). see section 16.7.3 ?using the out put compare unit? on page 107 for details. the compare match event will also set the compare flag (o cf0a or ocf0b) which can be used to generate an output compare interrupt request. 15.3 timer/counter clock sources the timer/counter can be clocked by an internal or an extern al clock source. the clock sour ce is selected by the clock select logic which is controlled by the clock select (cs02:0) bi ts located in the timer/counter control register (tccr0b). for details on clock source s and prescaler, see section 17. ?timer/counter0 and ti mer/counter1 prescalers? on page 123 . table 15-1. definitions parameter definition bottom the counter reaches the bott om when it becomes 0x00. max the counter reaches its maximum when it becomes 0xff (decimal 255). top the counter reaches the top when it becomes equal to the highest value in the count sequence. the top value can be assigned to be the fixed value 0xff (max) or the value stored in the ocr0a register. the assignment is dependent on the mode of operation. 83 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 15.4 counter unit the main part of the 8-bit timer/counter is the programmable bi-directional counter unit. figure 15-2 shows a block diagram of the counter and its surroundings. figure 15-2. counter unit block diagram signal description (internal signals): count increment or decrement tcnt0 by 1. direction select between increment and decrement. clear clear tcnt0 (set all bits to zero). clk t n timer/counter clock, referred to as clk t0 in the following. top signalize that tcnt0 has reached maximum value. bottom signalize that tcnt0 has reached minimum value (zero). depending of the mode of operation used, the counter is clea red, incremented, or decreme nted at each timer clock (clk t0 ). clk t0 can be generated from an external or internal clock source , selected by the clock select bits (cs02:0). when no clock source is selected (cs02:0 = 0) the timer is stopped. however, the tcnt0 value can be accessed by the cpu, regardless of whether clk t0 is present or not. a cpu write overrides (has pr iority over) all counter clear or count operations. the counting sequence is determined by the setting of the wgm01 and wgm00 bits located in the timer/counter control register (tccr0a) and the wgm02 bit located in the timer/counter control register b (tccr0b). there are close connections between how the counter behaves (counts) and ho w waveforms are generated on the output compare outputs oc0a and oc0b. for more details about advanced counting sequences and waveform generation, see section 15.7 ?modes of operation? on page 86 . the timer/counter overflow flag (tov0) is set according to t he mode of operation selected by the wgm02:0 bits. tov0 can be used for generating a cpu interrupt. top bottom tovn (int. req.) data bus control logic tcntn clk tn clear count direction edge detector (from prescaler) clock select tn atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 84 15.5 output compare unit the 8-bit comparator continuously compares tcnt0 with the output compare register s (ocr0a and ocr0b). whenever tcnt0 equals ocr0a or ocr0b, the comparator signals a ma tch. a match will set the outpu t compare flag (ocf0a or ocf0b) at the next timer clo ck cycle. if the corresponding interrupt is enabled , the output compare fl ag generates an output compare interrupt. the output compare flag is automatically cleared when the interrupt is executed. alternatively, the flag can be cleared by software by writing a logical one to its i/o bit location. the waveform generator uses the match signal to generate an output according to operating mode set by the wg m02:0 bits and compare output mode (com0x1:0) bits. the max and bottom signals are used by the waveform generator for handling the special cases of the extreme values in some modes of operation ( section 15.7 ?modes of operation? on page 86 ). figure 15-3 shows a block diagram of the output compare unit. figure 15-3. output compare unit, block diagram the ocr0x registers are double buffered when using any of the pulse width modulation (pwm) modes. for the normal and clear timer on compare (ctc) modes of operation, the doubl e buffering is disabled. the double buffering synchronizes the update of the ocr0x compare registers to either top or bottom of the counting sequence. the synchronization prevents the occurrence of odd-length, non-symmetrical pwm pulses, thereby making the output glitch-free. the ocr0x register access may seem co mplex, but this is not case. when th e double buffering is enabled, the cpu has access to the ocr0x buffer register, and if double buffer ing is disabled the cpu will access the ocr0x directly. 15.5.1 force output compare in non-pwm waveform generation modes, the match output of the comparator can be forced by writing a one to the force output compare (foc0x) bit. forc ing compare match will not set the ocf0x flag or reload/clear the timer, but the oc0x pin will be updated as if a real compare match had occurred (the co m0x1:0 bits settings define w hether the oc0x pin is set, cleared or toggled). 15.5.2 compare match blocking by tcnt0 write all cpu write operations to the tcnt0 register will block any compare match t hat occur in the next timer clock cycle, even when the timer is stopped. this feature allows ocr0x to be initialized to the same value as tcnt0 without triggering an interrupt when the timer/counter clock is enabled. ocfnx (int. req.) = (8-bit comparator) ocrnx waveform generator tcntn ocnx top bottom focn wgmn1:0 comnx1:0 data bus 85 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 15.5.3 using the ou tput compare unit since writing tcnt0 in any mode of ope ration will block all compare matches for one timer clock cycle, there are risks involved when changing tcnt0 when using the output compar e unit, independently of whet her the timer/counter is running or not. if the value written to tcnt0 equals the ocr0 x value, the compare match will be missed, resulting in incorrect waveform generation. similarly, do not write th e tcnt0 value equal to bottom when the counter is downcounting. the setup of the oc0x should be performed bef ore setting the data direction register for the port pin to output. the easiest way of setting the oc0x value is to use the force output co mpare (foc0x) strobe bits in normal mode. the oc0x registers keep their values even when changing between waveform generation modes. be aware that the com0x1:0 bits are not double buffered together with the compar e value. changing the com0x1:0 bits will take effect immediately. 15.6 compare match output unit the compare output mode (com0x1:0) bits have two functi ons. the waveform generator uses the com0x1:0 bits for defining the output compare (oc0x) state at the next compare match. also, the com0x1:0 bits control the oc0x pin output source. figure 15-4 shows a simplified schematic of the logic affected by the com0x1:0 bit setting. the i/o registers, i/o bits, and i/o pins in the figure are shown in bold. only the parts of the general i/o port control registers (ddr and port) that are affected by the com0x1:0 bits ar e shown. when referring to the oc0x state, the reference is for the internal oc0x register, not the oc0x pin. if a system rese t occur, the oc0x register is reset to ?0?. figure 15-4. compare matc h output unit, schematic the general i/o port function is overridden by the output co mpare (oc0x) from the waveform generator if either of the com0x1:0 bits are set. however, the oc0x pin direction (input or output) is still controlled by the data direction register (ddr) for the port pin. the data direction register bit for the oc0x pin (ddr_oc 0x) must be set as output before the oc0x value is visible on the pin. the port override func tion is independent of the waveform generation mode. the design of the output compare pin logic allows initialization of the oc0x state before the output is enabled. note that some com0x1:0 bit settings are reserved for certain modes of operation (see section 15.9 ?register description? on page 91 ). data bus 0 1 q d comnx1 comnx0 focn ocnx waveform generator q d port q d ddr ocnx pin clk i/o atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 86 15.6.1 compare output mode and waveform generation the waveform generator uses the com0x1:0 bits differentl y in normal, ctc, and pwm modes. for all modes, setting the com0x1:0 = 0 tells the waveform generator that no action on the oc0x register is to be performed on the next compare match. for compare output actions in the non-pwm modes refer to table 15-2 on page 91 . for fast pwm mode, refer to table 15-3 on page 92 , and for phase correct pwm refer to table 15-4 on page 92 . a change of the com0x1:0 bits state will have effect at the first compare match after the bi ts are written. for non-pwm modes, the action can be forced to have immedi ate effect by using the foc0x strobe bits. 15.7 modes of operation the mode of operation, i.e., t he behavior of the timer/counter and the output compare pins, is defined by the combination of the waveform generation mode (wgm02:0) and compare output mode (com0x1:0) bits. the compare output mode bits do not affect the counting sequence, while t he waveform generation mode bits do. the com0x1:0 bits control whether the pwm output generated should be inverted or not (inverted or non-inverted pwm). for non-p wm modes the com0x1:0 bits control whether the output should be set, cleared, or toggled at a compare match (see section 15.6 ?compare match output unit? on page 85 ). for detailed timing information refer to section 15.8 ?timer/counter timing diagrams? on page 90 . 15.7.1 normal mode the simplest mode of operation is t he normal mode (wgm02:0 = 0). in this mo de the counting direction is always up (incrementing), and no counter clear is performed. the coun ter simply overruns when it passes its maximum 8-bit value (top = 0xff) and then restarts from the bottom (0x00). in normal operation the ti mer/counter overflow flag (tov0) will be set in the same timer cl ock cycle as the tcnt0 becomes zero . the tov0 flag in this case behaves like a ninth bit, except that it is only set, not cleared. however, combined with the timer overflow interrupt that automatically clears the tov0 flag, the timer resolution can be increased by software. there are no special cases to consider in the normal mode, a new counter value can be written anytime. the output compare unit can be used to generate interrupts at some given time. using the output compare to generate waveforms in normal mode is not recommended, since this will occupy too much of the cpu time. 15.7.2 clear timer on compare match (ctc) mode in clear timer on compare or ctc mode (wgm02:0 = 2), the ocr0 a register is used to manipulate the counter resolution. in ctc mode the counter is cleared to zero when the counter value (tcnt0) matches the ocr0a. the ocr0a defines the top value for the counter, hence also its resolution. this mode allo ws greater control of the comp are match output frequency. it also simplifies the operation of counting external events. the timing diagram for the ctc mode is shown in figure 15-5 . the counter value (tcnt0) increases until a compare match occurs between tcnt0 and ocr0a, and then counter (tcnt0) is cleared. figure 15-5. ctc mode, timing diagram 12 tcntn (comna1:0 = 1) ocn (toggle) period 3 ocnx interrupt flag set 4 87 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 an interrupt can be generated each time the counter value reac hes the top value by using the ocf0a flag. if the interrupt is enabled, the interrupt handler routine can be used for updat ing the top value. however, changing top to a value close to bottom when the counter is running with non e or a low prescaler value must be done with care since the ctc mode does not have the double buffering feat ure. if the new value written to ocr0a is lower than the current value of tcnt0, the counter will miss the compare match. the counter will then have to count to its maximum value (0xff) and wrap around starting at 0x00 before the compare match can occur. for generating a waveform output in ctc mode, the oc0a output can be set to to ggle its logical level on each compare match by setting the compare output mode bits to toggle mode (com0a1:0 = 1). the oc0a value will not be visible on the port pin unless the data direction for the pin is set to out put. the waveform generated will have a maximum frequency of f oc0 =f clk_i/o /2 when ocr0a is set to zero (0x00). the waveform frequency is defined by the following equation: the n variable represents the prescale fa ctor (1, 8, 64, 256, or 1024). as for the normal mode of opera tion, the tov0 flag is set in the same timer clock cycle that the counter counts from max to 0x00. 15.7.3 fast pwm mode the fast pulse width modulation or fast pwm mode (wgm02: 0 = 3 or 7) provides a high frequency pwm waveform generation option. the fast pwm differs from the other pwm optio n by its single-slope operation. the counter counts from bottom to top then restarts from bottom. top is defined as 0xff when wgm2:0 = 3, and ocr0a when wgm2:0 = 7. in non-inverting compare output mode, the output compare (oc0x) is cleared on the compare match between tcnt0 and ocr0x, and set at bottom. in inverting compare output mode, the output is set on compare match and cleared at bottom. due to the single-slope operatio n, the operating frequency of the fast pwm mode can be twice as high as the phase correct pwm mode that use dual-sl ope operation. this high frequency makes the fast pwm mode well suited for power regulation, rectification, and dac applications. high frequency allows physically small sized external components (coils, capacitors), and theref ore reduces total system cost. in fast pwm mode, the counter is incremen ted until the counter value ma tches the top value. the counter is then cleared at the following timer clock cycle. the timing diagram for the fast pwm mode is shown in figure 15-6 . the tcnt0 value is in the timing diagram shown as a histogram for illustrating the single-slope operation. the diagram includes non-inverted and inverted pwm outputs. the sm all horizontal line marks on the tcnt0 slopes represent compare matches between ocr0x and tcnt0. figure 15-6. fast pwm mode, timing diagram f ocnx f clk_i/o 2 n 1 ocrnx + () ---------------------------------------------------- = 1234567 tcntn (comnx1:0 = 2) (comnx1:0 = 3) ocnx ocnx period ocrnx update and tovn interrupt flag set ocrnx interrupt flag set atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 88 the timer/counter overflow flag (tov0) is set each time the co unter reaches top. if the inte rrupt is enabled, the interrupt handler routine can be used fo r updating the compare value. in fast pwm mode, the compare unit allows generation of pwm waveforms on the oc0x pins. setting the com0x1:0 bits to two will produce a non-inverted pwm and an inverted pwm out put can be generated by setti ng the com0x1:0 to three: setting the com0a1:0 bits to one allows the oc0a pin to toggl e on compare matches if the wgm0 2 bit is set. this option is not available for the oc0b pin (see table 15-6 on page 93 ). the actual oc0x value will only be visible on the port pin if the data direction for the port pin is set as output. the pwm waveform is generated by se tting (or clearing) the oc0x register at the compare match between ocr0x and tcnt 0, and clearing (or settin g) the oc0x register at the timer clock cycle the counter is cleared (changes from top to bottom). the pwm frequency for the output can be calculated by the following equation: the n variable represents the prescale fa ctor (1, 8, 64, 256, or 1024). the extreme values for the ocr0a register represents special cases when generating a pwm waveform output in the fast pwm mode. if the ocr0a is set equal to bottom, the output will be a narrow sp ike for each max+1 timer clock cycle. setting the ocr0a equal to max will result in a constantly high or low output (depending on the pol arity of the output set by the com0a1:0 bits.) a frequency (with 50% duty cycle) waveform output in fast pw m mode can be achieved by settin g oc0x to togg le its logical level on each compare match (com0x1:0 = 1). the waveform generated will have a maximum frequency of f oc0 = f clk_i/o /2 when ocr0a is set to zero. this feature is similar to the oc 0a toggle in ctc mode, except the double buffer feature of the output compare unit is enabled in the fast pwm mode. 15.7.4 phase correct pwm mode the phase correct pwm mode (wgm02:0 = 1 or 5) provides a high resolution phase correct pwm waveform generation option. the phase correct pwm mode is based on a dual-slope operation. the counter count s repeatedly from bottom to top and then from top to bottom. top is defined as 0xff when wgm2:0 = 1, and ocr0a when wgm2:0 = 5. in non- inverting compare output mode, the output compare (oc0x) is cleared on the compare match between tcnt0 and ocr0x while upcounting, and set on the compare match while downcount ing. in inverting output co mpare mode, the operation is inverted. the dual-slope operation has lower maximum operation frequency than single slope operation. however, due to the symmetric feature of the dual-slope pwm modes, t hese modes are preferred for motor control applications. in phase correct pwm mode the counter is incremented until the counter value matches top. when the counter reaches top, it changes the count direct ion. the tcnt0 value will be equal to top for one timer clock cycle. the timing diagram for the phase correct pwm mode is shown on figure 15-7 on page 89 . the tcnt0 value is in the timing diagram shown as a histogram for illustrating the dual-slope o peration. the diagram includes non-inve rted and inverted pwm outputs. the small horizontal line marks on the tcnt0 slopes repr esent compare matches between ocr0x and tcnt0. f ocnxpwm f clk_i/o n 256 ------------------- = 89 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 15-7. phase correct pwm mode, timing diagram the timer/counter overflow flag (tov0) is set each time the counter reaches bottom. the interrupt flag can be used to generate an interrupt each time the counter reaches the bottom value. in phase correct pwm mode, the compare unit allows ge neration of pwm waveforms on the oc0x pins. setting the com0x1:0 bits to two will produce a non-inverted pwm. an inverted pwm output can be generated by setting the com0x1:0 to three: setting the com0a0 bits to one allows the oc0a pin to toggle on compare matches if the wgm02 bit is set. this option is not available for the oc0b pin (see table 15-7 on page 93 ). the actual oc0x value will only be visible on the port pin if the data direction for the port pin is set as out put. the pwm waveform is generated by clearing (or setting) th e oc0x register at the compare match between ocr0x and tcnt 0 when the counter increments, and setting (or clearing) the oc0x register at compare match between ocr0x and tcnt 0 when the counter decrements. the pwm frequency for the output when using phase correct pwm can be calculated by the following equation: the n variable represents the prescale factor (1, 8, 64, 256, or 1024). the extreme values for the ocr0a regist er represent special cases when generating a pwm waveform output in the phase correct pwm mode. if the ocr0a is set equal to bottom, the output will be continuously low and if set equal to max the output will be continuously high for no n-inverted pwm mode. for inverted pwm the output will have the opposite logic values. at the very start of period 2 in figure 15-7 ocnx has a transition from high to lo w even though there is no compare match. the point of this transition is to gua rantee symmetry around bottom. there are tw o cases that give a transition without compare match. ocrnx changes its value from max, like in figure 15-7 . when the ocr0a value is max the ocn pin value is the same as the result of a down-counting compare match. to ensure symmetry around bottom the ocnx value at max must correspond to the result of an up-counting compare match. the timer starts counting from a value higher than the one in ocrnx, and for that reason misses the compare match and hence the ocnx change that would have happened on the way up. 123 tcntn (comnx1:0 = 2) (comnx1:0 = 3) ocnx ocnx period tovn interrupt flag set ocrnx update ocnx interrupt flag set f ocnxpcpwm f clk_i/o n 510 ------------------- = atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 90 15.8 timer/counter timing diagrams the timer/counter is a synchronous design and the timer clock (clk t0 ) is therefore shown as a clock enable signal in the following figures. the figures include inform ation on when interrupt flags are set. figure 15-8 contains timing data for basic timer/counter operation. the figure show s the count sequence close to the max value in all modes other than phase correct pwm mode. figure 15-8. timer/counter timing diagram, no prescaling figure 15-9 shows the same timing data, but with the prescaler enabled. figure 15-9. timer/counter timing diagram, with prescaler (f clk_i/o /8) figure 15-10 shows the setting of ocf0b in all modes and ocf0a in all modes except ctc mode and pwm mode, where ocr0a is top. figure 15-10.timer/counter timing diagram, setting of ocf0x, with prescaler (f clk_i/o /8) max - 1 clk i/o (clk i/o /1) tcntn tovn clk tn max bottom bottom + 1 max - 1 clk i/o (clk i/o /8) tcntn tovn clk tn max bottom bottom + 1 ocrnx - 1 clk i/o (clk i/o /8) tcntn ocrnx ocfnx clk tn ocrnx ocrnx + 1 ocrnx value ocrnx + 2 91 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 15-11 shows the setting of ocf0a and the clearing of tcnt0 in ctc mode and fast pwm mode where ocr0a is top. figure 15-11.timer/counter timing diagram, clear timer on compare match mode, with prescaler (f clk_i/o /8) 15.9 register description 15.9.1 tccr0a ? timer/counter control register a ? bits 7:6 ? com0a1:0: compare match output a mode these bits control the output compare pin (oc0a) behavior. if o ne or both of the com0a1:0 bits are set, the oc0a output overrides the normal port functionality of th e i/o pin it is connected to. however, not e that the data direction register (ddr) bit corresponding to the oc0a pin must be set in order to enable the output driver. when oc0a is connected to the pin, the function of the com0a1:0 bits depends on the wgm02:0 bit setting. table 15-2 shows the com0a1:0 bit functionality when the wgm 02:0 bits are set to a normal or ctc mode (non-pwm). top - 1 clk i/o (clk i/o /8) tcntn (ctc) ocrnx ocfnx clk tn top bottom top bottom + 1 bit 7 6 5 4 3 2 1 0 0x24 (0x44) com0a 1 com0a 0 com0b 1 com0b 0 ?? wgm01 wgm00 tccr0a read/write r/w r/w r/w r/w r r r/w r/w initial value 0 0 0 0 0 0 0 0 table 15-2. compare output mode, non-pwm mode com0a1 com0a0 description 0 0 normal port operation, oc0a disconnected. 0 1 toggle oc0a on compare match 1 0 clear oc0a on compare match 1 1 set oc0a on compare match atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 92 table 15-3 shows the com0a1:0 bit functionality when the wgm01:0 bits are set to fast pwm mode. table 15-4 shows the com0a1:0 bit functionality when the wgm02:0 bits are set to phase correct pwm mode. ? bits 5:4 ? com0b1:0: compare match output b mode these bits control the output compare pin (oc0b) behavior. if o ne or both of the com0b1:0 bits are set, the oc0b output overrides the normal port functionality of th e i/o pin it is connected to. however, not e that the data direction register (ddr) bit corresponding to the oc0b pin must be set in order to enable the output driver. when oc0b is connected to the pin, the function of the com0b1:0 bits depends on the wgm02:0 bit setting. table 15-5 shows the com0b1:0 bit functionality when the wgm 02:0 bits are set to a normal or ctc mode (non-pwm). table 15-3. compare output mode, fast pwm mode (1) com0a1 com0a0 description 0 0 normal port operation, oc0a disconnected. 0 1 wgm02 = 0: normal port o peration, oc0a disconnected. wgm02 = 1: toggle oc0a on compare match. 1 0 clear oc0a on compare match, set oc0a at bottom, (non-inverting mode). 1 1 set oc0a on compare match, clear oc0a at bottom, (inverting mode). note: 1. a special case occurs when ocr0a equals top and com0a1 is set. in this case, the compare match is ignored, but the set or clear is done at bottom. see section 15.7.3 ?fast pwm mode? on page 87 for more details. table 15-4. compare output mode, phase correct pwm mode (1) com0a1 com0a0 description 0 0 normal port operation, oc0a disconnected. 0 1 wgm02 = 0: normal port oper ation, oc0a disconnected. wgm02 = 1: toggle oc0a on compare match. 1 0 clear oc0a on compare match when up-counting. set oc0a on compare match when down-counting. 1 1 set oc0a on compare match when up-counting. clear oc0a on compare match when down-counting. note: 1. a special case occurs when ocr0a equals top and com0a1 is set. in this case, the compare match is ignored, but the set or clear is done at top. see section 16.9.4 ?phase correct pwm mode? on page 111 for more details. table 15-5. compare output mode, non-pwm mode com0b1 com0b0 description 0 0 normal port operation, oc0b disconnected. 0 1 toggle oc0b on compare match 1 0 clear oc0b on compare match 1 1 set oc0b on compare match 93 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 15-6 shows the com0b1:0 bit functionality when the wgm02:0 bits are set to fast pwm mode. table 15-7 shows the com0b1:0 bit functionality when the wgm02:0 bits are set to phase correct pwm mode. ? bits 3, 2 ? reserved these bits are reserved bits in the atmel ? atmega48pa/88pa/168pa and will always read as zero. ? bits 1:0 ? wgm01:0: waveform generation mode combined with the wgm02 bit found in the t ccr0b register, these bits control the counting sequence of the counter, the source for maximum (top) counter value, and w hat type of waveform generation to be used, see table 15-8 . modes of operation supported by the timer/counter unit are: normal mode (counter), clear timer on compare match (ctc) mode, and two types of pulse width modulation (pwm) modes (see section 15.7 ?modes of operation? on page 86 ). table 15-6. compare output mode, fast pwm mode (1) com0b1 com0b0 description 0 0 normal port operation, oc0b disconnected. 0 1 reserved 1 0 clear oc0b on compare match, set oc0b at bottom,(non-inverting mode) 1 1 set oc0b on compare match, clear oc0b at bottom,(inverting mode). note: 1. a special case occurs when ocr0b equals top and com0b1 is set. in this case, the compare match is ignored, but the set or clear is done at top. see section 15.7.3 ?fast pwm mode? on page 87 for more details. table 15-7. compare output mode, phase correct pwm mode (1) com0b1 com0b0 description 0 0 normal port operation, oc0b disconnected. 0 1 reserved 1 0 clear oc0b on compare match when up-counting. set oc0b on compare match when down-counting. 1 1 set oc0b on compare match when up-counting. clear oc0b on compare match when down-counting. note: 1. a special case occurs when ocr0b equals top and com0b1 is set. in this case, the compare match is ignored, but the set or clear is done at top. see section 15.7.4 ?phase correct pwm mode? on page 88 for more details. table 15-8. waveform generation mode bit description mode wgm02 wgm01 wgm00 timer/counter mode of operation top update of ocrx at tov flag set on (1)(2) 0 0 0 0 normal 0xff immediate max 1 0 0 1 pwm, phase correct 0xff top bottom 2 0 1 0 ctc ocra immediate max 3 0 1 1 fast pwm 0xff bottom max 4 1 0 0 reserved ? ? ? 5 1 0 1 pwm, phase correct ocra top bottom 6 1 1 0 reserved ? ? ? 7 1 1 1 fast pwm ocra bottom top notes: 1. max = 0xff 2. bottom = 0x00 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 94 15.9.2 tccr0b ? timer/count er control register b ? bit 7 ? foc0a: force output compare a the foc0a bit is only active when the wgm bits specify a non-pwm mode. however, for ensuring compatibility with future devices, this bit must be set to zero when tccr0b is written when operating in pwm mode. when writing a logical one to the foc0a bi t, an immediate compare match is forced on the waveform generation unit. the oc0a output is changed according to its com0a1:0 bits setting. note that the foc0a bit is implemented as a strobe. therefor e it is the value present in the com0a1:0 bits that determ ines the effect of the forced compare. a foc0a strobe will not generate any interrupt, nor will it clear the timer in ctc mode using ocr0a as top. the foc0a bit is always read as zero. ? bit 6 ? foc0b: force output compare b the foc0b bit is only active when the wgm bits specify a non-pwm mode. however, for ensuring compatibility with future devices, this bit must be set to zero when tccr0b is written when operating in pwm mode. when writing a logical one to the foc0b bi t, an immediate compare match is forced on the waveform generation unit. the oc0b output is changed according to its com0b1:0 bits setting. note that the foc0b bit is implemented as a strobe. therefor e it is the value present in the com0b1:0 bits that determ ines the effect of the forced compare. a foc0b strobe will not generate any interrupt, nor will it clear the timer in ctc mode using ocr0b as top. the foc0b bit is always read as zero. ? bits 5:4 ? reserved these bits are reserved bits in the atmel ? atmega48pa/88pa/168pa and will always read as zero. ? bit 3 ? wgm02: waveform generation mode see the description in the section 15.9.1 ?tccr0a ? timer/counter control register a? on page 91 . ? bits 2:0 ? cs02:0: clock select the three clock se lect bits select the clock source to be used by the timer/counter. if external pin modes are used for the timer/counter0, transit ions on the t0 pin will clock the counter even if the pin is configured as an output. this feature allows software control of the counting. bit 7 6 5 4 3 2 1 0 0x25 (0x45) foc0a foc0b ? ? wgm02 cs02 cs01 cs00 tccr0b read/write w w r r r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 table 15-9. clock select bit description cs02 cs01 cs00 description 0 0 0 no clock source (timer/ccounter stopped) 0 0 1 clk i/o /(no prescaling) 0 1 0 clk i/o /8 (from prescaler) 0 1 1 clk i/o /64 (from prescaler) 1 0 0 clk i/o /256 (from prescaler) 1 0 1 clk i/o /1024 (from prescaler) 1 1 0 external clock source on t0 pin. clock on falling edge. 1 1 1 external clock source on t0 pin. clock on rising edge. 95 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 15.9.3 tcnt0 ? timer/counter register the timer/counter register gives direct a ccess, both for read and write operations, to the timer/counter unit 8-bit counter. writing to the tcnt0 register blocks (re moves) the compare match on the followin g timer clock. modifying the counter (tcnt0) while the counter is running, introduces a risk of missing a compare match between tcnt0 and the ocr0x registers. 15.9.4 ocr0a ? output compare register a the output compare register a contains an 8-bit value that is continuou sly compared with the counter value (tcnt0). a match can be used to generate an output compare interrup t, or to generate a waveform output on the oc0a pin. 15.9.5 ocr0b ? output compare register b the output compare register b contains an 8-bit value that is continuou sly compared with the counter value (tcnt0). a match can be used to generate an output compare interrup t, or to generate a waveform output on the oc0b pin. 15.9.6 timsk0 ? timer/counter interrupt mask register ? bits 7:3 ? reserved these bits are reserved bits in the atmel ? atmega48pa/88pa/168pa and will always read as zero. ? bit 2 ? ocie0b: timer/counter outp ut compare match b interrupt enable when the ocie0b bit is written to one, and the i-bit in the status r egister is set, the timer/c ounter compare match b interrupt is enabled. the corresponding interrupt is executed if a compare match in timer/co unter occurs, i.e., when the ocf0b bit is set in the timer/counter interrupt flag register ? tifr0. ? bit 1 ? ocie0a: timer/counter0 outp ut compare match a interrupt enable when the ocie0a bit is written to one, and the i-bit in the status register is set, the timer/counter0 compare match a interrupt is enabled. the corresponding interrupt is executed if a compare match in timer/coun ter0 occurs, i.e., when the ocf0a bit is set in the timer/counter 0 interrupt flag register ? tifr0. ? bit 0 ? toie0: timer/counter0 overflow interrupt enable when the toie0 bit is written to one, an d the i-bit in the status register is se t, the timer/counter0 overflow interrupt is enabled. the corresponding interrupt is exec uted if an overflow in timer/counter0 oc curs, i.e., when the tov0 bit is set in the timer/counter 0 interrupt flag register ? tifr0. bit 76543210 0x26 (0x46) tcnt0 [7:0] tcnt0 read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 0x27 (0x47) ocr0a [7:0] ocr0a read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 0x28 (0x48) ocr0b [7:0] ocr0b read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 7 6 5 4 3 2 1 0 (0x6e) ? ? ? ? ? ocie0b ocie0a toie0 timsk0 read/write r r r r r r/w r/w r/w initial value 0 0 0 0 0 0 0 0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 96 15.9.7 tifr0 ? timer/counter 0 interrupt flag register ? bits 7:3 ? reserved these bits are reserved bits in the atmel ? atmega48pa/88pa/168pa and will always read as zero. ? bit 2 ? ocf0b: timer/counter 0 output compare b match flag the ocf0b bit is set when a compare match occurs between the timer/counter and the dat a in ocr0b ? output compare register0 b. ocf0b is cleared by hardw are when executing the corresponding interrupt handling vector. alternatively, ocf0b is cleared by writing a logic one to the flag. when the i-bit in sreg, ocie0b (t imer/counter compare b match interrupt enable), and ocf0b are set, the timer/counter compare match interrupt is executed. ? bit 1 ? ocf0a: timer/counter 0 output compare a match flag the ocf0a bit is set when a compare match occurs between th e timer/counter0 and the data in ocr0a ? output compare register0. ocf0a is cleared by hardware when executing the corresponding interrupt handling vector. alternatively, ocf0a is cleared by writing a logic one to t he flag. when the i-bit in sreg, ocie0a (timer/counter0 compare match interrupt enable), and ocf0a are set, the timer/counter0 compare match interrupt is executed. ? bit 0 ? tov0: timer/counter0 overflow flag the bit tov0 is set when an overflow occurs in timer/co unter0. tov0 is cleared by hardware when executing the corresponding interrupt handling vector. alter natively, tov0 is cleared by writing a logic one to the flag. when the sreg i- bit, toie0 (timer/counter0 overflow interrupt enable), and tov0 are set, the timer/c ounter0 overflow interrupt is executed. the setting of this flag is dependent of the wgm02:0 bit setting. refer to table 15-8 on page 93 , section 15-8 ?waveform generation mode bit description? on page 93 . bit 76543210 0x15 (0x35) ?????ocf0bocf0atov0tifr0 read/write r r r r r r/w r/w r/w initial value00000000 97 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 16. 16-bit timer/counter1 with pwm 16.1 features true 16-bit design (i.e., allows 16-bit pwm) two independent output compare units double buffered out put compare registers one input capture unit input capture noise canceler clear timer on compare match (auto reload) glitch-free, phase correct pulse width modulator (pwm) variable pwm period frequency generator external event counter four independent interrupt sources (tov1, ocf1a, ocf1b, and icf1) 16.2 overview the 16-bit timer/counter unit allows a ccurate program execution timing (event management), wave generation, and signal timing measurement. most register and bit references in this section are written in general form. a lower case ?n? replaces the timer/counter number, and a lower case ?x? replaces the output compare unit channel. however, when us ing the register or bit defines in a program, the precise form must be us ed, i.e., tcnt1 for accessing timer/ counter1 counter value and so on. a simplified block diagram of the 16-bit timer/counter is shown in figure 16-1 on page 98 . for the actual placement of i/o pins, refer to section 1-1 ?pinout atmel atmega48pa/88pa/168pa? on page 3 . cpu accessible i/o registers, including i/o bits and i/o pins, are shown in bold. the device-speci fic i/o register and bit locations are listed in the section 16.11 ?register description? on page 116 . the prtim1 bit in section 10.11.3 ?prr ? power reduction register? on page 40 must be written to zero to enable timer/counter1 module. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 98 figure 16-1. 16-bit timer/counter block diagram (1) note: 1. refer to figure 1-1 on page 3 , table 14-3 on page 71 and table 14-9 on page 76 for timer/counter1 pin place- ment and description. control logic tcntn timer/counter count clear direction clk tn ocrna ocrnb icrn tccrna tccrnb = edge detector (from prescaler) clock select top bottom tovn (int. req.) ocna (int. req.) tn waveform generation fixed top values data bus = = = 0 ocna ocnb (int. req.) waveform generation noise canceler ocnb (from analog comparator output) icfn (int. req.) edge detector icpn 99 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 16.2.1 registers the timer/counter (tcnt1), output compare registers (ocr1a/b), and input capture register (icr1) are all 16-bit registers. special procedures must be followed when accessing the 16 -bit registers. these procedures are described in the section 16.3 ?accessing 16-bit registers? on page 100 . the timer/counter control registers (tccr1a/b) are 8-bit registers and have no cpu access restrictions. interrupt requests (abbreviat ed to int.req. in the figure) signals are all visible in the timer interrupt flag register (tifr1). all interrupts are individually masked with the timer interrupt mask register (timsk1). tifr1 and timsk1 are not shown in the figure. the timer/counter can be clocked internally, via the prescaler, or by an external clock source on the t1 pin. th e clock select logic block controls which clock source and edge the timer/ counter uses to increment (o r decrement) its value. the timer/counter is inactive when no clock source is selected. the out put from the clock select logic is referred to as the timer clock (clk t1 ). the double buffered output compare register s (ocr1a/b) are compared with the timer/counter value at all time. the result of the compare can be used by the waveform generator to ge nerate a pwm or variable frequency output on the output compare pin (oc1a/b). see section 16.7 ?output compare units? on page 105 . the compare match event will also set the compare match flag (ocf1a/b) which can be used to generate an output compare interrupt request. the input capture register can capture the timer/counter value at a given external (e dge triggered) event on either the input capture pin (icp1) or on the analog comparator pins (see section 23. ?analog comparator? on page 210 ) the input capture unit includes a digital filtering unit (noise cancele r) for reducing the chance of capturing noise spikes. the top value, or maximum timer/counter value, can in so me modes of operation be defined by either the ocr1a register, the icr1 register, or by a set of fixed values . when using ocr1a as top value in a pwm mode, the ocr1a register can not be used for ge nerating a pwm output. ho wever, the top value will in this case be double buffered allowing the top value to be changed in run time. if a fixed top value is required, the icr1 register can be used as an alternative, freeing the ocr1a to be used as pwm output. 16.2.2 definitions the following definitions are used extensively throughout the section. table 16-1. definitions parameter definition bottom the counter reaches the bottom when it becomes 0x0000. max the counter reaches its max imum when it becomes 0xffff (decimal 65535). top the counter reaches the top when it becomes equal to the highest value in the count sequence. the top value can be assigned to be one of the fixed values: 0x00ff, 0x01ff, or 0x03ff, or to the value stored in the ocr1a or icr1 register. the assignment is dependent of the mode of operation. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 100 16.3 accessing 16-bit registers the tcnt1, ocr1a/b, and icr1 are 16-bit registers that can be accessed by the avr ? cpu via the 8-bit data bus. the 16-bit register must be byte accessed using two read or writ e operations. each 16-bit timer has a single 8-bit register for temporary storing of the high byte of the 16-bit access. the same te mporary register is shared between all 16-bit registers within each 16-bit timer. accessing the low byte triggers the 16-bit read or write operation. when the low byte of a 16-bit register is written by the cpu, the high byte stored in the temporary register, and the low byte written are both copied into t he 16-bit register in the same clock cycle. when the low byte of a 16-bit register is read by t he cpu, the high byte of the 16-bit register is copied into the temporary register in the same clock cycle as the low byte is read. not all 16-bit accesses uses the temporary register for the hi gh byte. reading the ocr1a/b 16-b it registers does not involve using the temporary register. to do a 16-bit write, the high byte must be written before the low byte. for a 16-bit read, the low byte must be read before th e high byte. the following code examples show how to access the 16-bi t timer registers assuming that no interrupts updates the temporary register. the same principle can be used directly fo r accessing the ocr1a/b and icr1 registers. note that when using ?c?, the compiler handles the 16-bit access. it is important to notice that accessing 16-bit registers are atomic operations. if an interrupt occurs between the two instructions accessing the 16-bit register , and the interrupt code updates the temp orary register by accessing the same or any other of the 16-bit timer registers, then the result of the access outside the in terrupt will be corrupted. therefore, when both the main code and the interrupt code update the temporary register, the main code must disable the interrupts during the 16-bit access. assembly code examples (1) ... ; set tcnt 1 to 0x01ff ldi r17,0x01 ldi r16,0xff out tcnt 1 h,r17 out tcnt 1 l,r16 ; read tcnt 1 into r17:r16 in r16,tcnt 1 l in r17,tcnt 1 h ... c code examples (1) unsigned int i; ... /* set tcnt 1 to 0x01ff */ tcnt 1 = 0x1ff; /* read tcnt 1 into i */ i = tcnt 1 ; ... note: 1. section 6. ?about code examples? on page 7 for i/o registers located in extended i/o map, ?in?, ?out?, ?sbis?, ?sbic?, ?cbi ?, and ?sbi? instructions must be replaced with instructions that allow access to extended i/o. typically ?lds? and ?sts? combined with ?sbrs?, ?sbrc?, ?sbr?, and ?cbr?. 101 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 the following code examples show how to do an atomic read of the tcnt1 register conten ts. reading any of the ocr1a/b or icr1 registers can be done by using the same principle. assembly code example (1) tim16_readtcnt 1 : ; save global interrupt flag in r18,sreg ; disable interrupts cli ; read tcnt 1 into r17:r16 in r16,tcnt 1 l in r17,tcnt 1 h ; restore global interrupt flag out sreg,r18 ret c code example (1) unsigned int tim16_readtcnt 1 ( void ) { unsigned char sreg; unsigned int i; /* save global interrupt flag */ sreg = sreg; /* disable interrupts */ _cli(); /* read tcnt 1 into i */ i = tcnt 1 ; /* restore global interrupt flag */ sreg = sreg; return i; } note: 1. section 6. ?about code examples? on page 7 for i/o registers located in extended i/o map, ?in?, ?out?, ?sbis?, ?sbic?, ?cbi ?, and ?sbi? instructions must be replaced with instructions that allow access to extended i/o. typically ?lds? and ?sts? combined with ?sbrs?, ?sbrc?, ?sbr?, and ?cbr?. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 102 the following code examples show how to do an atomic writ e of the tcnt1 register conten ts. writing any of the ocr1a/b or icr1 registers can be done by using the same principle. the assembly code example requires that the r17:r16 register pair contains the value to be written to tcnt1. 16.3.1 reusing the temporary high byte register if writing to more than one 16-bit regist er where the high byte is the same for a ll registers written, then the high byte only needs to be written once. however, note that the same rule of atomic operation described pr eviously also applies in this case. 16.4 timer/counter clock sources the timer/counter can be clocked by an internal or an extern al clock source. the clock sour ce is selected by the clock select logic which is controlled by the clock select (cs12:0) bits located in the timer/counter control register b (tccr1b). for details on clock sources and prescaler, see section 17. ?timer/counter0 and timer/counter1 prescalers? on page 123 . assembly code example (1) tim16_writetcnt 1 : ; save global interrupt flag in r18,sreg ; disable interrupts cli ; set tcnt 1 to r17:r16 out tcnt 1 h,r17 out tcnt 1 l,r16 ; restore global interrupt flag out sreg,r18 ret c code example (1) void tim16_writetcnt 1 ( unsigned int i ) { unsigned char sreg; unsigned int i; /* save global interrupt flag */ sreg = sreg; /* disable interrupts */ _cli(); /* set tcnt 1 to i */ tcnt 1 = i; /* restore global interrupt flag */ sreg = sreg; } note: 1. section 6. ?about code examples? on page 7 for i/o registers located in extended i/o map, ?in?, ?out?, ?sbis?, ?sbic?, ?cbi ?, and ?sbi? instructions must be replaced with instructions that allow access to extended i/o. typically ?lds? and ?sts? combined with ?sbrs?, ?sbrc?, ?sbr?, and ?cbr?. 103 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 16.5 counter unit the main part of the 16-bit timer/counter is the programmable 16-bit bi-directional counter unit. figure 16-2 shows a block diagram of the counter and its surroundings. figure 16-2. counter unit block diagram signal description (internal signals): count increment or decrement tcnt1 by 1. direction select between increment and decrement. clear clear tcnt1 (set all bits to zero). clk t1 timer/counter clock. top signalize that tcnt1 has reached maximum value. bottom signalize that tcnt1 has reached minimum value (zero). the 16-bit counter is mapped into two 8-bit i/o memory locations: counter high (tcnt1h) containing the upper eight bits of the counter, and counter low (tcnt1l) containing the lower eight bits. the tcnt 1h register can only be indirectly accessed by the cpu. when the cpu does an access to the tcnt1h i/ o location, the cpu accesses the high byte temporary register (temp). the temporary register is updat ed with the tcnt1h value when the tcnt1l is read, and tcnt1h is updated with the temporary register value when tcnt1l is written. this allows the cpu to read or write the entire 16-bit counter value within one clock cycle via the 8-bit data bus. it is important to notice that there are special cases of writing to the tcnt1 register when the counter is counting that will give unpredict able results. the special cases are described in the sections where they are of importance. depending on the mode of operation us ed, the counter is cleared, incr emented, or decremented at each timer clock (clk t1 ). the clk t1 can be generated from an external or internal clock source, selected by the clock select bits (cs12:0). when no clock source is selected (cs12:0 = 0) the timer is stopp ed. however, the tcnt1 value can be accessed by the cpu, independent of whether clk t1 is present or not. a cpu write overrides (has prio rity over) all counter cl ear or count operations. the counting sequence is determined by the setting of the waveform generation mode bits (wgm13:0) located in the timer/counter co ntrol registers a and b (tccr1a and tccr1b). there are close connections between how the counter behaves (counts) and how waveforms ar e generated on the output compare out puts oc1x. for more details about advanced counting sequences and waveform generation, see section 16.9 ?modes of operation? on page 108 . the timer/counter overflow flag (tov1) is set according to t he mode of operation selected by the wgm13:0 bits. tov1 can be used for generating a cpu interrupt. bottom top tovn (int. req.) data bus (8-bit) control logic tcntnh (8-bit) tcntnh (16-bit counter) tcntnl (8-bit) temp (8-bit) clk tn clear count direction edge detector (from prescaler) clock select tn atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 104 16.6 input capture unit the timer/counter incorporates an input capture unit that can c apture external events and give them a time-stamp indicating time of occurrence. the external signal indicating an ev ent, or multiple events, can be applied via the icp1 pin or alternatively, via the analog-comparator unit. the time-stamps can then be used to calculate freque ncy, duty-cycle, and other features of the signal applied. alternatively the time-stamps can be used for creating a log of the events. the input capture unit is illustrated by the block diagram shown in figure 16-3 . the elements of the block diagram that are not directly a part of the input capture unit are gray shade d. the small ?n? in register and bit names indicates the timer/counter number. figure 16-3. input capture unit block diagram when a change of the logic level (an event) occurs on the input capture pin (icp1), alternatively on the analog comparator output (aco), and this change confirms to th e setting of the edge detector, a capture will be triggered. when a capture is triggered, the 16-bit value of the counter (tcnt1) is written to the input capture register (icr1). the input capture flag (icf1) is set at the same system clock as the tcnt1 value is copied into icr1 register. if enabled (i cie1 = 1), the input capture flag generates an input capture interrupt. the ic f1 flag is automatically cleared when t he interrupt is execut ed. alternatively the icf1 flag can be cleared by software by wr iting a logical one to its i/o bit location. reading the 16-bit value in the input capture register (icr1) is done by first reading the low byte (icr1l) and then the high byte (icr1h). when the low byte is read the high byte is co pied into the high byte temporary register (temp). when the cpu reads the icr1h i/o location it will access the temp register. the icr1 register can only be written when using a waveform gener ation mode that utilizes the ic r1 register for defining the counter?s top value. in these cases the waveform generation mode (wgm13:0) bits must be set before the top value can be written to the icr1 register. when writing the icr1 register the high byte must be written to the icr1h i/o location before the low byte is written to icr1l. for more information on how to access the 16-b it registers refer to section 16.3 ?accessing 16-bit registers? on page 100 . icfn (int. req.) icrnl (8-bit) icrnh (8-bit) icrn (16-bit register) temp (8-bit) tcntnl (8-bit) tcntnh (8-bit) tcntn (16-bit counter) data bus (8-bit) noise canceler analog comparator edge detector icnc acic* aco* write + - ices icpn 105 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 16.6.1 input capture trigger source the main trigger source for the input capture unit is the input capture pin (icp1). timer/counter1 ca n alternatively use the analog comparator output as trigger source for the input capture unit. the analog comparator is selected as trigger source by setting the analog comparator input capture (acic) bit in the analog comparator control and status register (acsr). be aware that changing trigger source can tr igger a capture. the input capture flag must therefor e be cleared after the change. both the input capture pin (icp1) and the analog comparator output (aco) inputs are sampled using the same technique as for the t1 pin ( figure 17-1 on page 123 ). the edge detector is also identical. however, when the noise canceler is enabled, additional logic is inserted before the edge detector, which in creases the delay by four system clock cycles. note that the input of the noise canceler and edge detector is always enabled unless the timer/counter is set in a waveform generation mode that uses icr1 to define top. an input capture can be triggered by softw are by controlling the port of the icp1 pin. 16.6.2 noise canceler the noise canceler improves noise immunity by using a simple digital filtering scheme. the noise canceler input is monitored over four samples, and all four must be equal for changing the output that in turn is used by the edge detector. the noise canceler is enabled by setting the input capture noise canceler (icnc1) bit in timer/counter control register b (tccr1b). when enabled the noise canceler introduces additional four system clock cycles of delay from a change applied to the input, to the update of the icr1 register. the noise canc eler uses the system clock and is therefore not affected by the prescaler. 16.6.3 using the input capture unit the main challenge when using the input capture unit is to assign enough processor capacity for handling the incoming events. the time between two events is cr itical. if the processor has not read the ca ptured value in the icr1 register before the next event occurs, the icr1 will be overwritten with a new valu e. in this case the result of the capture will be incorrect. when using the input capture interrupt, the icr1 register should be read as early in the interrupt handler routine as possible. even though the input capture interrupt has relatively high pr iority, the maximum interrupt response time is dependent on the maximum number of clock cycles it takes to handle any of the other interrupt requests. using the input capture unit in any mode of operation when the top value (resolution) is actively changed during operation, is not recommended. measurement of an external signal?s duty cycle requires that the trigger edge is changed after each capture. changing the edge sensing must be done as early as possible after the icr1 register has been read. after a change of the edge, the input capture flag (icf1) must be cleared by software (writing a logi cal one to the i/o bit location). for measuring frequency only, the clearing of the icf1 flag is not required (if an interrupt handler is used). 16.7 output compare units the 16-bit comparator contin uously compares tcnt1 with the output compare register (ocr1x). if tcnt equals ocr1x the comparator signals a match. a match will set the output compare flag (ocf1x) at the next timer clock cycle . if enabled (ocie1x = 1), the output compare flag generates an output compare interrupt. the ocf1x flag is automatically cleared when the interrupt is executed. alternatively the ocf1x flag can be cleared by software by writing a logical one to its i/o bit location. the waveform generator uses the match signal to generate an output according to operating mode set by the waveform generation mode (wgm13:0) bits and compare output mode (com1x1:0) bits. the top and bottom signals are used by the waveform generator for ha ndling the special cases of the extreme va lues in some modes of operation (see section 16.9 ?modes of operation? on page 108 ) a special feature of output com pare unit a allows it to define the timer/coun ter top value (i.e., coun ter resolution). in addition to the counter resolution, the top value defines the period time for waveforms generated by the waveform generator. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 106 figure 16-4 shows a block diagram of the output compare unit. the small ?n? in the register and bit names indicates the device number (n = 1 for timer/counter 1), and the ?x? indica tes output compare unit (a/b). the elements of the block diagram that are not directly a part of the output compare unit are gray shaded. figure 16-4. output compare unit, block diagram the ocr1x register is double buffer ed when using any of the twelve pulse width modulation (pwm) modes. for the normal and clear timer on compare (ctc) modes of operation, the double buffering is disabled. the double buffering synchronizes the update of the ocr1x compare regist er to either top or bottom of t he counting sequence. the synchronization prevents the occurrence of odd-length, non-symmetrical pwm pulses, thereby maki ng the output glitch-free. the ocr1x register access may seem co mplex, but this is not case. when th e double buffering is enabled, the cpu has access to the ocr1x buffer register, and if double buffering is disabled the cpu will access th e ocr1x directly. the content of the ocr1x (buffer or compare) register is only changed by a write operation (the timer/ counter does not update this register automatically as the tcnt1 and i cr1 register). therefore ocr1x is not r ead via the high byte temporary register (temp). however, it is a good practice to read the low byte fi rst as when accessing other 16-b it registers. writing the ocr1x registers must be done via the temp register since the compare of all 16 bits is done continuously. the high byte (ocr1xh) has to be written first. when the high byte i/o location is written by the cpu, th e temp register will be updated by the value written. then when the low byte (ocr1xl) is written to the lowe r eight bits, the high byte will be copied into the upper 8-bits of either the ocr1x buffer or ocr1x compar e register in the same system clock cycle. for more information of how to access the 16-bit registers refer to section 16.3 ?accessing 16-bit registers? on page 100 . 16.7.1 force output compare in non-pwm waveform generation modes, t he match output of the comparator can be forced by writing a one to the force output compare (foc1x) bit. forcing compare match will not set the oc f1x flag or reload/clear the timer, but the oc1x pin will be updated as if a real compare match had occurred (the com11:0 bits settings define w hether the oc1x pin is set, cleared or toggled). ocrnxl buf. (8-bit) ocrnxh buf. (8-bit) ocrnx buffer (16-bit register) temp (8-bit) ocrnxl (8-bit) ocfnx (int. req.) ocrnxh (8-bit) ocrnx (16-bit register) = (16-bitcomparator) wgmn3:0 comnx1:0 waveform generator tcntnl (8-bit) tcntnh (8-bit) tcntn (16-bit counter) data bus (8-bit) ocnx top bottom 107 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 16.7.2 compare match blocking by tcnt1 write all cpu writes to the tcnt1 register will block any compare matc h that occurs in the next timer clock cycle, even when the timer is stopped. this feature allows ocr1x to be initialized to the same value as tcnt1 without triggering an interrupt when the timer/counter clock is enabled. 16.7.3 using the ou tput compare unit since writing tcnt1 in any mode of ope ration will block all compare matches for one timer clock cycle, there are risks involved when changing tcnt1 when using any of the output compare channels, independent of whether the timer/counter is running or not. if the value written to tcnt1 equals the ocr1x value, the com pare match will be missed, resulting in incorrect waveform generation. do not write the tcnt1 equa l to top in pwm modes with variable top values. the compare match for the top will be ignored and the counter will continue to 0xffff. si milarly, do not write the tcnt1 value equal to bottom when the counter is downcounting. the setup of the oc1x should be performed bef ore setting the data direction register for the port pin to output. the easiest way of setting the oc1x value is to use the force output co mpare (foc1x) strobe bits in normal mode. the oc1x register keeps its value even when changing between waveform generation modes. be aware that the com1x1:0 bits are not double buffered together with the compar e value. changing the com1x1:0 bits will take effect immediately. 16.8 compare match output unit the compare output mode (com1x1:0) bits have two functions. the waveform generator uses the com1x1:0 bits for defining the output compare (oc1x) state at the next compare match. secondly the com1x1:0 bits control the oc1x pin output source. figure 16-5 shows a simplified schematic of the logic affected by the com1x1:0 bit sett ing. the i/o registers, i/o bits, and i/o pins in the figure are shown in bold. only the parts of the general i/o port control registers (ddr and port) that are affected by the com1x1:0 bits ar e shown. when referring to the oc1x state, the reference is for the internal oc1x register, not the oc1x pin. if a system rese t occur, the oc1x register is reset to ?0?. figure 16-5. compare matc h output unit, schematic data bus 0 1 q d comnx1 comnx0 focn ocnx waveform generator q d port q d ddr ocnx pin clk i/o atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 108 the general i/o port function is overridden by the output co mpare (oc1x) from the waveform generator if either of the com1x1:0 bits are set. however, the oc1x pin direct ion (input or output) is still controlled by the data direction register (ddr) for the port pin. the data direction register bit for the oc1x pin (ddr_oc 1x) must be set as output before the oc1x value is visible on the pin. the port override function is generally independent of the wave form generation mode, but there are some exceptions. refer to table 16-2 on page 116 , table 16-3 on page 117 and table 16-4 on page 117 for details. the design of the output compare pin logic allows initialization of the oc1x state before the output is enabled. note that some com1x1:0 bit settings are reserved for certain modes of operation. see section 16.11 ?register description? on page 116 the com1x1:0 bits have no effect on the input capture unit. 16.8.1 compare output mode and waveform generation the waveform generator uses the com1x1:0 bits differentl y in normal, ctc, and pwm modes. for all modes, setting the com1x1:0 = 0 tells the waveform generator that no action on the oc1x register is to be performed on the next compare match. for compare output actions in the non-pwm modes refer to table 16-2 on page 116 . for fast pwm mode refer to table 16-3 on page 117 , and for phase correct and phase and frequency correct pwm refer to table 16-4 on page 117 . a change of the com1x1:0 bits state will have effect at the first compare match after the bi ts are written. for non-pwm modes, the action can be forced to have immedi ate effect by using the foc1x strobe bits. 16.9 modes of operation the mode of operation, i.e., t he behavior of the timer/counter and the output compare pins, is defined by the combination of the waveform generation mode (wgm13:0) and compare output mode (com1x1:0) bits. the compare output mode bits do not affect the counting sequence, while t he waveform generation mode bits do. the com1x1:0 bits control whether the pwm output generated should be inverted or not (inverted or non-inverted pwm). for non-p wm modes the com1x1:0 bits control whether the output should be set, cleared or toggle at a compare match (see section 16.8 ?compare match output unit? on page 107 ) for detailed timing information refer to section 16.10 ?timer/counter timing diagrams? on page 114 . 16.9.1 normal mode the simplest mode of operation is the normal mode (wgm13:0 = 0). in this mode the counting direction is always up (incrementing), and no counter clear is performed. the counte r simply overruns when it passes its maximum 16-bit value (max = 0xffff) and then restarts from the bottom (0x0000). in normal operation the timer/counter overflow flag (tov1) will be set in the same timer clock cycle as the tcnt1 becomes zero. the tov1 flag in this ca se behaves like a 17th bit, except that it is only set, not cleared. however, combined with the timer overflow interrupt that automatically clears the tov1 flag, the timer resolution can be increased by software. there are no special cases to consider in the normal mode, a new counter value can be written anytime. the input capture unit is easy to use in normal mode. howeve r, observe that the maximum interval between the external events must not exceed the resolution of the counter. if the interval between events are too long, the timer overflow interrupt or the prescaler must be used to exte nd the resolution for the capture unit. the output compare units can be used to generate interrupts at some given ti me. using the output compare to generate waveforms in normal mode is not recommended, since this will occupy too much of the cpu time. 109 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 16.9.2 clear timer on compare match (ctc) mode in clear timer on compare or ctc mode (wgm13:0 = 4 or 12), the ocr1a or icr1 register are used to manipulate the counter resolution. in ctc mode the count er is cleared to zero when the counter value (tcnt1) matches either the ocr1a (wgm13:0 = 4) or the icr1 (wgm13:0 = 12) . the ocr1a or icr1 define the top value for the counter, hence also its resolution. this mode allows greater control of the compare match output frequency. it also simplifies the operation of counting external events. the timing diagram for the ctc mode is shown in figure 16-6 . the counter value (tcnt1) increases until a compare match occurs with either ocr1a or icr1, and then counter (tcnt1) is cleared. figure 16-6. ctc mode, timing diagram an interrupt can be generated at each time the counter value re aches the top value by either using the ocf1a or icf1 flag according to the register used to define the top value. if th e interrupt is enabled, the inte rrupt handler routine can be used for updating the top value. however, changing the top to a value close to bottom when the counter is running with none or a low prescaler value must be done with care since the ctc mode does not have the double buffering feature. if the new value written to ocr1a or icr1 is lower than the current value of tcnt1, the counter will miss the compare match. the counter will then have to count to its maximum value (0xfff f) and wrap around starting at 0x0000 before the compare match can occur. in many cases this f eature is not desirable. an alternative wi ll then be to use the fast pwm mode using ocr1a for defining top (wgm13:0 = 15) since the ocr1a then will be double buffered. for generating a waveform output in ctc mode, the oc1a output can be set to to ggle its logical level on each compare match by setting the compare output mode bits to toggle mo de (com1a1:0 = 1). the oc1a value will not be visible on the port pin unless the data direction for the pin is set to output (ddr_oc1a = 1). the waveform generated will have a maximum frequency of f oc1a = f clk_i/o /2 when ocr1a is set to zero (0x0000). the waveform frequency is defined by the following equation: the n variable represents the prescaler fa ctor (1, 8, 64, 256, or 1024). as for the normal mode of opera tion, the tov1 flag is set in the same timer clock cycle that the counter counts from max to 0x0000. 12 tcntn (comna1:0 = 1) ocna (toggle) period 3 ocna interrupt flag set or icfn interrupt flag set (interrupt on top) 4 f ocna f clk_i/o 2n 1 ocrna + () ----------------------------------------------------- = atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 110 16.9.3 fast pwm mode the fast pulse width modulation or fast pwm mode (wgm13:0 = 5, 6, 7, 14 , or 15) provides a high frequency pwm waveform generation option. the fast pwm differs from the other pwm options by its single-slope operation. the counter counts from bottom to top then restarts from bottom. in non-inverting compare output mode, the output compare (oc1x) is cleared on the compare match between tcnt1 and ocr1x, and set at bottom. in inverting compare output mode output is set on compare match a nd cleared at bottom. due to the single -slope operation, the operating frequency of the fast pwm mode can be twice as high as the phase correct and phase and frequency correct pwm modes that use dual-slope operation. this high frequency makes the fast pwm mode well suited for power regula tion, rectification, and dac applications. high frequency allows physically small sized ex ternal components (coils, capacitors), hence reduces total system cost. the pwm resolution for fast pwm can be fixed to 8-, 9-, or 10-bit, or defined by either icr1 or ocr1a. the minimum resolution allowed is 2-bit (icr1 or ocr1a set to 0x0003), and the maximum resolution is 16-bit (icr1 or ocr1a set to max). the pwm resolution in bits can be calculated by using the following equation: in fast pwm mode the counter is incremented until the count er value matches either one of the fixed values 0x00ff, 0x01ff, or 0x03ff (wgm13:0 = 5, 6, or 7), the value in icr1 (wgm13:0 = 14), or the value in ocr1a (wgm13:0 = 15). the counter is then cleared at the following timer clock cycl e. the timing diagram for the fast pwm mode is shown in figure 16-7 on page 110 . the figure shows fast pwm mode when ocr1a or icr1 is used to define top. the tcnt1 value is in the timing diagram shown as a histogram for illustrating the single-slope operation. the diagram includes non-inverted and inverted pwm outputs. the small horizontal line mark s on the tcnt1 slopes represent compare matches between ocr1x and tcnt1. the oc1x interrupt flag will be set when a compare match occurs. figure 16-7. fast pwm mode, timing diagram the timer/counter overflow flag (tov1) is set each time the coun ter reaches top. in addition the oc1a or icf1 flag is set at the same timer clock cycle as tov1 is set when either ocr1a or icr1 is used for defining the to p value. if one of the interrupts are enabled, the interrupt handler routine can be used for updating the top and compare values. when changing the top value the program must ensure that the new top value is higher or equal to the value of all of the compare registers. if the top value is lower than any of the compare registers, a compare match will never occur between the tcnt1 and the ocr1x. note that when using fixed top valu es the unused bits are masked to zero when any of the ocr1x registers are written. r fpwm top 1 + () log 2 () log --------------------------------- = 12345 tcntn (comnx1:0 = 2) ocnx ocnx period ocrnx/ top update and tovn interrupt flag set and ocna interrupt flag set or icfn interrupt flag set (interrupt on top) 67 8 (comnx1:0 = 3) 111 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 the procedure for updating icr1 differs from updating ocr1a wh en used for defining the top value. the icr1 register is not double buffered. this means that if icr1 is changed to a low value when the counter is running with none or a low prescaler value, there is a risk that the new icr1 value written is lower than the cu rrent value of tcnt1. the result will then be that the counter will miss the compare match at the top val ue. the counter will then have to count to the max value (0xffff) and wrap around starting at 0x0000 before the comp are match can occur. the ocr1a register however, is double buffered. this feature allows the ocr1a i/o location to be written anytime. w hen the ocr1a i/o location is written the value written will be put into the ocr1a buffer register. the ocr1a compare register will then be updated with the value in the buffer register at the next timer clock cycle the tcnt1 matches top. the upd ate is done at the same timer clock cycle as the tcnt1 is cleared and the tov1 flag is set. using the icr1 register for defining top works well when using fixed top values. by using icr1, the ocr1a register is free to be used for generating a pwm output on oc1a. ho wever, if the base pwm frequency is actively changed (by changing the top value), using the ocr1a as top is clearly a better choice due to its double buffer feature. in fast pwm mode, the compare units allow generation of pwm waveforms on the oc1x pins. setting the com1x1:0 bits to two will produce a inverted pwm and an non-inverted pwm output can be generated by setting the com1x1:0 to three (see table on page 117 ). the actual oc1x value will only be visible on the po rt pin if the data direction for the port pin is set as output (ddr_oc1x). the pwm waveform is generated by setting (or clearing) the oc1x register at the compare match between ocr1x and tcnt1, and cl earing (or setting) the oc1x register at the timer cloc k cycle the counter is cleared (changes from top to bottom). the pwm frequency for the output can be calculated by the following equation: the n variable represents the prescaler divider (1, 8, 64, 256, or 1024). the extreme values for the ocr1x register represents special cases when generating a pwm waveform output in the fast pwm mode. if the ocr1x is set equal to bottom (0x0000) t he output will be a narrow spike for each top+1 timer clock cycle. setting the ocr1x equal to top will re sult in a constant high or low output (depending on the polarity of the output set by the com1x1:0 bits.) a frequency (with 50% duty cycle) waveform ou tput in fast pwm mode ca n be achieved by setting oc1a to toggle its logical level on each compare match (com1a1:0 = 1). this applies only if ocr1a is used to define the top value (wgm13:0 = 15). the waveform generated will have a maximum frequency of f oc1a = f clk_i/o /2 when ocr1a is set to zero (0x0000). this feature is similar to the oc1a toggle in ctc mode, except the double buffer feature of the output compare unit is enabled in the fast pwm mode. 16.9.4 phase correct pwm mode the phase correct pulse width modulation or phase correct pwm mode (wgm13:0 = 1, 2, 3, 10, or 11) provides a high resolution phase correct pwm waveform generation option. the phase correct pwm mode is, like the phase and frequency correct pwm mode, based on a dual-slope operation. the coun ter counts repeatedly from bo ttom (0x0000) to top and then from top to bottom. in non-inverting compare output m ode, the output compare (oc1x) is cleared on the compare match between tcnt1 and ocr1x while upcounting, and set on the compare match while downcoun ting. in inverting output compare mode, the operation is inverted . the dual-slope operation has lower maximum operation frequency than single slope operation. however, due to the symme tric feature of the dual-slope pwm mode s, these modes are preferred for motor control applications. the pwm resolution for the phase correct pwm mode can be fixed to 8-, 9-, or 10-bit, or defined by either icr1 or ocr1a. the minimum resolution allowed is 2-bit (icr1 or ocr1a set to 0x0003), and the maximum resolution is 16-bit (icr1 or ocr1a set to max). the pwm resolution in bits can be calculated by using the following equation: f ocnxpwm f clk_i/o n1top + () ----------------------------------- - = r pcpwm top 1 + () log 2 () log --------------------------------- = atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 112 in phase correct pwm mode the counter is incremented until the counter value matches either one of the fixed values 0x00ff, 0x01ff, or 0x03ff (wgm13:0 = 1, 2, or 3), the value in icr1 (wgm13:0 = 10), or the value in ocr1a (wgm13:0 = 11). the counter has then reached the to p and changes the count direct ion. the tcnt1 value will be equal to top for one timer clock cycle. the timing diagram for the pha se correct pwm mode is shown on figure 16-8 on page 112 . the figure shows phase correct pwm mode when ocr1a or icr1 is used to define top. the tcnt1 value is in the timing diagram shown as a histogram for illustrating the dual-slope operation. the diagram includes non-inverted and inverted pwm outputs. the small horizontal line marks on the tcnt1 slopes represent compare matches between ocr1x and tcnt1. the oc1x interrupt flag will be set when a compare match occurs. figure 16-8. phase correct pwm mode, timing diagram the timer/counter overflow flag (tov1) is set each time th e counter reaches bottom. when either ocr1a or icr1 is used for defining the top value, the oc1a or ic f1 flag is set accordingly at the same timer clock cycle as the ocr1x registers are updated with the double buffer value (at top). the interrupt flags can be used to generate an interrupt each time the counter reaches the top or bottom value. when changing the top value the program must ensure that the new top value is higher or equal to the value of all of the compare registers. if the top value is lower than any of the compare registers, a compare match will never occur between the tcnt1 and the ocr1x. note that when using fixed top va lues, the unused bits are masked to zero when any of the ocr1x registers are written. as the third period shown in figure 16-8 on page 112 illustrates, changing the top actively while the timer/counter is running in the phase correct mode c an result in an unsymmetrical output. the reason for this can be found in the time of update of the ocr1x register. since the ocr1x update occurs at top, the pwm period starts and ends at top. this implies that the length of the falling slo pe is determined by the previous to p value, while the length of the rising slope is determined by the new top value. when these two values differ the two slopes of the period will differ in length. the difference in length gives the unsymmetrical result on the output. it is recommended to use the phase and frequency correct mode instead of the phase correct mode when changing the top value while the timer/counter is running. when using a static top value there ar e practically no differences between the two modes of operation. in phase correct pwm mode, the compare units allow gener ation of pwm waveforms on t he oc1x pins. setting the com1x1:0 bits to two will produce a non-inverted pwm and an inverted pwm output can be generated by setting the com1x1:0 to three (see table on page 117 ). the actual oc1x value will only be visible on the port pin if the data direction for the port pin is set as output (ddr_oc 1x). the pwm waveform is gen erated by setting (or clearing) the oc1x register at the compare match between ocr1x and tcnt1 when the counter incr ements, and clearing (or setting) the oc1x register at compare match between ocr1x and tcnt1 when the counter decrements. the pwm frequency for the output when using phase correct pwm can be calculated by the following equation: 1 2 34 tcntn (comnx1:0 = 2) (comnx1:0 = 3) ocnx ocnx period tovn interrupt flag set (interrupt on bottom) ocrnx/ top update and ocna interrupt flag set or icfn interrupt flag set (interrupt on top) f ocnxpcpwm f clk_i/o 2n top ------------------------------ - = 113 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 the n variable represents the prescaler divider (1, 8, 64, 256, or 1024). the extreme values for the ocr1x regist er represent special cases when generatin g a pwm waveform output in the phase correct pwm mode. if the ocr1x is set equal to bottom the out put will be continuously low and if set equal to top the output will be continuously high for no n-inverted pwm mode. for inverted pwm the output will have the opposite logic values. if ocr1a is used to define the top value (wgm13:0 = 11) and com1a1:0 = 1, the oc1a output will toggle with a 50% duty cycle. 16.9.5 phase and frequency correct pwm mode the phase and frequency correct pulse width modulation, or phase and frequency correct pwm mode (wgm13:0 = 8 or 9) provides a high resolution phase and frequency correct pwm waveform generation option. the phase and frequency correct pwm mode is, like the phase correct pwm mode, based on a dual-slope operation. the counter counts repeatedly from bottom (0x0000) to top and then from top to bottom. in non-inverting compare outpu t mode, the output compare (oc1x) is cleared on the compare match between tcnt1 and ocr1x while upcounting, and set on the compare match while downcounting. in inverting compare output mode, the ope ration is inverted. the dual-slope operation gives a lower maximum operation frequency compared to the single-slope opera tion. however, due to the sym metric feature of the dual- slope pwm modes, these modes are pref erred for motor control applications. the main difference between the phase correct, and the ph ase and frequency correct pwm mode is the time the ocr1x register is updated by the oc r1x buffer register, (see figure 16-8 on page 112 and figure 16-9 on page 113 ). the pwm resolution for the phase and frequency correct pw m mode can be defined by either icr1 or ocr1a. the minimum resolution allowed is 2-bit (icr1 or ocr1a set to 0x0003), and the maximum resolution is 16-bit (icr1 or ocr1a set to max). the pwm resolution in bits can be calculated using the following equation: in phase and frequency correct pwm mode the counter is incr emented until the counter value matches either the value in icr1 (wgm13:0 = 8), or the value in ocr1a (wgm13:0 = 9). the counter has then reached the top and changes the count direction. the tcnt1 value will be equal to top for o ne timer clock cycle. the timing diagram for the phase correct and frequency correct pwm mode is shown on figure 16-9 . the figure shows phase and frequency correct pwm mode when ocr1a or icr1 is used to define top. the tcnt1 value is in the timing diagram shown as a histogram for illustrating the dual-slope operation. the diagram includes non-inverted a nd inverted pwm outputs. the small horizontal line marks on the tcnt1 slopes represent compare ma tches between ocr1x and tcnt1. the oc1x interrupt flag will be set when a compare match occurs. figure 16-9. phase and frequency correct pwm mode, timing diagram r pfcpwm top 1 + () log 2 () log --------------------------------- = 1 2 34 tcntn (comnx1:0 = 2) (comnx1:0 = 3) ocnx ocnx period ocna interrupt flag set or icfn interrupt flag set (interrupt on top) ocrnx/ top update and tovn interrupt flag set (interrupt on bottom) atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 114 the timer/counter overflow fl ag (tov1) is set at the same timer clock cycl e as the ocr1x regist ers are updat ed with the double buffer value (at bottom). when either ocr1a or icr1 is used for defining the top value, the oc1a or icf1 flag set when tcnt1 has reached top. the interrupt flags can then be used to generate an interrupt each time the counter reaches the top or bottom value. when changing the top value the program must ensure that the new top value is higher or equal to the value of all of the compare registers. if the top value is lower than any of the compare registers, a compare match will never occur between the tcnt1 and the ocr1x. as figure 16-9 shows the output generated is, in c ontrast to the phase correct mode, symmetrical in all periods. since the ocr1x registers are updated at bottom, the length of the rising and the falling slopes will always be equal. this gives symmetrical output pulses and is therefore frequency correct. using the icr1 register for defining top works well when using fixed top values. by using icr1, the ocr1a register is free to be used for generating a pwm output on oc1a. ho wever, if the base pwm frequency is actively changed by changing the top value, using the ocr1a as top is clearly a better choice due to its double buffer feature. in phase and frequency correct pwm mode, the compare unit s allow generation of pwm waveforms on the oc1x pins. setting the com1x1:0 bits to two will produce a non-inverted pwm and an inverted pwm output can be generated by setting the com1x1:0 to three (see table on page 117 ). the actual oc1x value will only be visible on the port pin if the data direction for the port pin is set as output (ddr_oc1x). the pwm waveform is generated by setting (or clearing) the oc1x register at the compare match between oc r1x and tcnt1 when the counter increment s, and clearing (or setting) the oc1x register at compare match be tween ocr1x and tcnt1 when the counter decr ements. the pwm frequency for the output when using phase and frequency correct pwm can be calculated by the following equation: the n variable represents the prescaler divider (1, 8, 64, 256, or 1024). the extreme values for the ocr1x register represents spec ial cases when generating a pwm waveform output in the phase correct pwm mode. if the ocr1x is set equal to bottom the out put will be continuously low and if set equal to top the output will be set to high for non-inverted pwm mode. for inve rted pwm the output will have the opposite logic values. if ocr1a is used to define the top value (wgm13:0 = 9) and co m1a1:0 = 1, the oc1a output will toggle with a 50% duty cycle. 16.10 timer/counter timing diagrams the timer/counter is a synchronous design and the timer clock (clk t1 ) is therefore shown as a clock enable signal in the following figures. the figures include information on when interr upt flags are set, and when t he ocr1x register is updated with the ocr1x buffer value (only fo r modes utilizing double buffering). figure 16-10 shows a timing diagram for the setting of ocf1x. figure 16-10.timer/counter timing diagram, setting of ocf1x, no prescaling f ocnxpfcpwm f clk_i/o 2n top ------------------------------ - = ocrnx - 1 clk i/o (clk i/o /1) tcntn ocrnx ocfnx clk tn ocrnx ocrnx value ocrnx + 1 ocrnx + 2 115 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 16-11 shows the same timing data, but with the prescaler enabled. figure 16-11.timer/counter timing diagram, setting of ocf1x, with prescaler (f clk_i/o /8) figure 16-12 shows the count sequence close to top in various modes. when using phase and frequency correct pwm mode the ocr1x register is updated at bottom. the timing diagrams will be the sa me, but top should be replaced by bottom, top-1 by bottom+1 and so on. the same renamin g applies for modes that set the tov1 flag at bottom. figure 16-12.timer/counter ti ming diagram, no prescaling ocrnx - 1 clk i/o (clk i/o /8) tcntn ocrnx ocfnx clk tn ocrnx ocrnx + 1 ocrnx value ocrnx + 2 top - 1 clk i/o (clk i/o /1) tcntn (ctc and fpwm) ocrnx (update at top) tcntn (pc and pfc pwm) tovn (fpwm) and icfn (if used as top) clk tn top old ocrnx value new ocrnx value bottom bottom + 1 top - 1 top top -1 top -2 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 116 figure 16-13 shows the same timing data, but with the prescaler enabled. figure 16-13.timer/counter timing diagram, with prescaler (f clk_i/o /8) 16.11 register description 16.11.1 tccr1a ? timer/counter1 control register a ? bit 7:6 ? com1a1:0: compare output mode for channel a ? bit 5:4 ? com1b1:0: compare output mode for channel b the com1a1:0 and com1b1:0 control the output compare pins (oc1a and oc1b respectively) behavior. if one or both of the com1a1:0 bits are written to one, the oc1a output overri des the normal port functionality of the i/o pin it is connected to. if one or both of the com1b1:0 bit are written to one, th e oc1b output overrides the norma l port functionality of the i/o pin it is connected to. however, note that the data direction register (ddr) bit corresponding to the oc1a or oc1b pin must be set in order to enable the output driver. when the oc1a or oc1b is connected to the pin, the functi on of the com1x1:0 bits is dependent of the wgm13:0 bits setting. table 16-2 shows the com1x1:0 bit functionality when the wgm 13:0 bits are set to a normal or a ctc mode (non- pwm). top - 1 top bottom bottom + 1 top - 1 top top - 1 top - 2 clk i/o (clk i/o /8) tcntn (ctc and fpwm) ocrnx (update at top) tcntn (pc and pfc pwm) tovn (fpwm) and icfn (if used as top) clk tn old ocrnx value new ocrnx value bit 7 6 5 4 3210 (0x80) com1a1 com1a0 com1b1 com1b0 ? ? wgm11 wgm10 tccr1a read/write r/w r/w r/w r/w r r r/w r/w initial value 0 0 0 0 0 0 0 0 table 16-2. compare output mode, non-pwm com1a1/com1b1 com1a0/com1b0 description 0 0 normal port operation, oc1a/oc1b disconnected. 0 1 toggle oc1a/oc1b on compare match. 1 0 clear oc1a/oc1b on compare match (set output to low level). 1 1 set oc1a/oc1b on compare match (set output to high level). 117 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 16-3 shows the com1x1:0 bit functionality when th e wgm13:0 bits are set to the fast pwm mode. table 16-4 shows the com1x1:0 bit functionality when the wgm13: 0 bits are set to the phase correct or the phase and frequency correct, pwm mode. ? bit 1:0 ? wgm11:0: wa veform gene ration mode combined with the wgm13:2 bits found in the tccr1b register, t hese bits control the counting sequence of the counter, the source for maximum (top) counter value, and w hat type of waveform generation to be used, see table 16-5 . modes of operation supported by the timer/counter unit are: normal mode (counter), clear timer on compare match (ctc) mode, and three types of pulse width modulation (pwm) modes. see ( section 16.9 ?modes of operation? on page 108 ). table 16-3. compare output mode, fast pwm (1) com1a1/com1b1 com1a0/com1b0 description 0 0 normal port operation, oc1a/oc1b disconnected. 0 1 wgm13:0 = 14 or 15: toggle oc 1a on compare match, oc1b disconnected (normal port oper ation). for all other wgm1 settings, normal port operation, oc1a/oc1b disconnected. 1 0 clear oc1a/oc1b on compare match, set oc1a/oc1b at bottom (non-inverting mode) 1 1 set oc1a/oc1b on compare ma tch, clear oc1a/oc1b at bottom (inverting mode) note: 1. a special case occurs when ocr1a/ocr1b equals top and com1a1/com1b1 is set. in this case the com- pare match is ignored, but the set or clear is done at bottom. see section 16.9.3 ?fast pwm mode? on page 110 for more details. table 16-4. compare output mode, phase correct and phase and frequency correct pwm (1) com1a1/com1b1 com1a0/com1b0 description 0 0 normal port operation, oc1a/oc1b disconnected. 0 1 wgm13:0 = 9 or 11: toggle oc1a on compare match, oc1b disconnected (normal port oper ation). for all other wgm1 settings, normal port operation, oc1a/oc1b disconnected. 1 0 clear oc1a/oc1b on compare match when up-counting. set oc1a/oc1b on compare match when downcounting. 1 1 set oc1a/oc1b on compare match when up-counting. clear oc1a/oc1b on compare match when downcounting. note: 1. a special case occurs when ocr1a/ocr1b equals top and com1a1/com1b1 is set. see section 16.9.4 ?phase correct pwm mode? on page 111 for more details. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 118 16.11.2 tccr1b ? timer/counter1 control register b ? bit 7 ? icnc1: input capture noise canceler setting this bit (to one) activates the input capture noise cancel er. when the noise canceler is activated, the input from the input capture pin (icp1) is filtered. the filter function requires four successive equal valued samples of the icp1 pin for changing its output. the input capture is therefore delayed by four oscillator cycles when the noise canceler is enabled. ? bit 6 ? ices1: input capture edge select this bit selects which edge on the input capture pin (icp1) t hat is used to trigger a capture event. when the ices1 bit is written to zero, a falling (negative) edge is used as trigger, and when the ices1 bit is written to one, a rising (positive) ed ge will trigger the capture. when a capture is triggered according to the ices1 setting, the counter value is copied into the input capture register (icr1). the event will also set the input ca pture flag (icf1), and this can be used to cause an input capture interrupt, if thi s interrupt is enabled. when the icr1 is used as top value (see description of the wgm13:0 bits located in the tccr1a and the tccr1b register), the icp1 is disconnected and consequ ently the input capture function is disabled. ? bit 5 ? reserved this bit is reserved for future use. for ensuring compatibilit y with future devices, this bit must be written to zero when tccr1b is written. table 16-5. waveform generation mode bit description (1) mode wgm13 wgm12 (ctc1) wgm11 (pwm11) wgm10 (pwm10) timer/counter mode of operation top update of ocr1x at tov1 flag set on 0 0 0 0 0 normal 0xffff immediate max 1 0 0 0 1 pwm, phase correct, 8-bit 0x00ff top bottom 2 0 0 1 0 pwm, phase correct, 9-bit 0x01ff top bottom 3 0 0 1 1 pwm, phase correct, 10-bit 0x03ff top bottom 4 0 1 0 0 ctc ocr1a immediate max 5 0 1 0 1 fast pwm, 8-bit 0x00ff bottom top 6 0 1 1 0 fast pwm, 9-bit 0x01ff bottom top 7 0 1 1 1 fast pwm, 10-bit 0x03ff bottom top 8 1 0 0 0 pwm, phase and frequency correct icr1 bottom bottom 9 1 0 0 1 pwm, phase and frequency correct ocr1a bottom bottom 10 1 0 1 0 pwm, phase correct icr1 top bottom 11 1 0 1 1 pwm, phase correct ocr1a top bottom 12 1 1 0 0 ctc icr1 immediate max 13 1 1 0 1 (reserved) ? ? ? 14 1 1 1 0 fast pwm icr1 bottom top 15 1 1 1 1 fast pwm ocr1a bottom top notes: 1. the ctc1 and pwm11:0 bit definition names are obso lete. use the wgm12:0 defini tions. however, the func- tionality and location of these bits are compat ible with previous versions of the timer. bit 7 6 5 4 3 2 1 0 (0x81) icnc1 ices1 ? wgm13 wgm12 cs12 cs11 cs10 tccr1b read/write r/w r/w r r/w r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 119 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 ? bit 4:3 ? wgm13:2: wa veform gene ration mode see tccr1a register description. ? bit 2:0 ? cs12:0: clock select the three clock sele ct bits select the clock source to be used by the timer/counter, see figure 16-10 on page 114 and figure 16-11 on page 115 . if external pin modes are used for the timer/counter1, transit ions on the t1 pin will clock the counter even if the pin is configured as an output. this feature allows software control of the counting. 16.11.3 tccr1c ? timer/counter1 control register c ? bit 7 ? foc1a: force output compare for channel a ? bit 6 ? foc1b: force output compare for channel b the foc1a/foc1b bits are only active when the wgm13:0 bits specifies a non-pwm mode. when writing a logical one to the foc1a/foc1b bit, an immediate comp are match is forced on the waveform ge neration unit. the oc1a/oc1b output is changed according to its com1x1:0 bits setting. note that th e foc1a/foc1b bits are implemen ted as strobes. therefore it is the value present in the co m1x1:0 bits that determine the effect of the forced compare. a foc1a/foc1b strobe will not generate any interrupt nor will it clear the timer in clear timer on compare match (ctc) mode using ocr1a as top. the foc1a/foc1b bits are always read as zero. table 16-6. clock select bit description cs12 cs11 cs10 description 0 0 0 no clock source (timer/counter stopped). 0 0 1 clk i/o /1 (no prescaling) 0 1 0 clk i/o /8 (from prescaler) 0 1 1 clk i/o /64 (from prescaler) 1 0 0 clk i/o /256 (from prescaler) 1 0 1 clk i/o /1024 (from prescaler) 1 1 0 external clock source on t1 pin. clock on falling edge. 1 1 1 external clock source on t1 pin. clock on rising edge. bit 7 6 5 4 3 2 1 0 (0x82) foc1a foc1b ? ? ? ? ? ? tccr1c read/write r/w r/w r r r r r r initial value 0 0 0 0 0 0 0 0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 120 16.11.4 tcnt1h and tcnt1l ? timer/counter1 the two timer/counter i/o locations (tcnt1h and tcnt1l, combined tcnt1) give direct access, both for read and for write operations, to the timer/counter unit 16-bit counter. to ensure that both th e high and low bytes are read and written simultaneously when the cpu accesses thes e registers, the access is performed usi ng an 8-bit temporary high byte register (temp). this temporary register is sh ared by all the other 16-bit registers. see section 16.3 ?accessing 16-bit registers? on page 100 modifying the counter (tcnt1) while the counter is running introduces a risk of missing a compare match between tcnt1 and one of the ocr1x registers. writing to the tcnt1 register blocks (removes) the compare match on the follo wing timer clock for all compare units. 16.11.5 ocr1ah and ocr1al ? output compare register 1 a 16.11.6 ocr1bh and ocr1bl ? output compare register 1 b the output compare registers contain a 16 -bit value that is continuously compar ed with the counter value (tcnt1). a match can be used to generate an output compare interrupt, or to generate a waveform output on the oc1x pin. the output compare registers are 16-bit in size. to ensure that both the high and low bytes are written simultaneously when the cpu writes to these registers, the access is performed using an 8-bit temporary high byte register (temp). this temporary register is shared by al l the other 16-bit registers. see section 16.3 ?accessing 16-bit registers? on page 100 16.11.7 icr1h and icr1l ? input capture register 1 the input capture is updated with the counter (tcnt1) value each time an event occurs on the icp1 pin (or optionally on the analog comparator output for timer/co unter1). the input capture can be used for defining the counter top value. the input capture register is 16-bit in size. to ensure that both the high and lo w bytes are read simultaneously when the cpu accesses these registers, th e access is performed using an 8-bit temporary high byte register (temp). this temporary register is shared by all th e other 16-bit registers. see section 16.3 ?accessing 16-bit registers? on page 100 bit 76543210 (0x85) tcnt1[15:8] tcnt1h (0x84) tcnt1[7:0] tcnt1l read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 (0x89) ocr1a[15:8] ocr1ah (0x88) ocr1a[7:0] ocr1al read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 (0x8b) ocr1b[15:8] ocr1bh (0x8a) ocr1b[7:0] ocr1bl read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 (0x87) icr1[15:8] icr1h (0x86) icr1[7:0] icr1l read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 121 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 16.11.8 timsk1 ? timer/counte r1 interrupt mask register ? bit 7, 6 ? reserved these bits are unused bits in the atmel ? atmega48pa/88pa/168pa, and will always read as zero. ? bit 5 ? icie1: timer/counter1 , input capture interrupt enable when this bit is written to one, and the i-flag in the status register is set (i nterrupts globally enabled), the timer/counter1 input capture interrupt is enabled. the corresponding interrupt vector (see section 12. ?interrupts? on page 50 ) is executed when the icf1 fl ag, located in tifr1, is set. ? bit 4, 3 ? reserved these bits are unused bits in the atmel atmega48pa/88pa/168pa, and will always read as zero. ? bit 2 ? ocie1b: timer/counter1, outp ut compare b match interrupt enable when this bit is written to one, and the i-flag in the status register is set (i nterrupts globally enabled), the timer/counter1 output compare b match interrupt is enabled. the corresponding interrupt vector (see section 12. ?interrupts? on page 50 ) is executed when the ocf1b flag, located in tifr1, is set. ? bit 1 ? ocie1a: timer/counter1, outp ut compare a match interrupt enable when this bit is written to one, and the i-flag in the status register is set (i nterrupts globally enabled), the timer/counter1 output compare a match interrupt is enabled. the corresponding interrupt vector (see section 12. ?interrupts? on page 50 ) is executed when the ocf1a flag, located in tifr1, is set. ? bit 0 ? toie1: timer/counter1, overflow interrupt enable when this bit is written to one, and the i-flag in the status register is set (i nterrupts globally enabled), the timer/counter1 overflow interrupt is enabled. the corresponding interrupt vector (see section 12. ?interrupts? on page 50 ) is executed when the tov1 flag, locat ed in tifr1, is set. 16.11.9 tifr1 ? timer/counte r1 interrupt flag register ? bit 7, 6 ? reserved these bits are unused bits in the atmel atmega48pa/88pa/168pa, and will always read as zero. ? bit 5 ? icf1: timer/counter1, input capture flag this flag is set when a capture event oc curs on the icp1 pin. when the input capt ure register (icr1) is set by the wgm13:0 to be used as the top value, the icf1 flag is set when the counter reaches the top value. icf1 is automatically cleared when the input capture interrupt vector is executed. alternatively, icf1 can be cleared by writing a logic one to its bit location. ? bit 4, 3 ? reserved these bits are unused bits in the atmel atmega48pa/88pa/168pa, and will always read as zero. bit 76543210 (0x6f) ? ? icie1 ? ? ocie1b ocie1a toie1 timsk1 read/write r r r/w r r r/w r/w r/w initial value 0 0 0 0 0 0 0 0 bit 76543210 0x16 (0x36) ??icf1??ocf1bocf1atov1tifr1 read/write r r r/w r r r/w r/w r/w initial value00000000 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 122 ? bit 2 ? ocf1b: timer/counter1 , output compare b match flag this flag is set in the timer clock cycl e after the counter (tcnt1) value matches the output compare register b (ocr1b). note that a forced output compare (foc 1b) strobe will not set the ocf1b flag. ocf1b is automatically cleared when the ou tput compare match b interrupt vector is executed. alternatively, ocf1b can be cleared by writing a logic one to its bit location. ? bit 1 ? ocf1a: timer/counter1 , output compare a match flag this flag is set in the timer clock cycl e after the counter (tcnt1) value matches the output compare register a (ocr1a). note that a forced output compare (foc 1a) strobe will not set the ocf1a flag. ocf1a is automatically cleared when the ou tput compare match a interrupt vector is executed. alternatively, ocf1a can be cleared by writing a logic one to its bit location. ? bit 0 ? tov1: timer/counter1, overflow flag the setting of this flag is dependent of the wgm13:0 bits setting. in normal and ctc modes, the tov1 flag is set when the timer overflows. refer to table 16-5 on page 118 for the tov1 flag behavior when using another wgm13:0 bit setting. tov1 is automatically cleared when the ti mer/counter1 overflow inte rrupt vector is executed. alternatively, tov1 can be cleared by writing a logic one to its bit location. 123 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 17. timer/counter0 and time r/counter1 prescalers section 15. ?8-bit timer/counter0 with pwm? on page 81 and section 16. ?16-bit timer/counter1 with pwm? on page 97 share the same prescaler module, but the timer/counters ca n have different prescaler settings. the description below applies to both timer/coun ter1 and timer/counter0. 17.1 internal clock source the timer/counter can be clock ed directly by the system clock (by setting th e csn2:0 = 1). this provides the fastest operation, with a maximum timer/counter clock frequency equal to system clock frequency (f clk_i/o ). alternatively, one of four taps from the prescaler can be used as a clock source. the prescaled clock has a frequency of either f clk_i/o /8, f clk_i/o /64, f clk_i/o /256, or f clk_i/o /1024. 17.2 prescaler reset the prescaler is free running, i.e., operates independently of the clock select logic of the timer/counter, and it is shared by timer/counter1 and timer/counter0. since the prescaler is not af fected by the timer/counter?s clock select, the state of the prescaler will have implications for situations where a prescale d clock is used. one example of prescaling artifacts occurs when the timer is enabled and clocked by the prescaler (6 > csn2:0 > 1). the num ber of system clock cycles from when the timer is enabled to the first count occurs can be from 1 to n+1 system cl ock cycles, where n equals the prescaler divisor (8, 64, 256, or 1024). it is possible to use the prescaler reset for synchronizing t he timer/counter to program exec ution. however, care must be taken if the other timer/counte r that shares the same prescaler also uses prescaling. a prescaler reset will affect the prescaler period for all timer/counters it is connected to. 17.3 external clock source an external clock source applied to the t1/t0 pin can be used as timer/counter clock (clk t1 /clk t0 ). the t1/t0 pin is sampled once every system clock cycle by the pin syn chronization logic. the synchronized (sampled) sign al is then passed through the edge detector. figure 17-1 shows a functional equivalent block diagram of the t1/t0 synchronization and edge detector logic. the registers are clocked at the pos itive edge of the inte rnal system clock (clk i/o ). the latch is transparent in the high period of t he internal system clock. the edge detector generates one clk t1 /clk t0 pulse for each positive (csn2:0 = 7) or negative (csn2:0 = 6) edge it detects. figure 17-1. t1/t0 pin sampling the synchronization and edge detector logic introduces a delay of 2.5 to 3.5 system clock cycles from an edge has been applied to the t1/t0 pin to the counter is updated. enabling and disabling of the clock input must be done when t1/t0 has been stable for at least one system clock cycle, otherwise it is a risk that a false timer/counter clock pulse is generated. each half period of the external clock applied must be longer than one system clock cycle to ensure correct sampling. the external clock must be guaranteed to have less than half the system clock frequency (f extclk < f clk_i/o /2) given a 50/50% duty cycle. since the edge detector uses sampling, the maximum frequen cy of an external clock it can detect is half the sampling frequency (nyquist sampling theorem). however, due to variat ion of the system clock frequency and duty cycle caused by oscillator source (crystal, resonator, and capacitors) tolerances, it is recommended that maximum frequency of an external clock source is less than f clk_i/o /2.5. an external clock source can not be prescaled. tn synchronization edge detector tn_sync (to clock select logic) q le d q d q d clk i/o atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 124 figure 17-2. prescaler for time r/counter0 and timer/counter1 (1) note: 1. the synchronization logic on the input pins (t1/t0) is shown in figure 17-1 . 17.4 register description 17.4.1 gtccr ? general time r/counter control register ? bit 7 ? tsm: timer/counter synchronization mode writing the tsm bit to one activates the timer/counter synchroniza tion mode. in this mode, the va lue that is written to the psrasy and psrsync bits is kept, hence keeping the corresponding prescaler reset signals asserted. this ensures that the corresponding timer/counters are halted and can be conf igured to the same value without the risk of one of them advancing during configuration. when the tsm bit is written to zero, the psrasy and psrsync bits are cleared by hardware, and the time r/counters start counting simultaneously. ? bit 0 ? psrsync: prescaler reset when this bit is one, timer/counter1 and timer/counter0 presca ler will be reset. this bit is normally cleared immediately by hardware, except if the tsm bit is set. note that timer/count er1 and timer/counter0 share the same prescaler and a reset of this prescaler will affect both timers. timer/counter 1clock source clk t1 clk i/o psrsync t0 10-bit t/c prescaler 0 cs10 ck/8 ck/64 ck/256 ck/1024 cs11 cs12 synchronization clear t1 synchronization timer/counter 0 clock source clk t0 0 cs00 cs01 cs02 bit 765432 1 0 0x23 (0x43) tsm psrasy psrsync gtccr read/write r/w r rrrrr/wr/w initial value000000 0 0 125 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 18. 8-bit timer/counter2 with pw m and asynchronous operation 18.1 features single channel counter clear timer on compare match (auto reload) glitch-free, phase correct pulse width modulator (pwm) frequency generator 10-bit clock prescaler overflow and compare match interrupt sources (tov2, ocf2a and ocf2b) allows clocking from external 32khz watc h crystal independent of the i/o clock 18.2 overview timer/counter2 is a general purpose, single channel, 8-bit ti mer/counter module. a simplified block diagram of the 8-bit timer/counter is shown in figure 18-1 . for the actual placement of i/o pins, refer to section 1-1 ?pinout atmel atmega48pa/88pa/168pa? on page 3 . cpu accessible i/o registers, including i/o bits and i/o pins, are shown in bold. the device-specific i/o register and bit locations are listed in the section 18.11 ?register description? on page 137 . the prtim2 bit in section 10.10 ?minimizing power consumption? on page 37 must be written to zero to enable timer/counter2 module. figure 18-1. 8-bit time r/counter block diagram control logic tcntn timer/counter count clear direction clk tn ocrna ocrnb tccrna tccrnb = edge detector (from prescaler) clock select top bottom tovn (int. req.) ocna (int. req.) tn waveform generation fixed top value data bus = = = 0 ocna ocnb (int. req.) waveform generation ocnb atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 126 18.2.1 registers the timer/counter (tcnt2) and output compare register (o cr2a and ocr2b) are 8-bit registers. interrupt request (shorten as int.req.) signals are all visible in the timer interr upt flag register (tifr2). all interrupts are individually mas ked with the timer interrupt mask register (timsk2). tifr2 and timsk2 are not shown in the figure. the timer/counter can be clocked internally, via the prescale r, or asynchronously clocked from the tosc1/2 pins, as detailed later in this section. the asynchronous operation is controlled by the asynchronous status register (assr). the clock select logic block contro ls which clock source he timer/counter uses to increment (or decrement) its value. the timer/counter is inactive when no clock source is selected. the out put from the clock select logic is referred to as the timer clock (clk t2 ). the double buffered output compare regist er (ocr2a and ocr2b) are compared with the timer/counter value at all times. the result of the compare can be used by the waveform gene rator to generate a pwm or variable frequency output on the output compare pins (oc2a and oc2b). see section 18.5 ?output compare unit? on page 128 for details. the compare match event will also set the compare flag (ocf2a or ocf2b) which can be used to generate an output compare interrupt request. 18.2.2 definitions many register and bit references in this document are written in general form. a lower case ?n? replaces the timer/counter number, in this case 2. however, when using the register or bit defines in a pr ogram, the precise form must be used, i.e., tcnt2 for accessing timer/counter2 counter value and so on. the definitions in table 18-1 are also used extensivel y throughout the section. 18.3 timer/counter clock sources the timer/counter can be clocked by an internal synchronous or an external asynchronous clock source. the clock source clk t2 is by default equal to the mcu clock, clk i/o . when the as2 bit in the assr register is written to logic one, the clock source is taken from the timer/counter oscillator connected to tosc1 and tosc2. for details on asynchronous operation, see section 18.11.8 ?assr ? asynchrono us status register? on page 142 . for details on clock sources and prescaler, see section 18.10 ?timer/counter prescaler? on page 136 . table 18-1. definitions parameter definition bottom the counter reaches the bottom when it becomes zero (0x00). max the counter reaches its maximum when it becomes 0xff (decimal 255). top the counter reaches the top when it becomes equal to the highest value in the count sequence. the top value can be assigned to be the fixed value 0xff (max) or the value stored in the ocr2a register. the assignment is dependent on the mode of operation. 127 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 18.4 counter unit the main part of the 8-bit timer/counter is the programmable bi-directional counter unit. figure 18-2 shows a block diagram of the counter and its surrounding environment. figure 18-2. counter unit block diagram signal description (internal signals): count increment or decrement tcnt2 by 1. direction selects between increment and decrement. clear clear tcnt2 (set all bits to zero). clk tn timer/counter clock, referred to as clk t2 in the following. top signalizes that tcnt2 has reached maximum value. bottom signalizes that tcnt2 has reached minimum value (zero). depending on the mode of operation used, t he counter is cleared, incremented, or decremented at each timer clock (clk t2 ). clk t2 can be generated from an external or internal clock source , selected by the clock select bits (cs22:0). when no clock source is selected (cs22:0 = 0) the timer is stopped. however, the tcnt2 value can be accessed by the cpu, regardless of whether clk t2 is present or not. a cpu write overrides (has pr iority over) all counter clear or count operations. the counting sequence is determined by the setting of the wgm21 and wgm20 bits located in the timer/counter control register (tccr2a) and the wgm22 located in the timer/counter contro l register b (tccr2b). th ere are close connections between how the counter behaves (counts) and how waveforms are generated on the output compare outputs oc2a and oc2b. for more details about advanced counting sequences and waveform generation, see section 18.7 ?modes of operation? on page 130 . the timer/counter overflow flag (tov2) is set according to t he mode of operation selected by the wgm22:0 bits. tov2 can be used for generating a cpu interrupt. top bottom tovn (int. req.) data bus control logic tcntn clk tn clear count direction clk i/o prescaler t/c oscillator tosc1 tosc2 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 128 18.5 output compare unit the 8-bit comparator continuously com pares tcnt2 with the output compare register (ocr2a and ocr2b). whenever tcnt2 equals ocr2a or ocr2b, the comparator signals a ma tch. a match will set the outpu t compare flag (ocf2a or ocf2b) at the next timer clo ck cycle. if the corresponding interrupt is enabled , the output compare fl ag generates an output compare interrupt. the output compare flag is automatically cleared when the interrupt is execut ed. alternatively, the output compare flag can be cleared by software by writing a logical one to its i/o bit location. the waveform generator uses the match signal to generate an output according to operatin g mode set by the wgm22:0 bits and compare output mode (com2x1:0) bits. the max and bottom signals are used by t he waveform generator for handling the special cases of the extreme values in some modes of operation ( section 18.7 ?modes of operation? on page 130 ). figure 18-3 shows a block diagram of the output compare unit. figure 18-3. output compare unit, block diagram the ocr2x register is double buffered when using any of the pulse width modulation (pwm) modes. for the normal and clear timer on compare (ctc) modes of operation, the doubl e buffering is disabled. the double buffering synchronizes the update of the ocr2x compare register to either top or bottom of the counting sequence. the synchronization prevents the occurrence of odd-length, non-symmetrical pwm pulses, thereby making the output glitch-free. the ocr2x register access may seem co mplex, but this is not case. when th e double buffering is enabled, the cpu has access to the ocr2x buffer register, and if double buffer ing is disabled the cpu will access the ocr2x directly. 18.5.1 force output compare in non-pwm waveform generation modes, the match output of the comparator can be forced by writing a one to the force output compare (foc2x) bit. forc ing compare match will not set the ocf2x flag or reload/clear the timer, but the oc2x pin will be updated as if a real compare match had occurred (the co m2x1:0 bits settings define w hether the oc2x pin is set, cleared or toggled). 18.5.2 compare match blocking by tcnt2 write all cpu write operations to the tcnt2 register will block any co mpare match that occurs in the next timer clock cycle, even when the timer is stopped. this feature allows ocr2x to be initialized to the same value as tcnt2 without triggering an interrupt when the timer/counter clock is enabled. ocfnx (int. req.) = (8-bit comparator) ocrnx waveform generator tcntn ocnx top bottom focn wgmn1:0 comnx1:0 data bus 129 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 18.5.3 using the ou tput compare unit since writing tcnt2 in any mode of ope ration will block all compare matches for one timer clock cycle, there are risks involved when changing tcnt2 when using the output compar e channel, independently of w hether the timer/counter is running or not. if the value written to tcnt2 equals the ocr2 x value, the compare match will be missed, resulting in incorrect waveform generation. similarly, do not write th e tcnt2 value equal to bottom when the counter is downcounting. the setup of the oc2x should be performed bef ore setting the data direction register for the port pin to output. the easiest way of setting the oc2x value is to use the force output co mpare (foc2x) strobe bit in normal mode. the oc2x register keeps its value even when changing between waveform generation modes. be aware that the com2x1:0 bits are not double buffered together with the compar e value. changing the com2x1:0 bits will take effect immediately. 18.6 compare match output unit the compare output mode (com2x1:0) bits have two functi ons. the waveform generator uses the com2x1:0 bits for defining the output compare (oc2x) state at the next compare match. also, the com2x1:0 bits control the oc2x pin output source. figure 18-4 shows a simplified schematic of the logic affected by the com2x1:0 bit setting. the i/o registers, i/o bits, and i/o pins in the figure are shown in bold. only the parts of the general i/o port control registers (ddr and port) that are affected by the com2x1:0 bits ar e shown. when referring to the oc2x state, the reference is for the internal oc2x register, not the oc2x pin. figure 18-4. compare matc h output unit, schematic the general i/o port function is overridden by the output co mpare (oc2x) from the waveform generator if either of the com2x1:0 bits are set. however, the oc2x pin direction (input or output) is still controlled by the data direction register (ddr) for the port pin. the data direction register bit for the oc2x pin (ddr_oc 2x) must be set as output before the oc2x value is visible on the pin. the port override func tion is independent of the waveform generation mode. the design of the output compare pin logic allows initialization of the oc2x state before the output is enabled. note that some com2x1:0 bit settings are reserved for certain modes of operation. see section 18.11 ?register description? on page 137 data bus 0 1 q d comnx1 comnx0 focnx ocnx waveform generator q d port q d ddr ocnx pin clk i/o atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 130 18.6.1 compare output mode and waveform generation the waveform generator uses the com2x1:0 bits differentl y in normal, ctc, and pwm modes. for all modes, setting the com2x1:0 = 0 tells the waveform generator that no action on the oc2x register is to be performed on the next compare match. for compare output actions in the non-pwm modes refer to table 18-5 on page 138 . for fast pwm mode, refer to table 18-6 on page 138 , and for phase correct pwm refer to table 18-7 on page 139 . a change of the com2x1:0 bits state will have effect at the first compare match after the bi ts are written. for non-pwm modes, the action can be forced to have immedi ate effect by using the foc2x strobe bits. 18.7 modes of operation the mode of operation, i.e., t he behavior of the timer/counter and the output compare pins, is defined by the combination of the waveform generation mode (wgm22:0) and compare output mode (com2x1:0) bits. the compare output mode bits do not affect the counting sequence, while t he waveform generation mode bits do. the com2x1:0 bits control whether the pwm output generated should be inverted or not (inverted or non-inverted pwm). for non-p wm modes the com2x1:0 bits control whether the output should be set, cleared, or toggled at a compare match (see section 18.6 ?compare match output unit? on page 129 ). for detailed timing information refer to section 18.8 ?timer/counter timing diagrams? on page 133 . 18.7.1 normal mode the simplest mode of operation is t he normal mode (wgm22:0 = 0). in this mo de the counting direction is always up (incrementing), and no counter clear is performed. the coun ter simply overruns when it passes its maximum 8-bit value (top = 0xff) and then restarts from the bottom (0x00). in normal operation the ti mer/counter overflow flag (tov2) will be set in the same timer cl ock cycle as the tcnt2 becomes zero . the tov2 flag in this case behaves like a ninth bit, except that it is only set, not cleared. however, combined with the timer overflow interrupt that automatically clears the tov2 flag, the timer resolution can be increased by software. there are no special cases to consider in the normal mode, a new counter value can be written anytime. the output compare unit can be used to generate interrupts at some given time. using the output compare to generate waveforms in normal mode is not recommended, since this will occupy too much of the cpu time. 18.7.2 clear timer on compare match (ctc) mode in clear timer on compare or ctc mode (wgm22:0 = 2), the ocr2 a register is used to manipulate the counter resolution. in ctc mode the counter is cleared to zero when the counter value (tcnt2) matches the ocr2a. the ocr2a defines the top value for the counter, hence also its resolution. this mode allo ws greater control of the comp are match output frequency. it also simplifies the operation of counting external events. the timing diagram for the ctc mode is shown in figure 18-5 . the counter value (tcnt2) increases until a compare match occurs between tcnt2 and ocr2a, and then counter (tcnt2) is cleared. figure 18-5. ctc mode, timing diagram 12 tcntn (comnx1:0 = 1) ocnx (toggle) period 3 ocnx interrupt flag set 4 131 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 an interrupt can be generated each time the counter value reac hes the top value by using the ocf2a flag. if the interrupt is enabled, the interrupt handler routine can be used for updat ing the top value. however, changing top to a value close to bottom when the counter is running with non e or a low prescaler value must be done with care since the ctc mode does not have the double buffering feat ure. if the new value written to ocr2a is lower than the current value of tcnt2, the counter will miss the compare match. the counter will then have to count to its maximum value (0xff) and wrap around starting at 0x00 before the compare match can occur. for generating a waveform output in ctc mode, the oc2a output can be set to to ggle its logical level on each compare match by setting the compare output mode bits to toggle mode (com2a1:0 = 1). the oc2a value will not be visible on the port pin unless the data direction for the pin is set to out put. the waveform generated will have a maximum frequency of f oc2a = f clk_i/o /2 when ocr2a is set to zero (0x00). the wave form frequency is defined by the following equation: the n variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024). as for the normal mode of oper ation, the tov2 flag is set in the same timer clock cycle that the counter counts from max to 0x00. 18.7.3 fast pwm mode the fast pulse width modulation or fast pwm mode (wgm22: 0 = 3 or 7) provides a high frequency pwm waveform generation option. the fast pwm differs from the other pwm optio n by its single-slope operation. the counter counts from bottom to top then restarts from bottom. top is defined as 0xff when wgm2:0 = 3, and ocr2a when mgm2:0 = 7. in non-inverting compare output mode, the output compare (oc2x) is cleared on the compare match between tcnt2 and ocr2x, and set at bottom. in inverting compare output mode, the output is set on compare match and cleared at bottom. due to the single-slope operatio n, the operating frequency of the fast pwm mode can be twice as high as the phase correct pwm mode that uses dual-s lope operation. this high frequency make s the fast pwm mode well suited for power regulation, rectification, and dac applications. high frequency allows physically small sized external components (coils, capacitors), and theref ore reduces total system cost. in fast pwm mode, the counter is incremen ted until the counter value ma tches the top value. the counter is then cleared at the following timer clock cycle. the timing diagram for the fast pwm mode is shown in figure 18-6 . the tcnt2 value is in the timing diagram shown as a histogram for illustrating the single-slope operation. the diagram includes non-inverted and inverted pwm outputs. the sm all horizontal line marks on the tcnt2 slopes represent compare matches between ocr2x and tcnt2. figure 18-6. fast pwm mode, timing diagram the timer/counter overflow flag (tov2) is set each time the co unter reaches top. if the inte rrupt is enabled, the interrupt handler routine can be used fo r updating the compare value. f ocnx f clk_i/o 2n 1 ocrnx + () ---------------------------------------------------- = 1234567 tcntn (comnx1:0 = 2) (comnx1:0 = 3) ocnx ocnx period ocrnx update and tovn interrupt flag set ocrnx interrupt flag set atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 132 in fast pwm mode, the compare unit allo ws generation of pwm waveforms on the oc2x pin. setting the com2x1:0 bits to two will produce a non-inverted pwm and an inverted pwm output can be generated by setting the com2x1:0 to three. top is defined as 0xff when wgm2:0 = 3, and ocr2a when mgm2:0 = 7. (see table 18-3 on page 137 ). the actual oc2x value will only be visible on the port pin if the data direction for the port pin is set as output. the pwm waveform is generat ed by setting (or clearing) the oc2x regist er at the compare match between ocr2x and tcnt2, and clearing (or setting) the oc2x register at the timer cl ock cycle the counter is cleared (changes from top to bottom). the pwm frequency for the output can be calculated by the following equation: the n variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024). the extreme values for the ocr2a regist er represent special cases when generating a pwm waveform output in the fast pwm mode. if the ocr2a is set equal to bottom, the output will be a narrow sp ike for each max+1 timer clock cycle. setting the ocr2a equal to max will result in a constantly high or low output (depending on the pol arity of the output set by the com2a1:0 bits.) a frequency (with 50% duty cycle) waveform output in fast pw m mode can be achieved by settin g oc2x to togg le its logical level on each compare match (com2x1:0 = 1). the waveform generated will have a maximum frequency of f oc2 = f clk_i/o /2 when ocr2a is set to zero. this feature is similar to the oc 2a toggle in ctc mode, except the double buffer feature of the output compare unit is enabled in the fast pwm mode. 18.7.4 phase correct pwm mode the phase correct pwm mode (wgm22:0 = 1 or 5) provides a high resolution phase correct pwm waveform generation option. the phase correct pwm mode is based on a dual-slope operation. the counter count s repeatedly from bottom to top and then from top to bottom. top is defined as 0xff when wgm2:0 = 3, and ocr2a when mgm2:0 = 7. in non- inverting compare output mode, the output compare (oc2x) is cleared on the compare match between tcnt2 and ocr2x while upcounting, and set on the compare match while downcount ing. in inverting output co mpare mode, the operation is inverted. the dual-slope operation has lower maximum operation frequency than single slope operation. however, due to the symmetric feature of the dual-slope pwm modes, t hese modes are preferred for motor control applications. in phase correct pwm mode the counter is incremented until the counter value matches top. when the counter reaches top, it changes the count direct ion. the tcnt2 value will be equal to top for one timer clock cycle. the timing diagram for the phase correct pwm mode is shown on figure 18-7 . the tcnt2 value is in the timing diagram shown as a histogram for illustrating the dual-slope operation. the diagram includes non- inverted and inverted pwm outputs. the small horizontal line marks on the tcnt2 slopes represent compare matches between ocr2x and tcnt2. figure 18-7. phase correct pwm mode, timing diagram f ocnxpwm f clk_i/o n 256 ------------------- = 123 tcntn (comnx1:0 = 2) (comnx1:0 = 3) ocnx ocnx period tovn interrupt flag set ocrnx update ocnx interrupt flag set 133 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 the timer/counter overflow flag (tov2) is set each time the counter reaches bottom. the interrupt flag can be used to generate an interrupt each time the counter reaches the bottom value. in phase correct pwm mode, the compare unit allows ge neration of pwm waveforms on the oc2x pin. setting the com2x1:0 bits to two will produce a non-inverted pwm. an inverted pwm output can be generated by setting the com2x1:0 to three. top is defined as 0xff when wgm2:0 = 3, and ocr2a when mgm2:0 = 7 (see table 18-4 on page 138 ). the actual oc2x value will only be visible on t he port pin if the data di rection for the port pin is set as output. the pwm waveform is generated by clearing (o r setting) the oc2x register at the compare match between ocr2x and tcnt2 when the counter increments, and setting (o r clearing) the oc2x register at compare match between ocr2x and tcnt2 when the counter decrements. the pwm frequ ency for the output when using phase correct pwm can be calculated by the following equation: the n variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024). the extreme values for the ocr2a regist er represent special cases when generating a pwm waveform output in the phase correct pwm mode. if the ocr2a is set equal to bottom, the output will be continuously low and if set equal to max the output will be continuously high for no n-inverted pwm mode. for inverted pwm the output will have the opposite logic values. at the very start of period 2 in figure 18-7 on page 132 ocnx has a transition from high to low even though there is no compare match. the point of this transition is to guaran tee symmetry around bottom. there are two cases that give a transition without compare match. ocr2a changes its value from max, like in figure 18-7 on page 132 . when the ocr2a value is max the ocn pin value is the same as the result of a down-counting co mpare match. to ensure symmetry around bottom the ocn value at max must correspond to the re sult of an up-counting compare match. the timer starts counting from a value higher than the on e in ocr2a, and for that reason misses the compare match and hence the ocn change that would have happened on the way up. 18.8 timer/counter timing diagrams the following figures show the timer/counter in synchronous mode, and the timer clock (clk t2 ) is therefore shown as a clock enable signal. in asynchronous mode, clk i/o should be replaced by the timer/counter oscillator clock. the figures include information on when interrupt flags are set. figure 18-8 contains timing data for basic ti mer/counter operation. the figure shows the count sequence close to the max value in all modes other than phase correct pwm mode. figure 18-8. timer/counter timing diagram, no prescaling f ocnxpcpwm f clk_i/o n510 ------------------- = max - 1 clk i/o (clk i/o /1) tcntn tovn clk tn max bottom bottom + 1 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 134 figure 18-9 shows the same timing data, but with the prescaler enabled. figure 18-9. timer/counter timing diagram, with prescaler (f clk_i/o /8) figure 18-10 shows the setting of ocf2a in all modes except ctc mode. figure 18-10.timer/counter timing diagram, setting of ocf2a, with prescaler (f clk_i/o /8) figure 18-11 shows the setting of ocf2a and the clearing of tcnt2 in ctc mode. figure 18-11.timer/counter timing diagram, clear timer on compare match mode, with prescaler (f clk_i/o /8) max - 1 clk i/o (clk i/o /8) tcntn tovn clk tn max bottom bottom + 1 ocrnx - 1 clk i/o (clk i/o /8) tcntn ocrnx ocfnx clk tn ocrnx ocrnx + 1 ocrnx value ocrnx + 2 top - 1 clk i/o (clk i/o /8) tcntn (ctc) ocrnx ocfnx clk tn top bottom top bottom + 1 135 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 18.9 asynchronous operation of timer/counter2 when timer/counter2 operates asynchronously, some considerations must be taken. warning: when switching between asynchronous and synch ronous clocking of timer/counter2, the timer registers tcnt2, ocr2x, and tccr2x might be corrupted. a safe procedure for switching clock source is: a. disable the timer/counter2 interrupts by clearing ocie2x and toie2. b. select clock source by setting as2 as appropriate. c. write new values to tcnt2, ocr2x, and tccr2x. d. to switch to asynchronous operation: wait for tcn2xub, o cr2xub, and tcr2xub. e. clear the timer/coun ter2 interrupt flags. f. enable interrupts, if needed. the cpu main clock frequency must be more than four times the oscillator frequency. when writing to one of the registers t cnt2, ocr2x, or tccr2x, t he value is transferred to a temporary register, and latched after two positive edges on tosc1. the user should not write a new value before the contents of the temporary register have been tran sferred to its destination. each of the five mentioned registers have their individual temporary register, which means that e.g. writing to tcnt2 does not disturb an ocr2x write in progress. to detect that a transfer to the destination register has taken pl ace, the asynchronous status register ? assr has been implemented. when entering power-save or adc noise reduction mode af ter having written to tcnt2, ocr2x, or tccr2x, the user must wait until the written register has been updated if timer/counter2 is used to wake up the device. otherwise, the mcu will enter sleep mode before the ch anges are effective. this is particul arly important if any of the output compare2 interrupt is used to wake up the device, since the output compare f unction is disabled during writing to ocr2x or tcnt2. if the write cycle is not finished, and the mcu enters sleep mode before the corresponding ocr2xub bit returns to zero, the device will never receive a compare match interrupt, and the mcu will not wake up. if timer/counter2 is used to wake the device up from po wer-save or adc noise reduction mode, precautions must be taken if the user wants to re -enter one of these modes: if re-entering sl eep mode within the tosc 1 cycle, the interrupt will immediately occur and the device wake up again. the result is multiple interrupts and wake-ups within one tosc1 cycle from the first interrupt. if the user is in doubt whether the time before re-entering power-save or adc noise reduction mode is suff icient, the follo wing algorithm can be used to ensure that one tosc1 cycle has elapsed: a. write a value to tccr2x, tcnt2, or ocr2x. b. wait until the correspon ding update busy flag in assr returns to zero. c. enter power-save or adc noise reduction mode. when the asynchronous operation is sele cted, the 32.768khz oscillator for timer/ counter2 is always running, except in power-down and standby modes. after a power-up reset or wake-up from power-down or standby mode, the user should be aware of the fact that this oscillator might take as long as one second to stabilize. the user is advised to wait for at least one second before using timer/counter2 after power-up or wake-up from power-down or standby mode. the contents of all timer/counter2 registers must be considered lost after a wake-up from power-down or standby mode due to unstable clock signal upon start-up, no ma tter whether the oscillator is in use or a clock signal is applied to the tosc1 pin. description of wake up from power-save or adc noise reduction mode when the timer is clocked asynchronously: when the interrupt condition is met, the wake up process is st arted on the following cycle of the timer clock, that is, the timer is always advanced by at least one before the processor can read the counte r value. after wake-up, the mcu is halted for four cycles, it execut es the interrupt routine, and resumes execution from the instruction following sleep. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 136 reading of the tcnt2 register shortly after wake-up from power-save may give an incorrect result. since tcnt2 is clocked on the asynchronous tosc clock, reading tcnt 2 must be done through a register synchronized to the internal i/o clock domain. synchronization takes place fo r every rising tosc1 edge. when waking up from power- save mode, and the i/o clock (clk i/o ) again becomes active, tcnt2 will read as the previous value (before entering sleep) until the next rising tosc1 edge. the phase of th e tosc clock after waking up from power-save mode is essentially unpredictable, as it depe nds on the wake-up time. the recommended procedure for reading tcnt2 is thus as follows: a. write any value to either of the registers ocr2x or tccr2x. b. wait for the corresponding update busy flag to be cleared. c. read tcnt2. during asynchronous operation, the synchronization of the interrupt flags for the asynch ronous timer takes 3 processor cycles plus one timer cycle. the timer is therefore advanced by at le ast one before the processor can read the timer value causing the setting of the interrupt flag. the output compare pin is changed on the timer clock and is not synchronized to the processor clock. 18.10 timer/counter prescaler figure 18-12.prescaler for timer/counter2 the clock source for timer/counter2 is named clk t2s . clk t2s is by default conn ected to the main system i/o clock clk i o . by setting the as2 bit in assr, timer/counte r2 is asynchronously clocked from the tosc1 pin. this enables use of timer/counter2 as a real time counter (rtc). when as2 is set, pins tosc1 and tosc2 are disconnected from port b. a crystal can then be connected between the tosc1 and to sc2 pins to serve as an independent clock source for timer/counter2. the oscillator is optim ized for use with a 32.768khz crystal. for timer/counter2, the possible prescaled selections are: clk t2s /8, clk t2s /32, clk t2s /64, clk t2s /128, clk t2s /256, and clk t2s /1024. additionally, clk t2s as well as 0 (stop) may be selected. setting the psrasy bit in gtccr resets the prescaler. this allows the user to operate with a predictable prescaler. timer/counter2 clock source clk t2 clk t2s /8 clk t2s /32 clk t2s /64 clk t2s /128 clk t2s /256 clk t2s /1024 clk i/o tosc1 as2 psrasy clk t2s 10-bit t/c prescaler 0 clear cs20 cs21 cs22 137 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 18.11 register description 18.11.1 tccr2a ? timer/count er control register a ? bits 7:6 ? com2a1:0: compare match output a mode these bits control the output compare pin (oc2a) behavior. if o ne or both of the com2a1:0 bits are set, the oc2a output overrides the normal port functionality of th e i/o pin it is connected to. however, not e that the data direction register (ddr) bit corresponding to the oc2a pin must be set in order to enable the output driver. when oc2a is connected to the pin, the function of the com2a1:0 bits depends on the wgm22:0 bit setting. table 18-2 shows the com2a1:0 bit functionality when the wgm22:0 bits are set to a normal or ctc mode (non-pwm). table 18-3 shows the com2a1:0 bit functionality when the wgm21:0 bits are set to fast pwm mode. bit 7 6 5 4 3 210 (0xb0) com2a 1 com2a 0 com2b 1 com2b 0 ?? wgm21 wgm20 tccr2a read/write r/w r/w r/w r/w r r r/w r/w initial value 0 0 0 0 0 0 0 0 table 18-2. compare output mode, non-pwm mode com2a1 com2a0 description 0 0 normal port operation, oc0a disconnected. 0 1 toggle oc2a on compare match 1 0 clear oc2a on compare match 1 1 set oc2a on compare match table 18-3. compare output mode, fast pwm mode (1) com2a1 com2a0 description 0 0 normal port operation, oc2a disconnected. 0 1 wgm22 = 0: normal port oper ation, oc0a disconnected. wgm22 = 1: toggle oc2a on compare match. 1 0 clear oc2a on compare match, set oc2a at bottom, (non-inverting mode). 1 1 set oc2a on compare match, clear oc2a at bottom, (inverting mode). note: 1. a special case occurs when ocr2a equals top and com2a1 is set. in this case, the compare match is ignored, but the set or clear is done at bottom. see section 18.7.3 ?fast pwm mode? on page 131 for more details. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 138 table 18-4 shows the com2a1:0 bit functionality when the wgm22:0 bits are set to phase correct pwm mode. ? bits 5:4 ? com2b1:0: compare match output b mode these bits control the output compare pin (oc2b) behavior. if o ne or both of the com2b1:0 bits are set, the oc2b output overrides the normal port functionality of th e i/o pin it is connected to. however, not e that the data direction register (ddr) bit corresponding to the oc2b pin must be set in order to enable the output driver. when oc2b is connected to the pin, the function of the com2b1:0 bits depends on the wgm22:0 bit setting. table 18-5 shows the com2b1:0 bit functionality when the wgm22:0 bits are set to a normal or ctc mode (non-pwm). table 18-6 shows the com2b1:0 bit functionality when the wgm22:0 bits are set to fast pwm mode. table 18-4. compare output mode, phase correct pwm mode (1) com2a1 com2a0 description 0 0 normal port operation, oc2a disconnected. 0 1 wgm22 = 0: normal port oper ation, oc2a disconnected. wgm22 = 1: toggle oc2a on compare match. 1 0 clear oc2a on compare match when up-counting. set oc2a on compare match when down-counting. 1 1 set oc2a on compare match when up-counting. clear oc2a on compare match when down-counting. note: 1. a special case occurs when ocr2a equals top and com2a1 is set. in this case, the compare match is ignored, but the set or cl ear is done at top. see section 18.7.4 ?phase correct pwm mode? on page 132 for more details. table 18-5. compare output mode, non-pwm mode com2b1 com2b0 description 0 0 normal port operation, oc2b disconnected. 0 1 toggle oc2b on compare match 1 0 clear oc2b on compare match 1 1 set oc2b on compare match table 18-6. compare output mode, fast pwm mode (1) com2b1 com2b0 description 0 0 normal port operation, oc2b disconnected. 0 1 reserved 1 0 clear oc2b on compare match, set oc2b at bottom, (non-inverting mode). 1 1 set oc2b on compare match, clear oc2b at bottom, (inverting mode). note: 1. a special case occurs when ocr2b equals top and com2b1 is set. in this case, the compare match is ignored, but the set or clear is done at bottom. see section 18.7.4 ?phase correct pwm mode? on page 132 for more details. 139 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 18-7 shows the com2b1:0 bit functionality when the wgm22:0 bits are set to phase correct pwm mode. ? bits 3, 2 ? reserved these bits are reserved bits in the atmel ? atmega48pa/88pa/168pa and will always read as zero. ? bits 1:0 ? wgm21:0: waveform generation mode combined with the wgm22 bit found in the t ccr2b register, these bits control the counting sequence of the counter, the source for maximum (top) counter value, and w hat type of waveform generation to be used, see table 18-8 . modes of operation supported by the timer/counter unit are: normal mode (counter), clear timer on compare match (ctc) mode, and two types of pulse width modulation (pwm) modes (see section 18.7 ?modes of operation? on page 130 ). table 18-7. compare output mode, phase correct pwm mode (1) com2b1 com2b0 description 0 0 normal port operation, oc2b disconnected. 0 1 reserved 1 0 clear oc2b on compare match when up-counting. set oc2b on compare match when down-counting. 1 1 set oc2b on compare match when up-counting. clear oc2b on compare match when down-counting. note: 1. a special case occurs when ocr2b equals top and com2b1 is set. in this case, the compare match is ignored, but the set or cl ear is done at top. see section 18.7.4 ?phase correct pwm mode? on page 132 for more details. table 18-8. waveform generation mode bit description mode wgm2 wgm1 wgm0 timer/counter mode of operation top update of ocrx at tov flag set on (1)(2) 0 0 0 0 normal 0xff immediate max 1 0 0 1 pwm, phase correct 0xff top bottom 2 0 1 0 ctc ocra immediate max 3 0 1 1 fast pwm 0xff bottom max 4 1 0 0 reserved ? ? ? 5 1 0 1 pwm, phase correct ocra top bottom 6 1 1 0 reserved ? ? ? 7 1 1 1 fast pwm ocra bottom top notes: 1. max = 0xff 2. bottom = 0x00 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 140 18.11.2 tccr2b ? timer/count er control register b ? bit 7 ? foc2a: force output compare a the foc2a bit is only active when the wgm bits specify a non-pwm mode. however, for ensuring compatibility with future devices, this bit must be set to zero when tccr2b is written when operating in pwm mode. when writing a logical one to the foc2a bi t, an immediate compare match is forced on the waveform generation unit. the oc2a output is changed according to its com2a1:0 bits setting. note that the foc2a bit is implemented as a strobe. therefor e it is the value present in the com2a1:0 bits that determ ines the effect of the forced compare. a foc2a strobe will not generate any interrupt, nor will it clear the timer in ctc mode using ocr2a as top. the foc2a bit is always read as zero. ? bit 6 ? foc2b: force output compare b the foc2b bit is only active when the wgm bits specify a non-pwm mode. however, for ensuring compatibility with future devices, this bit must be set to zero when tccr2b is written when operating in pwm mode. when writing a logical one to the foc2b bi t, an immediate compare match is forced on the waveform generation unit. the oc2b output is changed according to its com2b1:0 bits setting. note that the foc2b bit is implemented as a strobe. therefor e it is the value present in the com2b1:0 bits that determ ines the effect of the forced compare. a foc2b strobe will not generate any interrupt, nor will it clear the timer in ctc mode using ocr2b as top. the foc2b bit is always read as zero. ? bits 5:4 ? reserved these bits are reserved bits in the atmel ? atmega48pa/88pa/168pa and will always read as zero. ? bit 3 ? wgm22: waveform generation mode see the description in section 18.11.1 ?tccr2a ? timer/counter control register a? on page 137 . ? bit 2:0 ? cs22:0: clock select the three clock select bits select the clock source to be used by the timer/counter, see table 18-9 on page 140 . if external pin modes are used for the timer/counter0, transit ions on the t0 pin will clock the counter even if the pin is configured as an output. this feature allows software control of the counting. bit 7 6 5 4 3 2 1 0 (0xb1) foc2a foc2b ? ? wgm22 cs22 cs21 cs20 tccr2b read/write w w r r r r r/w r/w initial value 0 0 0 0 0 0 0 0 table 18-9. clock select bit description cs22 cs21 cs20 description 0 0 0 no clock source (timer/counter stopped). 0 0 1 clk t2s /(no prescaling) 0 1 0 clk t2s /8 (from prescaler) 0 1 1 clk t2s /32 (from prescaler) 1 0 0 clk t2s /64 (from prescaler) 1 0 1 clk t2s /128 (from prescaler) 1 1 0 clk t 2 s /256 (from prescaler) 1 1 1 clk t 2 s /1024 (from prescaler) 141 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 18.11.3 tcnt2 ? timer/counter register the timer/counter register gives direct a ccess, both for read and write operations, to the timer/counter unit 8-bit counter. writing to the tcnt2 register blocks (r emoves) the compare match on the follo wing timer clock. modifying the counter (tcnt2) while the counter is running, introduces a risk of missing a compare match between tcnt2 and the ocr2x registers. 18.11.4 ocr2a ? output compare register a the output compare register a contains an 8-bit value that is continuou sly compared with the counter value (tcnt2). a match can be used to generate an output compare interrup t, or to generate a waveform output on the oc2a pin. 18.11.5 ocr2b ? output compare register b the output compare register b contains an 8-bit value that is continuou sly compared with the counter value (tcnt2). a match can be used to generate an output compare interrup t, or to generate a waveform output on the oc2b pin. 18.11.6 timsk2 ? timer/counter2 interrupt mask register ? bit 2 ? ocie2b: timer/counter2 outp ut compare match b interrupt enable when the ocie2b bit is written to one and the i-bit in the stat us register is set (one), the timer/counter2 compare match b interrupt is enabled. the corresponding interrupt is executed if a compare match in timer/coun ter2 occurs, i.e., when the ocf2b bit is set in the timer/counter 2 interrupt flag register ? tifr2. ? bit 1 ? ocie2a: timer/counter2 outp ut compare match a interrupt enable when the ocie2a bit is written to one and the i-bit in the stat us register is set (one), the timer/counter2 compare match a interrupt is enabled. the corresponding interrupt is executed if a compare match in timer/coun ter2 occurs, i.e., when the ocf2a bit is set in the timer/counter 2 interrupt flag register ? tifr2. ? bit 0 ? toie2: timer/counter2 overflow interrupt enable when the toie2 bit is written to one and t he i-bit in the status register is set (o ne), the timer/counter2 overflow interrupt i s enabled. the corresponding interrupt is exec uted if an overflow in timer/counter2 oc curs, i.e., when the tov2 bit is set in the timer/counter2 interrupt flag register ? tifr2. bit 76543210 (0xb2) tcnt2 [7:0] tcnt2 read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 (0xb3) ocr2a [7:0] ocr2a read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 (0xb4) ocr2b [7:0] ocr2b read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543 2 1 0 (0x70) ?????ocie2bocie2atoie2timsk2 read/writerrrrr r/wr/wr/w initial value00000 0 0 0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 142 18.11.7 tifr2 ? timer/counte r2 interrupt flag register ? bit 2 ? ocf2b: output compare flag 2 b the ocf2b bit is set (one) when a compare match occurs between the timer/counter2 and the data in ocr2b ? output compare register2. ocf2b is cleared by hardware when executing the corresponding interrupt handling vector. alternatively, ocf2b is cleared by writing a logic one to the flag. when the i-bit in sreg, ocie2b (timer/counter2 compare match interrupt enable), and ocf2b are set (one), the timer/counter2 compare match interrupt is executed. ? bit 1 ? ocf2a: output compare flag 2 a the ocf2a bit is set (one) when a compare match occurs between the timer/counter2 and the data in ocr2a ? output compare register2. ocf2a is cleared by hardware when executing the corresponding interrupt handling vector. alternatively, ocf2a is cleared by writing a logic one to the flag. when the i-bit in sreg, ocie2a (timer/counter2 compare match interrupt enable), and ocf2a are set (one), the timer/counter2 compare matc h interrupt is executed. ? bit 0 ? tov2: timer/counter2 overflow flag the tov2 bit is set (one) when an overflow occurs in time r/counter2. tov2 is cleared by hardware when executing the corresponding interrupt handling vector. alte rnatively, tov2 is cleared by writing a logic one to the flag. when the sreg i-bit, toie2a (timer/count er2 overflow interrupt enable), and tov2 are set (one), the timer/counter2 overflow interrupt is executed. in pwm mode, this bit is set when ti mer/counter2 changes counting direction at 0x00. 18.11.8 assr ? asynchronous status register ? bit 7 ? reserved this bit is reserved and will always read as zero. ? bit 6 ? exclk: enable external clock input when exclk is written to one, and asynchronous clock is selected, the external clock input buffer is enabled and an external clock can be input on timer oscillator 1 (tosc1) pin in stead of a 32khz crystal. writing to exclk should be done before asynchronous operation is selected. note that the cr ystal oscillator will only run when this bit is zero. ? bit 5 ? as2: asynch ronous timer/counter2 when as2 is written to zero, timer/counte r2 is clocked from the i/o clock, clk i/o . when as2 is written to one, timer/counter2 is clocked from a crystal oscillator connected to the timer oscilla tor 1 (tosc1) pin. when the value of as2 is changed, the contents of tcnt2, ocr2a, ocr2b, tccr2a and tccr 2b might be corrupted. ? bit 4 ? tcn2ub: timer/counter2 update busy when timer/counter2 operates asynchronously and tcnt2 is written, this bit becomes set. when tcnt2 has been updated from the temporary storage register, this bit is cleared by hardware. a logical zero in this bit indicates that tcnt2 i s ready to be updated with a new value. ? bit 3 ? ocr2aub: output compare register2 update busy when timer/counter2 operates asynchronously and ocr2a is written, this bit becomes set. when ocr2a has been updated from the temporary st orage register, this bit is cleared by hardware. a logical zero in this bi t indicates that ocr2a i s ready to be updated with a new value. bit 76543210 0x17 (0x37) ?????ocf2bocf2atov2tifr2 read/write rrrrrr/wr/wr/w initial value00000000 bit 7 6 5 4 3 2 1 0 (0xb6) ? exclk as2 tcn2ub ocr2aub ocr2bub tcr2aub tcr2bub assr read/write r r/w r/w r r r r r initial value 0 0 0 0 0 0 0 0 143 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 ? bit 2 ? ocr2bub: output compare register2 update busy when timer/counter2 operates asynchronously and ocr2b is written, this bit becomes set. when ocr2b has been updated from the temporary st orage register, this bit is cleared by hardware. a logical zero in this bi t indicates that ocr2b i s ready to be updated with a new value. ? bit 1 ? tcr2aub: timer/counter control register2 update busy when timer/counter2 operates asynchronously and tccr2a is written, this bit becomes set. when tccr2a has been updated from the temporary st orage register, this bit is cleared by hardware. a logical zero in this bit indicates that tccr2a is ready to be updated with a new value. ? bit 0 ? tcr2bub: timer/counter control register2 update busy when timer/counter2 operates asynchronously and tccr2b is written, this bit becomes set. when tccr2b has been updated from the temporary st orage register, this bit is cleared by hardware. a logical zero in this bit indicates that tccr2b is ready to be updated with a new value. if a write is performed to any of the five timer/counter2 registers while its update busy flag is set, the updated value might get corrupted and cause an unintentional interrupt to occur. the mechanisms for reading tcnt2, o cr2a, ocr2b, tccr2a and tccr2b are different. when reading tcnt2, the actual timer value is read. when read ing ocr2a, ocr2b, tccr2a and tccr2b the value in the temporary storage register is read. 18.11.9 gtccr ? general timer/counter control register ? bit 1 ? psrasy: prescaler reset timer/counter2 when this bit is one, the timer/counter2 prescaler will be reset. this bit is normally cleared immediately by hardware. if the bit is written when timer/counter2 is operating in asynchronou s mode, the bit will remain one until the prescaler has been reset. the bit will not be cleared by hardware if t he tsm bit is set. refer to the description of the ?bit 7 ? tsm: timer/counter synchronization mode? on page 124 for a description of the timer/counter synchronization mode. bit 7 6 5 4 3 2 1 0 0x23 (0x43) tsm ? ? ? ? ? psrasy psrsync gtccr read/write r/w r r r r r r/w r/w initial value 0 0 0 0 0 0 0 0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 144 19. spi ? serial peripheral interface 19.1 features full-duplex, three-wire synchronous data transfer master or slave operation lsb first or msb first data transfer seven programmable bit rates end of transmission interrupt flag write collision flag protection wake-up from idle mode double speed (ck/2) master spi mode 19.2 overview the serial peripheral interface (spi) allows hi gh-speed synchronous data transfer between the atmel ? atmega48pa/88pa/168pa and peripheral devi ces or between several avr devices. the usart can also be used in master spi mode, see section 21. ?usart in spi mode? on page 175 . the prspi bit in section 10.10 ?minimizing power consumption? on page 37 must be written to zero to enable spi module. figure 19-1. spi block diagram (1) note: 1. refer to figure 1-1 on page 3 , and table 14-3 on page 71 for spi pin placement. 8-bit shift register read data buffer spi control register spi status register mstr spi clock (master) spe spi control spi interrupt request select clock logic miso clock 8 88 s m s m m s msb lsb spie spe wcol spif spi2x spi2x spr1 mstr spe dord spr0 dord mstr cpol cpha spr1 spr0 mosi sck ss divider /2/4/8/16/32/64/128 xtal internal data bus pin control logic 145 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 the interconnection between master and slave cpus with spi is shown in figure 19-2 on page 145 . the system consists of two shift regist ers, and a master clock generator. the spi master initiates the communication cycle when pulling low the slave select ss pin of the desired slave. ma ster and slave prepare the data to be sent in their respective shift registers, and the master generates the required clock pulses on the sck line to interchange data. data is always shifted from master to slave on the master out ? slave in, mosi, li ne, and from slave to master on the master in ? slave out, miso, line. after each data packet, the master will synchronize the slave by pulling high the slave select, ss , line. when configured as a master, the spi in terface has no automatic control of the ss line. this must be handled by user software before communication can start. when this is done, writing a byte to the spi data register starts the spi clock generator, and the hardware shifts the eight bits into the slave. after shif ting one byte, the spi clock generator stops, setti ng the end of transmission flag (spif). if the spi interrupt enable bit (spie) in the spcr regist er is set, an interrupt is requested. the master may continue to shift t he next byte by writing it into spdr, or signal the end of packet by pulling high the slave select, ss line. the last incoming byte will be ke pt in the buffer register for later use. when configured as a slave, the spi interface will rema in sleeping with miso tri- stated as long as the ss pin is driven high. in this state, software may update the contents of the spi data register, spdr, but the data will not be shifted out by incoming clock pulses on the sck pin until the ss pin is driven low. as one byte has been completely shifted, the end of transmission flag, spif is set. if the spi interrupt enable bit, spie, in the spcr r egister is set, an interrupt is requested. the slave may continue to place new data to be sent into spdr befor e reading the incoming data. the last incoming byte will be kept in the buffer register for later use. figure 19-2. spi master-slave interconnection the system is single buffered in the transmi t direction and double buffered in the receive directio n. this means that bytes to be transmitted cannot be written to the spi data register before the entire shift cycl e is completed. wh en receiving data, however, a received character must be read from the spi data register before the next character has been completely shifted in. otherwise, the first byte is lost. in spi slave mode, the control logic will sample the incoming si gnal of the sck pin. to ensur e correct sampling of the clock signal, the minimum low and high periods should be: low periods: longer than 2 cpu clock cycles. high periods: longer than 2 cpu clock cycles. when the spi is enabled, the data dire ction of the mosi, miso, sck, and ss pins is overridden according to table 19-1 on page 145 . for more details on automatic port overrides, refer to section 14.3 ?alternate port functions? on page 69 . table 19-1. spi pin overrides (1) pin direction, master spi direction, slave spi mosi user defined input miso input user defined sck user defined input ss user defined input note: 1. see section 14.3.1 ?alternate functions of port b? on page 71 for a detailed description of how to define the direction of the user defined spi pins. lsb slave msb 8 bit shift register lsb shift enable master msb ss sck ss sck mosi mosi miso miso 8 bit shift register spi clock generator atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 146 the following code examples show how to initialize the spi as a master and how to perform a simple transmission. ddr_spi in the examples must be replaced by the actual dat a direction register contro lling the spi pins. dd_mosi, dd_miso and dd_sck must be replaced by t he actual data direction bits for these pi ns. e.g. if mosi is placed on pin pb5, replace dd_mosi with ddb5 and ddr_spi with ddrb. assembly code example (1) spi_masterinit: ; set mosi and sck output, all others input ldi r17,(1< 149 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 19-3. spi transfer format with cpha = 0 figure 19-4. spi transfer format with cpha = 1 lsb msb bit 1 bit 6 bit 2 bit 5 bit 3 bit 4 bit 4 bit 3 bit 5 bit 2 bit 6 bit 1 msb lsb msb first (dord = 0) lsb first (dord =1) sck (cpol = 0) mode 0 sck (cpol = 1) mode 2 ss sample i mosi/miso change 0 mosi pin change 0 miso pin lsb msb bit 1 bit 6 bit 2 bit 5 bit 3 bit 4 bit 4 bit 3 bit 5 bit 2 bit 6 bit 1 msb lsb msb first (dord = 0) lsb first (dord =1) sck (cpol = 0) mode 1 sck (cpol = 1) mode 3 ss sample i mosi/miso change 0 mosi pin change 0 miso pin atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 150 19.5 register description 19.5.1 spcr ? spi control register ? bit 7 ? spie: spi interrupt enable this bit causes the spi interrupt to be ex ecuted if spif bit in the spsr register is set and the if the global in terrupt enable bit in sreg is set. ? bit 6 ? spe: spi enable when the spe bit is written to one, the spi is enabled . this bit must be set to enable any spi operations. ? bit 5 ? dord: data order when the dord bit is written to one, the l sb of the data word is transmitted first. when the dord bit is written to zero, the msb of the data word is transmitted first. ? bit 4 ? mstr: master/slave select this bit selects master spi mode when written to one, and slave spi mode when written logic zero. if ss is configured as an input and is driven low while mstr is set, mstr will be clea red, and spif in spsr will become set. the user will then have to set mstr to re-enab le spi master mode. ? bit 3 ? cpol: clock polarity when this bit is written to one, sck is high when idle. wh en cpol is written to zero, sck is low when idle. refer to figure 19-3 and figure 19-4 for an example. the cpol functionality is summarized below: ? bit 2 ? cpha: clock phase the settings of the clock phase bit (cpha) determine if data is sampled on the leadi ng (first) or trailing (last) edge of sck. refer to figure 19-3 and figure 19-4 for an example. the cpol functionality is summarized below: ? bits 1, 0 ? spr1, spr0: spi clock rate select 1 and 0 these two bits control the sck rate of the device configured as a master. spr1 and spr0 have no effect on the slave. the relationship between sck and the oscillator clock frequency f osc is shown in the following table: bit 76543210 0x2c (0x4c) spie spe dord mstr cpol cpha spr1 spr0 spcr read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 table 19-3. cpol functionality cpol leading edge trailing edge 0 rising falling 1 falling rising table 19-4. cpha functionality cpha leading edge trailing edge 0 sample setup 1 setup sample 151 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 19.5.2 spsr ? spi status register ? bit 7 ? spif: spi interrupt flag when a serial transfer is complete, the spif flag is set. an in terrupt is generated if spie in spcr is set and global interrupt s are enabled. if ss is an input and is driven low when the spi is in ma ster mode, this will also set the spif flag. spif is cleared by hardware when executing the corresponding interrupt handling vector. alternatively, the spif bit is cleared by first reading the spi status register with spif se t, then accessing the spi data register (spdr). ? bit 6 ? wcol: write collision flag the wcol bit is set if the spi data register (spdr) is writte n during a data transfer. the wcol bit (and the spif bit) are cleared by first reading the spi stat us register with wcol set, and then accessing the spi data register. ? bit 5...1 ? reserved these bits are reserved bits in the atmel ? atmega48pa/88pa/168pa and will always read as zero. ? bit 0 ? spi2x: double spi speed bit when this bit is written logic one the spi speed (sck fre quency) will be doubled when t he spi is in master mode (see table 19-5 ). this means that the minimum sck period will be two cpu cl ock periods. when the spi is configured as slave, the spi is only guaranteed to work at f osc /4 or lower. the spi interface on the atmel atmega48pa/88pa/168pa is also used for program memory and eeprom downloading or uploading. see 264 for serial programming and verification. 19.5.3 spdr ? spi data register the spi data register is a read/ write register used for data transfer between th e register file and the spi shift register. wri ting to the register initiates data transmission. reading the regi ster causes the shift register receive buffer to be read. table 19-5. relationship between sck and the oscillator frequency spi2x spr1 spr0 sck frequency 0 0 0 f osc / 4 0 0 1 f osc / 16 0 1 0 f osc / 64 0 1 1 f osc / 128 1 0 0 f osc / 2 1 0 1 f osc / 8 1 1 0 f osc / 32 1 1 1 f osc / 64 bit 76543210 0x2d (0x4d) spifwcol?????spi2xspsr read/write rrrrrrrr/w initial value00000000 bit 76543210 0x2e (0x4e) msb lsb spdr read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value x x x x x x x x undefined atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 152 20. usart0 20.1 features full duplex operation (independent serial receive and transmit registers) asynchronous or synchronous operation master or slave clocked synchronous operation high resolution baud rate generator supports serial frames with 5, 6, 7, 8, or 9 data bits and 1 or 2 stop bits odd or even parity generation and parity check supported by hardware data overrun detection framing error detection noise filtering includes false start bit detection and digital low pass filter three separate interrupts on tx complete, tx data register empty and rx complete multi-processor communication mode double speed asynchronous communication mode 20.2 overview the universal synchronous and asynchronous serial receiver and transmitter (usart) is a highly flexible serial communication device. the usart0 can also be used in master spi mode, see section 21. ?usart in spi mode? on page 175 . the power reduction usart bit, prusart0, in section 10.10 ?minimizing power consumption? on page 37 must be disabled by writing a logical zero to it. a simplified block diagram of the usart transmitter is shown in figure 20-1 on page 153 . cpu accessible i/o registers and i/o pins are shown in bold. the dashed boxes in the block diagram separate the three main parts of the usart (listed fr om the top): clock generator, transmitter and receiver. control register s are shared by all units. the clock gener ation logic consists of synchronization logic for external clock input used by synchronous slave opera tion, and the baud rate generator. the xckn (transfer clock) pin is only used by synchronous transfer m ode. the transmitter consists of a single write buffer, a serial shift register, pari ty generator and control logic for handling diff erent serial frame formats. the write buffer allows a continuous transfer of data without any delay between frames. the receiv er is the most complex part of the usart module due to its clock and data recovery units. the recovery units are used for asynchronous data reception. in addition to the recovery units, the receiver includes a parity checker, control logic, a shift register and a two level receive buffer (udrn). the receiver supports the same frame formats as the transmitter, and can de tect frame error, data overrun and parity errors. 153 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 20-1. usart block diagram (1) note: 1. refer to figure 1-1 on page 3 and table 14-9 on page 76 for usart0 pin placement. 20.3 clock generation the clock generation logic generates the base clock for the transmitter and receiver. the usart supports four modes of clock operation: normal asynchronous, double speed asyn chronous, master synchronous and slave synchronous mode. the umseln bit in usart control and status register c (ucsrnc) selects between asynchronous and synchronous operation. double speed (asynchronous mo de only) is controlled by the u2xn fo und in the ucsrna register. when using synchronous mode (umseln = 1), the data direction register for the xckn pin (ddr_xckn) controls whether the clock source is internal (master mode) or external (slave mode) . the xckn pin is only active when using synchronous mode. transmit shift register receive shift register data recovery clock recovery parity checker parity generator pin control tx control pin control pin control rx control udrn (transmit) transmitter clock generator receiver ucsrna ucsrnc ucsrnb sync logic osc udrn (receive) data bus baud rate generator ubrrn [h:l] xckn rxdn txdn atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 154 figure 20-2 shows a block diagram of the clock generation logic. figure 20-2. clock generati on logic, block diagram signal description: txclk transmitter clock (internal signal). rxclk receiver base clock (internal signal). xcki input from xck pin (internal signal). used for synchronous slave operation. xcko clock output to xck pin (internal signal ). used for synchronous master operation. fosc xtal pin frequency (system clock). 20.3.1 internal clock generation ? the baud rate generator internal clock generation is used for the asynchronous and the synchronous master modes of operation. the description in this section refers to figure 20-2 . the usart baud rate register (ubrrn) a nd the down-counter connect ed to it function as a programmable prescaler or baud rate generator. the down-counter, running at system clock (f osc ), is loaded with the ubrrn value each time the counter has counted down to zero or when the ubrrnl register is written. a clock is generated each time the counter reaches zero. this clock is the baud rate generator clock output (= f osc /(ubrrn+1)). the transmitter divides the baud rate generator clock output by 2, 8 or 16 depending on mode. the baud rate generator output is used directly by the receiver?s clock and data recovery units. however, the recovery units us e a state machine that uses 2, 8 or 16 states depending on mode set by the state of the um seln, u2xn and ddr_xckn bits. sync register edge detector prescaling down-counter /2 xckn pin /4 0 0 1 1 0 1 0 1 /2 ubrrn ddr_xckn ucpoln u2xn ddr_xckn ubrrn+1 txclk rxclk umseln foscn osc xcki xcko 155 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 20-1 contains equations for calculating the baud rate (in bits per second) and for calculating the ubrrn value for each mode of operation using an internally generated clock source. some examples of ubrrn values for some system clock frequencies are found in table 20-4 (see 169 ). 20.3.2 double speed operation (u2xn) the transfer rate can be doubled by setting the u2xn bit in ucsrna. setting this bit only has effect for the asynchronous operation. set this bit to zero when using synchronous operation. setting this bit will reduce the divisor of the baud rate divi der from 16 to 8, effectively doubling the transfer rate for asynchronous communication. note however that the receiver will in this case only use half the number of samples (reduced from 16 to 8) for data sampling and clock recovery, and ther efore a more accurate baud rate setting and system clock are required when this mode is used. for the transmitter, there are no downsides. 20.3.3 external clock external clocking is used by the synchronous slave modes of operation. the description in this section refers to figure 20-2 on page 154 for details. external clock input from the xckn pin is sampled by a synchro nization register to minimize the chance of meta-stability. the output from the synchronization regi ster must then pass through an edge de tector before it can be used by the transmitter and receiver. this process introduces a two cpu clock period delay and therefore the maximum external xckn clock frequency is limited by the following equation: note that f osc depends on the stability of the system clock source. it is therefore recommended to add some margin to avoid possible loss of data due to frequency variations. table 20-1. equations for calculating baud rate register setting operating mode equation for calculating baud rate (1) equation for calculating ubrrn value asynchronous normal mode (u2xn = 0) asynchronous double speed mode (u2xn = 1) synchronous master mode note: 1. the baud rate is defined to be the transfer rate in bit per second (bps) baud baud rate (in bits per second, bps) f osc system oscillator clock frequency ubrrn contents of the ubrrnh and ubrrnl registers, (0-4095) baud f osc 16 ubrrn 1 + () --------------------------------------- = ubrrn f osc 16baud ---------------------- - 1 ? = baud f osc 8 ubrrn 1 + () ------------------------------------ = ubrrn f osc 8baud ------------------- - 1 ? = baud f osc 2 ubrrn 1 + () ------------------------------------ = ubrrn f osc 2baud ------------------- - 1 ? = f xck f osc 4 ----------- < atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 156 20.3.4 synchronous clock operation when synchronous mode is used (umseln = 1), the xckn pin will be used as either clock input (slave) or clock output (master). the dependency between the clock edges and data sa mpling or data change is the same. the basic principle is that data input (on rxdn) is sampled at the opposite xckn clock edge of the edge the data output (txdn) is changed. figure 20-3. synchronous mode xckn timing the ucpoln bit ucrsc selects which xckn clock edge is used for data sampling and which is used for data change. as figure 20-3 shows, when ucpoln is zero the data will be changed at rising xckn edge and sampled at falling xckn edge. if ucpoln is set, the data will be changed at falling xckn edge and sampled at rising xckn edge. 20.4 frame formats a serial frame is defined to be one character of data bits with synchronization bits (start and stop bits), and optionally a pa rity bit for error checking. the usart accepts all 30 comb inations of the following as valid frame formats: 1 start bit 5, 6, 7, 8, or 9 data bits no, even or odd parity bit 1 or 2 stop bits a frame starts with the start bit followed by the least signific ant data bit. then the next data bits, up to a total of nine, a re succeeding, ending with the most significant bit. if enabled, the parity bit is insert ed after the data bits, before the stop b its. when a complete frame is transmitted, it can be directly follow ed by a new frame, or the communication line can be set to an idle (high) state. figure 20-4 illustrates the possible combinations of the fr ame formats. bits inside brackets are optional. figure 20-4. frame formats st start bit, always low. (n) data bits (0 to 8). p parity bit. can be odd or even. sp stop bit, always high. idle no transfers on the communication line (rxdn or txdn). an idle line must be high. xck rxd/ txd xck ucpol = 1 ucpol = 0 rxd/ txd sample sample st 0 1 2 3 4 [5] [6] [7] [8] (st/ idle) (idle) frame [p] sp1 [sp2] 157 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 the frame format used by the usart is set by the ucszn 2:0, upmn1:0 and usbsn bits in ucsrnb and ucsrnc. the receiver and transmitter use the same setting. note that c hanging the setting of any of thes e bits will corrupt all ongoing communication for both the receiver and transmitter. the usart character size (ucszn2:0) bits sele ct the number of data bi ts in the frame. the usart parity mode (upmn1:0) bits enable and set the type of parity bit. the selection between one or two stop bits is done by the usart stop bit select (usbsn) bit. the receiver ignores the second stop bit. an fe (f rame error) will therefore only be detected in the cases where the first stop bit is zero. 20.4.1 parity bit calculation the parity bit is calculated by doing an exclusive-or of all the data bits. if odd parity is used, the result of the exclusive or is inverted. the relation between the parity bit and data bits is as follows: p even parity bit using even parity p odd parity bit using odd parity d n data bit n of the character if used, the parity bit is located between the last data bit and first stop bit of a serial frame. 20.5 usart initialization the usart has to be initialized before any communication can take place. the initialization process normally consists of setting the baud rate, setting frame format and enabling the tran smitter or the receiver depending on the usage. for interrupt driven usart operation, the global interrupt flag should be cleared (and interrupts globally disabled) when doing the initialization. before doing a re-initialization with changed baud rate or fr ame format, be sure that there are no ongoing transmissions during the period the registers are changed. the txcn flag c an be used to check that the transmitter has completed all transfers, and the rxc flag can be used to check that there are no unread data in the receive buffer. note that the txcn flag must be cleared before each transmission (before udrn is written) if it is used for this purpose. the following simple usart initialization code examples sh ow one assembly and one c function that are equal in functionality. the examples assume asyn chronous operation using polling (no interr upts enabled) and a fixed frame format. the baud rate is given as a function parameter. for the assembly code, the baud rate parameter is assumed to be stored in the r17:r16 registers. p even d n1 ? d 3 d 2 d 1 d 0 0 p odd d n1 ? d 3 d 2 d 1 d 0 1 = = atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 158 more advanced initialization routines can be made that include frame format as parameters, disable interrupts and so on. however, many applications use a fixed setting of the baud and control registers, and for these types of applications the initialization code can be placed directly in the main routi ne, or be combined with initialization code for other i/o modules. assembly code example (1) usart_init: ; set baud rate out ubrrnh, r17 out ubrrnl, r16 ; enable receiver and transmitter ldi r16, (1< atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 162 the following code example shows a simple usart receive func tion based on polling of the receive complete (rxcn) flag. when using frames with less than eight bits the most signific ant bits of the data read from the udrn will be masked to zero. the usart has to be initialized before the function can be used. the function simply waits for data to be present in the rece ive buffer by checking the rxcn flag, before read ing the buffer and returning the value. 20.7.2 receiving frames with 9 data bits if 9-bit characters are used (ucszn=7) the ninth bit must be read from the rxb8n bit in ucsrnb before reading the low bits from the udrn. this rule applies to the fen, dorn and upen st atus flags as well. read stat us from ucsrna, then data from udrn. reading the udrn i/o location will change the stat e of the receive buffer fifo and consequently the txb8n, fen, dorn and upen bits, which all are stored in the fifo, will change. the following code example shows a simple usart receive func tion that handles both nine bit characters and the status bits. assembly code example (1) usart_receive: ; wait for data to be received in r16, ucsrna sbrs r16, udren rjmp usart_receive ; get and return received data from buffer in r16, udrn ret c code example (1) unsigned char usart_receive( void ) { /* wait for data to be received */ while ( !(ucsrna & (1< atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 164 20.7.4 receiver error flags the usart receiver has three error flags: frame error (fen ), data overrun (dorn) and parity error (upen). all can be accessed by reading ucsrna. common for the error flags is that they are located in the receive buffer together with the frame for which they indicate the error status. due to the buff ering of the error flags, the ucsrna must be read before the receive buffer (udrn), since reading the udrn i/o location changes the buffer read location. another equality for the error flags is that they can not be altered by so ftware doing a write to the flag location. ho wever, all flags must be set to zero wh en the ucsrna is written for upward compatibility of future u sart implementations. none of the error flags can generate interrupts. the frame error (fen) flag indicates the st ate of the first stop bit of the next read able frame stored in the receive buffer. t he fen flag is zero when the stop bit was correctly read (as one), and the fen flag will be one when the stop bit was incorrect (zero). this flag can be used for detectin g out-of-sync conditions, detecting break conditions and protocol handling. the fen flag is not affected by the setting of the usbsn bit in ucsrnc si nce the receiver ignores all, e xcept for the first, stop bits. for compatibility with future de vices, always set this bit to zero when writing to ucsrna. the data overrun (dorn) flag indicates data loss due to a re ceiver buffer full condition. a data overrun occurs when the receive buffer is full (two characters), it is a new character waiting in the receiv e shift register, and a new start bit is de tected. if the dorn flag is set there was one or more serial frame lost between the frame last r ead from udrn, and the next frame read from udrn. for compatibility with future devices, always writ e this bit to zero when writing to ucsrna. the dorn flag is cleared when the frame received was successfully mo ved from the shift register to the receive buffer. the parity error (upen) flag indicates that the next frame in the receive buffer had a parity error when received. if parity check is not enabled the upen bit will always be read zero. for compatibility with future devices, always set this bit to zero when writing to ucsrna. for more details see section 20.4.1 ?parity bit calculation? on page 157 and section 20.7.5 ?parity checker? on page 164 . 20.7.5 parity checker the parity checker is active when the high usart parity mode (u pmn1) bit is set. type of parit y check to be performed (odd or even) is selected by the upmn0 bit. when enabled, the parity checker calculates the parity of the data bits in incoming frames and compares the result with the pari ty bit from the serial frame. the result of the check is stored in the receive buff er together with the received data and stop bits. the parity error (upen) flag can then be read by software to check if the frame had a parity error. the upen bit is set if the next character that can be read from the receive buffer had a parity error when received and the parity checking was enabled at that point (upmn1 = 1). this bit is valid until the receive buffer (udrn) is read. 20.7.6 disabling the receiver in contrast to the transmitter, disabling of the receiver will be immediate. data from ongoing receptions will therefore be los t. when disabled (i.e., the rxenn is set to ze ro) the receiver will no longer override th e normal function of the rxdn port pin. the receiver buffer fifo will be flushed when the receiver is disabled. remaining data in the buffer will be lost 165 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 20.7.7 flushing the receive buffer the receiver buffer fifo will be flushed wh en the receiver is disabled , i.e., the buffer will be empt ied of its contents. unrea d data will be lost. if the buffer has to be flushed during normal operation, due to for instance an error condition, read the ud rn i/o location until the rxcn flag is cleared. the following code example shows how to flush the receive buffer. 20.8 asynchronous data reception the usart includes a clock recovery and a data recovery unit for handling asynchronous data reception. the clock recovery logic is used for synchronizing the internally generated baud rate clock to the incoming asynchronous serial frames at the rxdn pin. the data recovery logic samples and low pass filters each incoming bit, thereby improving the noise immunity of the receiver. the asynchronous reception operati onal range depends on the accuracy of the internal baud rate clock, the rate of the incoming frames, and the frame size in number of bits. 20.8.1 asynchronous clock recovery the clock recovery logic synch ronizes internal cl ock to the incoming serial frames. figure 20-5 illustrates the sampling process of the start bit of an incoming frame. the sample rate is 16 times the baud rate for normal mode, and eight times the baud rate for double speed mode. the horizontal arrows illustrate the synchronization variation due to the sampling process. note the larger time variation when using the double speed mode (u2xn = 1) of operation. samples denoted zero are samples done when the rxdn line is idle (i.e., no communication activity). figure 20-5. start bit sampling assembly code example (1) usart_flush: in r16, ucsrna sbrs r16, rxcn ret in r16, udrn rjmp usart_flush c code example (1) void usart_flush( void ) { unsigned char dummy; while ( ucsrna & (1< 167 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 20.8.3 asynchronous operational range the operational range of the receiver is dependent on the mismatch between th e received bit rate and the internally generated baud rate. if the transmitter is sendi ng frames at too fast or too slow bit rates, or the internally generated baud r ate of the receiver does not have a similar (see table 20-2 on page 167 ) base frequency, the receiver will not be able to synchronize the frames to the start bit. the following equations can be used to calculate the ratio of the incoming data rate and internal receiver baud rate. d sum of character size and parity size (d = 5 to 10 bit) s samples per bit. s = 16 for normal speed mode and s = 8 for double speed mode. s f first sample number used for majority voting. s f = 8 for normal speed and s f = 4 for double speed mode. s m middle sample number used for majority voting. s m = 9 for normal speed and s m = 5 for double speed mode. r slow is the ratio of the slowest incoming data rate that ca n be accepted in relation to the receiver baud rate. r fast is the ratio of the fastest incoming data rate that can be accepted in relation to the receiver baud rate. table 20-2 on page 167 and table 20-3 on page 167 list the maximum receiver baud rate error that can be tolerated. note that normal speed mode has higher toleration of baud rate variations. the recommendations of the maximum receiver baud rate e rror was made under the assumption that the receiver and transmitter equally divides the maximum total error. there are two possible sources for the receivers baud rate erro r. the receiver?s system clo ck (xtal) will always have some minor instability over the supply voltage range and the temper ature range. when using a cryst al to generate the system clock, this is rarely a problem, but for a resonator the syst em clock may differ more than 2% depending of the resonators tolerance. the second source for the error is more controllable. the baud rate generator can not always do an exact division of the system frequency to get t he baud rate wanted. in this case an ubrrn value that give s an acceptable low error can be used if possible. table 20-2. recommended maximum receiver baud rate error for normal speed mode (u2xn = 0) d # (data+parity bit) r slow (%) r fast (%) max total error (%) recommended max receiver error (%) 5 93.20 106.67 +6.67/?6.8 3.0 6 94.12 105.79 +5.79/?5.88 2.5 7 94.81 105.11 +5.11/?5.19 2.0 8 95.36 104.58 +4.58/?4.54 2.0 9 95.81 104.14 +4.14/?4.19 1.5 10 96.17 103.78 +3.78/?3.83 1.5 table 20-3. recommended maximum receiver baud rate error for double speed mode (u2xn = 1) d # (data+parity bit) r slow (%) r fast (%) max total error (%) recommended max receiver error (%) 5 94.12 105.66 +5.66/?5.88 2.5 6 94.92 104.92 +4.92/?5.08 2.0 7 95.52 104,35 +4.35/?4.48 1.5 8 96.00 103.90 +3.90/?4.00 1.5 9 96.39 103.53 +3.53/?3.61 1.5 10 96.70 103.23 +3.23/?3.30 1.0 r slow d1 + () s s1 ? ds s f ++ -------------------------------------------- - = r fast d2 + () s d1 + () s s m + ----------------------------------------- - = atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 168 20.9 multi-processor communication mode setting the multi-processor communication mode (mpcmn) bit in ucsrna enables a filtering function of incoming frames received by the usart receiver. frames that do not contain address information will be ignored and not put into the receive buffer. this effectively reduces the number of incoming frames that has to be handled by the cpu, in a system with multiple mcus that communicate via the same serial bus. the transmitter is unaffected by the mpcmn setting, but has to be used differently when it is a part of a system ut ilizing the multi-proces sor communication mode. if the receiver is set up to receive fram es that contain 5 to 8 data bits, then the first stop bit indicates if the frame conta ins data or address information. if the receiver is set up for frames with nine data bits, then the ninth bit (rxb8n) is used for identifying address and data frames. when the frame type bit (the first stop or the ninth bit) is one, the frame contains an address. when the frame type bit is zero the frame is a data frame. the multi-processor communication mode enables several slave m cus to receive data from a ma ster mcu. this is done by first decoding an address frame to find out which mcu has be en addressed. if a particular slave mcu has been addressed, it will receive the following data frames as normal, while the other slave mcus will ignore the received frames until another address frame is received. 20.9.1 using mpcmn for an mcu to act as a master mcu, it can use a 9-bit character frame format (ucszn = 7). the ninth bit (txb8n) must be set when an address frame (txb8n = 1) or cleared when a data fr ame (txb = 0) is being transmitted. the slave mcus must in this case be set to use a 9-bit character frame format. the following procedure should be used to exchange data in multi-processor communication mode: 1. all slave mcus are in multi-proc essor communication mode (mpcmn in ucsrna is set). 2. the master mcu sends an address frame, and all slaves receive and read this frame. in the slave mcus, the rxcn flag in ucsrna will be set as normal. 3. each slave mcu reads the udrn register and determines if it has been selected. if so, it clears the mpcmn bit in ucsrna, otherwise it waits for the next addr ess byte and keeps the mpcmn setting. 4. the addressed mcu will receive all data frames until a new address frame is received. the other slave mcus, which still have the mpcmn bit set, will ignore the data frames. 5. when the last data frame is received by the addre ssed mcu, the addressed mcu sets the mpcmn bit and waits for a new address frame from master. the process then repeats from 2. using any of the 5- to 8-bit character frame formats is possi ble, but impractical since the receiver must change between using n and n+1 character frame formats. this makes full-duplex operation difficult since the transmitter and receiver uses the same character size setting. if 5- to 8-bit character fr ames are used, the transmitter mu st be set to use two stop bit (usbsn = 1) since the firs t stop bit is used for indicating the frame type. do not use read-modify-write instructions (sbi and cbi) to se t or clear the mpcmn bit. the mpcmn bit shares the same i/o location as the txcn flag and this might accidental ly be cleared when using sbi or cbi instructions. 20.10 examples of baud rate setting for standard crystal and resonator freque ncies, the most commonly used baud ra tes for asynchronous operation can be generated by using the ubrrn settings in table 20-4 . ubrrn values which yield an actual baud rate differing less than 0.5% from the target baud rate, are bold in the table. higher error ratings are acceptable, but the receiver will have less noi se resistance when the error ratings are high, especially for large serial frames (see section 20.8.3 ?asynchronous operational range? on page 167 ). the error values are calculated using the following equation: error[%] baudrate closest match baudrate -------------------------------------------------- 1 ? ?? ?? 100% = 169 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 20-4. examples of ubrrn settings for co mmonly used oscillator frequencies baud rate (bps) f osc = 1.0000mhz f osc = 1.8432mhz f osc = 2.0000mhz u2xn = 0 u2xn = 1 u2xn = 0 u2xn = 1 u2xn = 0 u2xn = 1 ubrrn error ubrrn error ubrrn error ubrrn error ubrrn error ubrrn error 2400 25 0.2% 51 0.2% 47 0.0% 95 0.0% 51 0.2% 103 0.2% 4800 12 0.2% 25 0.2% 23 0.0% 47 0.0% 25 0.2% 51 0.2% 9600 6 ?7.0% 12 0.2% 11 0.0% 23 0.0% 12 0.2% 25 0.2% 14.4k 3 8.5% 8 ?3.5% 7 0.0% 15 0.0% 8 ?3.5% 16 2.1% 19.2k 2 8.5% 6 ?7.0% 5 0.0% 11 0.0% 6 ?7.0% 12 0.2% 28.8k 1 8.5% 3 8.5% 3 0.0% 7 0.0% 3 8.5% 8 ?3.5% 38.4k 1 ?18.6% 2 8.5% 2 0.0% 5 0.0% 2 8.5% 6 ?7.0% 57.6k 0 8.5% 1 8.5% 1 0.0% 3 0.0% 1 8.5% 3 8.5% 76.8k ? ? 1 ?18.6% 1 ?25.0% 2 0.0% 1 ?18.6% 2 8.5% 115.2k ? ? 0 8.5% 0 0.0% 1 0.0% 0 8.5% 1 8.5% 230.4k ? ? ? ? ? ? 0 0.0% ? ? ? ? 250k ? ? ? ? ? ? ? ? ? ? 0 0.0% max. (1) 62.5 kbps 125 kbps 115.2 kbps 230.4 kbps 125 kbps 250 kbps note: 1. ubrrn = 0, error = 0.0% table 20-5. examples of ubrrn setti ngs for commonly used oscill ator frequencies (continued) baud rate (bps) f osc = 3.6864mhz f osc = 4.0000mhz f osc = 7.3728mhz u2xn = 0 u2xn = 1 u2xn = 0 u2xn = 1 u2xn = 0 u2xn = 1 ubrrn error ubrrn error ubrrn error ubrrn error ubrrn error ubrrn error 2400 95 0.0% 191 0.0% 103 0.2% 207 0.2% 191 0.0% 383 0.0% 4800 47 0.0% 95 0.0% 51 0.2% 103 0.2% 95 0.0% 191 0.0% 9600 23 0.0% 47 0.0% 25 0.2% 51 0.2% 47 0.0% 95 0.0% 14.4k 15 0.0% 31 0.0% 16 2.1% 34 ?0.8% 31 0.0% 63 0.0% 19.2k 11 0.0% 23 0.0% 12 0.2% 25 0.2% 23 0.0% 47 0.0% 28.8k 7 0.0% 15 0.0% 8 ?3.5% 16 2.1% 15 0.0% 31 0.0% 38.4k 5 0.0% 11 0.0% 6 ?7.0% 12 0.2% 11 0.0% 23 0.0% 57.6k 3 0.0% 7 0.0% 3 8.5% 8 ?3.5% 7 0.0% 15 0.0% 76.8k 2 0.0% 5 0.0% 2 8.5% 6 ?7.0% 5 0.0% 11 0.0% 115.2k 1 0.0% 3 0.0% 1 8.5% 3 8.5% 3 0.0% 7 0.0% 230.4k 0 0.0% 1 0.0% 0 8.5% 1 8.5% 1 0.0% 3 0.0% 250k 0 ?7.8% 1 ?7.8% 0 0.0% 1 0.0% 1 ?7.8% 3 ?7.8% 0.5m ? ? 0 ?7.8% ? ? 0 0.0% 0 ?7.8% 1 ?7.8% 1m ? ? ? ? ? ? ? ? ? ? 0 ?7.8% max. (1) 230.4kbps 460.8kbps 250kbps 0.5mbps 460.8kbps 921.6kbps note: 1. ubrrn = 0, error = 0.0% atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 170 table 20-6. examples of ubrrn setti ngs for commonly used oscill ator frequencies (continued) baud rate (bps) f osc = 8.0000mhz f osc = 11.0592 mhz f osc = 14.7456mhz u2xn = 0 u2xn = 1 u2xn = 0 u2xn = 1 u2xn = 0 u2xn = 1 ubrrn error ubrrn error ubrrn error ubrrn error ubrrn error ubrrn error 2400 207 0.2% 416 ?0.1% 287 0.0% 575 0.0% 383 0.0% 767 0.0% 4800 103 0.2% 207 0.2% 143 0.0% 287 0.0% 191 0.0% 383 0.0% 9600 51 0.2% 103 0.2% 71 0.0% 143 0.0% 95 0.0% 191 0.0% 14.4k 34 ?0.8% 68 0.6% 47 0.0% 95 0.0% 63 0.0% 127 0.0% 19.2k 25 0.2% 51 0.2% 35 0.0% 71 0.0% 47 0.0% 95 0.0% 28.8k 16 2.1% 34 ?0.8% 23 0.0% 47 0.0% 31 0.0% 63 0.0% 38.4k 12 0.2% 25 0.2% 17 0.0% 35 0.0% 23 0.0% 47 0.0% 57.6k 8 ?3.5% 16 2.1% 11 0.0% 23 0.0% 15 0.0% 31 0.0% 76.8k 6 ?7.0% 12 0.2% 8 0.0% 17 0.0% 11 0.0% 23 0.0% 115.2k 3 8.5% 8 ?3.5% 5 0.0% 11 0.0% 7 0.0% 15 0.0% 230.4k 1 8.5% 3 8.5% 2 0.0% 5 0.0% 3 0.0% 7 0.0% 250k 1 0.0% 3 0.0% 2 ?7.8% 5 ?7.8% 3 ?7.8% 6 5.3% 0.5m 0 0.0% 1 0.0% ? ? 2 ?7.8% 1 ?7.8% 3 ?7.8% 1m ? ? 0 0.0% ? ? ? ? 0 ?7.8% 1 ?7.8% max. (1) 0.5mbps 1mbps 691.2kbps 1.3824mbps 921.6kbps 1.8432mbps note: 1. ubrrn = 0, error = 0.0% table 20-7. examples of ubrrn settings for common ly used oscillator frequencies (continued) baud rate (bps) f osc = 16.0000mhz u2xn = 0 u2xn = 1 ubrrn error ubrrn error 2400 416 ?0.1% 832 0.0% 4800 207 0.2% 416 ?0.1% 9600 103 0.2% 207 0.2% 14.4k 68 0.6% 138 ?0.1% 19.2k 51 0.2% 103 0.2% 28.8k 34 ?0.8% 68 0.6% 38.4k 25 0.2% 51 0.2% 57.6k 16 2.1% 34 ?0.8% 76.8k 12 0.2% 25 0.2% 115.2k 8 ?3.5% 16 2.1% 230.4k 3 8.5% 8 ?3.5% 250k 3 0.0% 7 0.0% 0.5m 1 0.0% 3 0.0% 1m 0 0.0% 1 0.0% max. (1) 1mbps 2mbps note: 1. ubrrn = 0, error = 0.0% 171 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 20.11 register description 20.11.1 udrn ? usart i/o data register n the usart transmit data buffer register an d usart receive data buffer registers share the same i/o address referred to as usart data register or udrn. the transmit data buffer regist er (txb) will be the destination for data written to the udrn register location. reading the udrn register location will return the contents of the receive data buffer register (rxb). for 5-, 6-, or 7-bit characters the upper unused bits will be ignored by the rransmitter and set to zero by the receiver. the transmit buffer can only be written when the udren flag in the ucsrna regist er is set. data written to udrn when the udren flag is not set, will be ignored by the usart transmit ter. when data is written to the transmit buffer, and the transmitter is enabled, the transmitter will load the data into th e transmit shift register when th e shift register is empty. t hen the data will be serially transmitted on the txdn pin. the receive buffer consists of a two level fifo. the fifo will change its state whenever the re ceive buffer is accessed. due to this behavior of the receive buffer, do not use read-modify-write instructions (sbi and cbi) on this location. be careful when using bit test instructions (sbic and sbis), since these also will change the state of the fifo. 20.11.2 ucsrna ? usart control and status register n a ? bit 7 ? rxcn: usart receive complete this flag bit is set when there are unread data in the rece ive buffer and cleared when the receive buffer is empty (i.e., does not contain any unread data). if the receiver is disabled, the receive buffer will be flushed and consequently the rxcn bit wil l become zero. the rxcn flag can be used to generate a receiv e complete interrupt (see description of the rxcien bit). ? bit 6 ? txcn: usart transmit complete this flag bit is set when the entire frame in the transmit shi ft register has been shifted out and there are no new data curren tly present in the transmit buffer (udrn). th e txcn flag bit is automatically cleared when a transmit complete interrupt is executed, or it can be cleared by writin g a one to its bit location. the txcn flag can generate a transmit complete interrupt (see description of the txcien bit). ? bit 5 ? udren: usart data register empty the udren flag indicates if the transmit buffer (udrn) is ready to receive new data. if udren is one, the buffer is empty, and therefore ready to be written. the udren flag can generat e a data register empty interrupt (see description of the udrien bit). udren is set after a reset to indicate that the transmitter is ready. ? bit 4 ? fen: frame error this bit is set if the next character in the receive buffer had a frame error when received. i.e. , when the first stop bit of t he next character in the receive buffer is zero . this bit is valid until the receive buff er (udrn) is read. the fen bit is zero wh en the stop bit of received data is one. alwa ys set this bit to zero when writing to ucsrna. ? bit 3 ? dorn: data overrun this bit is set if a data overrun condition is detected. a data overrun occurs when the receive buffer is full (two characters) , it is a new character waiting in the receive shift register, and a new start bit is detected. this bit is valid until the receive buffer (udrn) is read. always set this bit to zero when writing to ucsrna. bit 76543210 rxb[7:0] udrn (read) txb[7:0] udrn (write) read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 rxcn txcn udren fen dorn upen u2xn mpcmn ucsrna read/write r r/w r r r r r/w r/w initial value 0 0 1 0 0 0 0 0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 172 ? bit 2 ? upen: usart parity error this bit is set if the next character in the receive buffer had a parity error when received and the parity checking was enable d at that point (upmn1 = 1). this bit is valid until the receive bu ffer (udrn) is read. always set this bit to zero when writing to ucsrna. ? bit 1 ? u2xn: double the usart transmission speed this bit only has effect for the asyn chronous operation. write this bit to zero when using synchronous operation. writing this bit to one will reduce the divisor of the baud rate di vider from 16 to 8 effectively doubling the transfer rate fo r asynchronous communication. ? bit 0 ? mpcmn: multi-processor communication mode this bit enables the multi-processor communication mode. when the mpcmn bit is written to one, all the incoming frames received by the usart receiver that do not contain address info rmation will be ignored. the transmitter is unaffected by the mpcmn setting. for more detailed information see section 20.9 ?multi-processor communication mode? on page 168 . 20.11.3 ucsrnb ? usart control and status register n b ? bit 7 ? rxcien: rx complete interrupt enable n writing this bit to one enables interrupt on the rxcn flag. a usart receive complete interrupt will be generated only if the rxcien bit is written to one, the global interrupt flag in sreg is written to one and the rxcn bit in ucsrna is set. ? bit 6 ? txcien: tx complete interrupt enable n writing this bit to one enables interrupt on the txcn flag. a u sart transmit complete interrupt will be generated only if the txcien bit is written to one, the global interrupt flag in sreg is written to one and the txcn bit in ucsrna is set. ? bit 5 ? udrien: usart data regi ster empty interrupt enable n writing this bit to one enables interrupt on the udren flag. a data register empty interrupt will be generated only if the udrien bit is written to one, the global interrupt flag in sreg is written to one and the udren bit in ucsrna is set. ? bit 4 ? rxenn: receiver enable n writing this bit to one enables the usart receiver. the receiv er will override normal port operation for the rxdn pin when enabled. disabling the receiver will flush the receiv e buffer invalidating the fen, dorn, and upen flags. ? bit 3 ? txenn: transmitter enable n writing this bit to one enables the usart transmitter. the tr ansmitter will override normal port operation for the txdn pin when enabled. the disabling of the transmitter (writing txenn to zero) will not become effective until ongoing and pending transmissions are completed, i.e., when the transmit shift regi ster and transmit buffer register do not contain data to be transmitted. when disabled, the transmitter will no longer override the txdn port. ? bit 2 ? ucszn2: character size n the ucszn2 bits combined with the ucszn1:0 bit in ucsrnc sets the number of data bits (character size) in a frame the receiver and transmitter use. ? bit 1 ? rxb8n: receive data bit 8 n rxb8n is the ninth data bit of the received character when ope rating with serial frames with nine data bits. must be read before reading the low bits from udrn. bit 76543210 rxcien txcien udrien rxenn txenn ucszn2 rxb8n txb8n ucsrnb read/write r/w r/w r/w r/w r/w r/w r r/w initial value 0 0 0 0 0 0 0 0 173 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 ? bit 0 ? txb8n: transmit data bit 8 n txb8n is the ninth data bit in the characte r to be transmitted when operating with seri al frames with nine data bits. must be written before writing the low bits to udrn. 20.11.4 ucsrnc ? usart control and status register n c ? bits 7:6 ? umseln1:0 usart mode select these bits select the mode of oper ation of the usartn as shown in table 20-8 . ? bits 5:4 ? upmn1:0: parity mode these bits enable and set type of parity generation and c heck. if enabled, the transmitter will automatically generate and send the parity of the transmit ted data bits within each frame. the receiver will generate a parity value for the incoming data and compare it to the upmn setting. if a mismatch is detected, the upen flag in ucsrna will be set. ? bit 3 ? usbsn: stop bit select this bit selects the number of stop bits to be inserted by the transmitter. the receiver ignores this setting. ? bit 2:1 ? ucszn1:0: character size the ucszn1:0 bits combined with the ucszn2 bit in ucsrnb sets the number of data bits (character size) in a frame the receiver and transmitter use. bit 7 6 5 4 3 2 1 0 umseln1 umseln0 upmn1 upmn0 usbsn ucszn1 ucszn0 ucpoln ucsrnc read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value 0 0 0 0 0 1 1 0 table 20-8. umseln bits settings umseln1 umseln0 mode 0 0 asynchronous usart 0 1 synchronous usart 1 0 (reserved) 1 1 master spi (mspim) (1) note: 1. see section 21. ?usart in spi mode? on page 175 for full description of the master spi mode (mspim) operation table 20-9. upmn bits settings upmn1 upmn0 parity mode 0 0 disabled 0 1 reserved 1 0 enabled, even parity 1 1 enabled, odd parity table 20-10. usbs bit settings usbsn stop bit(s) 0 1-bit 1 2-bit atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 174 ? bit 0 ? ucpoln: clock polarity this bit is used for synchronous mode only. write this bit to zero when asynchronous mode is used. the ucpoln bit sets the relationship between data output change and data input sample, and the synchronous clock (xckn). 20.11.5 ubrrnl and ubrrnh ? usart baud rate registers ? bit 15:12 ? reserved these bits are reserved for future use. for compatibility with future devices, these bit must be written to zero when ubrrnh is written. ? bit 11:0 ? ubrr[11:0]: usart baud rate register this is a 12-bit register which contains the usart baud rate. the ubrrnh contains the four most significant bits, and the ubrrnl contains the eight least signific ant bits of the usart baud rate. ongoing transmissions by the transmitter and receiver will be corrupted if the baud rate is changed. writ ing ubrrnl will trigger an immediate update of the baud rate prescaler. table 20-11. ucszn bits settings ucszn2 ucszn1 ucszn0 character size 0 0 0 5-bit 0 0 1 6-bit 0 1 0 7-bit 0 1 1 8-bit 1 0 0 reserved 1 0 1 reserved 1 1 0 reserved 1 1 1 9-bit table 20-12. ucpoln bit settings ucpoln transmitted data changed (output of txdn pin) received data sampled (input on rxdn pin) 0 rising xckn edge falling xckn edge 1 falling xckn edge rising xckn edge bit 151413121110 9 8 ? ? ? ? ubrrn[11:8] ubrrnh ubrrn[7:0] ubrrnl 76543210 read/write r r r r r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w initial value 00000000 00000000 175 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 21. usart in spi mode 21.1 features full duplex, three-wire synchronous data transfer master operation supports all four spi modes of operation (mode 0, 1, 2, and 3) lsb first or msb first data transfer (configurable data order) queued operation (double buffered) high resolution baud rate generator high speed operation (f xckmax = f ck /2) flexible interrupt generation 21.2 overview the universal synchronous and asynchronous serial receiver a nd transmitter (usart) can be set to a master spi compliant mode of operation. setting both umseln1:0 bits to one enables the usart in mspi m logic. in this mode of operation the spi master control logic takes direct control over the usart resources. these resources include th e transmitter and receiver shift register and buffers, and the baud rate generator. the parity generator and checker, the data and clock recovery logic, and the rx and tx control logic is disabled. the usart rx and tx control logic is replaced by a common spi transf er control logic. however, the pin control logic and interrupt generat ion logic is identical in both modes of operation. the i/o register locations are the same in both modes. however, some of the functionality of the control registers changes when using mspim. 21.3 clock generation the clock generation logic generates the base clock for the transmitter and receiver. for usart mspim mode of operation only internal clock generation (i.e. master operation) is suppor ted. the data direction register for the xckn pin (ddr_xckn) must therefore be set to one (i.e. as output) for the usart in mspim to operate correctly. preferably the ddr_xckn should be set up before the usart in mspim is enabled (i.e. txenn and rxenn bit set to one). the internal clock generation used in mspim mode is identica l to the usart synchronous master mode. the baud rate or ubrrn setting can therefore be calcul ated using the same equations, see table 21-1 . baud baud rate (in bits per second, bps) f osc system oscillator clock frequency ubrrn contents of the ubrrnh and ubrrnl registers, (0-4095) table 21-1. equations for calculating baud rate register setting operating mode equation for calculating baud rate (1) equation for calculating ubrrn value synchronous master mode note: 1. the baud rate is defined to be the transfer rate in bit per second (bps) baud f osc 2 ubrr n 1 + () ------------------------------------- - = ubrr n f osc 2 baud ------------------- - 1 ? = atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 176 21.4 spi data modes and timing there are four combinations of xckn (s ck) phase and polarity with respect to serial data, which are determined by control bits ucphan and ucpoln. the data transfer timing diagrams are shown in figure 21-1 . data bits are shifted out and latched in on opposite edges of the xckn signal, ensuring sufficient time for data signals to stabilize. the ucpoln and ucphan functionality is summarized in table 21-2 . note that changing the setting of any of these bits will corrupt all ongoing communication for both the receiver and transmitter. figure 21-1. ucphan and ucpoln data transfer timing diagrams 21.5 frame formats a serial frame for the mspim is defined to be one character of 8 data bits. the usart in mspim mode has two valid frame formats: 8-bit data with msb first 8-bit data with lsb first a frame starts with the least or most significant data bit. then the next data bits, up to a total of eight, are succeeding, en ding with the most or least significant bit accordingly. when a comple te frame is transmitted, a new frame can directly follow it, o r the communication line can be set to an idle (high) state. the udordn bit in ucsrnc sets the frame format used by t he usart in mspim mode. the receiver and transmitter use the same setting. note that changing t he setting of any of these bits will corr upt all ongoing communication for both the receiver and transmitter. 16-bit data transfer can be achieved by wr iting two data bytes to udrn. a uart transmit complete interrupt will then signal that the 16-bit value has been shifted out. table 21-2. ucpoln and ucphan functionality- ucpoln ucphan spi mode leading edge trailing edge 0 0 0 sample (rising) setup (falling) 0 1 1 setup (rising) sample (falling) 1 0 2 sample (falling) setup (rising) 1 1 3 setup (falling) sample (rising) xck ucpol = 0 ucpol = 1 ucpha = 1 ucpha = 0 data setup (txd) data sample (rxd) xck data setup (txd) data sample (rxd) xck data setup (txd) data sample (rxd) xck data setup (txd) data sample (rxd) 177 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 21.5.1 usart mspim initialization the usart in mspim mode has to be initialized before any communication can take place. the initialization process normally consists of setting the baud ra te, setting master mode of operation (by setting ddr_xckn to one), setting frame format and enabling the transmitter and the receiver. only t he transmitter can operate independently. for interrupt driven usart operation, the global interrupt flag should be cleared (and thus interrupts globally disabled) when doing the initialization. note: to ensure immediate initialization of the xckn output th e baud-rate register (ubrrn) must be zero at the time the transmitter is enabled. contrary to the normal mode usart operation the ubrrn must then be written to the desired value after the transmitter is enabled, but bef ore the first transmission is started. setting ubrrn to zero before enabling the transmitter is not necessary if th e initialization is done immediately after a reset since ubrrn is reset to zero. before doing a re-initialization with changed baud rate, data mode, or frame format, be sure that there is no ongoing transmissions during the period the regist ers are changed. the txcn flag can be us ed to check that the transmitter has completed all transfers, and the rxcn flag can be used to che ck that there are no unread data in the receive buffer. note that the txcn flag must be cleared before each transmission (before udrn is written) if it is used for this purpose. the following simple usart initialization code examples sh ow one assembly and one c function that are equal in functionality. the examples assume polling (no interrupts enabled). the baud rate is given as a function parameter. for the assembly code, the baud rate parameter is assu med to be stored in the r17:r16 registers. assembly code example (1) usart_init: clr r18 out ubrrnh,r18 out ubrrnl,r18 ; setting the xckn port pin as output, enables master mode. sbi xckn_ddr, xckn ; set mspi mode of operation and spi data mode 0. ldi r18, (1< atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 180 ? bit 7 ? rxcn: usart receive complete this flag bit is set when there are unread data in the rece ive buffer and cleared when the receive buffer is empty (i.e., does not contain any unread data). if the receiver is disabled, the receive buffer will be flushed and consequently the rxcn bit will become zero. the rxcn flag can be used to generate a receiv e complete interrupt (see description of the rxcien bit). ? bit 6 ? txcn: usart transmit complete this flag bit is set when the entire frame in the transmit shi ft register has been shifted out and there are no new data curren tly present in the transmit buffer (udrn). th e txcn flag bit is automatically cleared when a transmit complete interrupt is executed, or it can be cleared by writin g a one to its bit location. the txcn flag c an generate a transmit complete interrupt (see description of the txcien bit). ? bit 5 ? udren: usart data register empty the udren flag indicates if the transmit buffer (udrn) is ready to receive new data. if udren is one, the buffer is empty, and therefore ready to be written. the udren flag can generat e a data register empty interrupt (see description of the udrie bit). udren is set after a reset to in dicate that the transmitter is ready. ? bit 4:0 ? reserved bits in mspi mode when in mspi mode, these bits are reserved for future use. fo r compatibility with future devices, these bits must be written to zero when ucsrna is written. 21.8.3 ucsrnb ? usart mspim control and status register n b ? bit 7 ? rxcien: rx complete interrupt enable writing this bit to one enables interrupt on the rxcn flag. a usart receive complete interrupt will be generated only if the rxcien bit is written to one, the global interrupt flag in sreg is written to one and the rxcn bit in ucsrna is set. ? bit 6 ? txcien: tx complete interrupt enable writing this bit to one enables interrupt on the txcn flag. a u sart transmit complete interrupt will be generated only if the txcien bit is written to one, the global interrupt flag in sreg is written to one and the txcn bit in ucsrna is set. ? bit 5 ? udrie: usart data re gister empty interrupt enable writing this bit to one enables interrupt on the udren flag. a data register empty interrupt will be generated only if the udrie bit is written to one, the global interrupt flag in sr eg is written to one and the udren bit in ucsrna is set. ? bit 4 ? rxenn: receiver enable writing this bit to one enables the usart receiver in mspim mode. the receiver will override normal port operation for the rxdn pin when enabled. disabling the receiver will flush the rece ive buffer. only enabling the receiver in mspi mode (i.e. setting rxenn=1 and txenn=0) has no meaning since it is the transmitter that controls the transfer clock and since only master mode is supported. ? bit 3 ? txenn: transmitter enable writing this bit to one enables the usart transmitter. the tran smitter will override normal port operation for the txdn pin when enabled. the disabling of the transmitter (writing txenn to zero) will not become effective until ongoing and pending transmissions are completed, i.e., when the transmit shift regi ster and transmit buffer register do not contain data to be transmitted. when disabled, the transmitter will no longer override the txdn port. ? bit 2:0 ? reserved bits in mspi mode when in mspi mode, these bits are reserved for future use. fo r compatibility with future devices, these bits must be written to zero when ucsrnb is written. bit 7 6 5 4 3 2 1 0 rxcien txcien udrie rxenn txenn ? - - ucsrnb read/write r/w r/w r/w r/w r/w r r r initial value 0 0 0 0 0 1 1 0 181 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 21.8.4 ucsrnc ? usart mspim control and status register n c ? bit 7:6 ? umseln1:0: usart mode select these bits select the mode of operation of the usart as shown in table 21-4 . see section 20.11.4 ?ucsrnc ? usart control and status register n c? on page 173 for full description of the normal usart operation. the mspim is enabled when both umseln bits are set to one. the udordn, ucphan, a nd ucpoln can be set in the same write operation where the mspim is enabled. ? bit 5:3 ? reserved bits in mspi mode when in mspi mode, these bits are reserved for future use. fo r compatibility with future devices, these bits must be written to zero when ucsrnc is written. ? bit 2 ? udordn: data order when set to one the lsb of the data word is transmitted first. when set to zero the msb of the data word is transmitted first. refer to the frame formats section page 4 for details. ? bit 1 ? ucphan: clock phase the ucphan bit setting determine if data is sampled on the leas ing edge (first) or tailing (last) edge of xckn. refer to the spi data modes and timing section page 4 for details. ? bit 0 ? ucpoln: clock polarity the ucpoln bit sets the polarity of the xckn clock. the combination of the ucpoln and ucphan bit settings determine the timing of the data transfer. refer to the spi data modes and timing section page 4 for details. 21.8.5 usart mspim baud rate registers ? ubrrnl and ubrrnh the function and bit description of the baud rate registers in mspi mode is identical to normal usart operation. see section 20.11.5 ?ubrrnl and ubrrnh ? usart baud rate registers? on page 174 . bit 7 6 5 4 3 2 1 0 umseln1 umseln0 ? ? ? udordn ucphan ucpoln ucsrnc read/write r/w r/w r r r r/w r/w r/w initial value 0 0 0 0 0 1 1 0 table 21-4. umseln bits settings umseln1 umseln0 mode 0 0 asynchronous usart 0 1 synchronous usart 1 0 reserved 1 1 master spi (mspim) atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 182 22. 2-wire serial interface 22.1 features simple yet powerful and flexible communication interface, only two bus lines needed both master and slave operation supported device can operate as transmitter or receiver 7-bit address space allows up to 128 different slave addresses multi-master arbitration support up to 400khz data transfer speed slew-rate limited output drivers noise suppression circuitry rejects spikes on bus lines fully programmable slave address with general call support address recognition causes wake-up when avr is in sleep mode compatible with philips? i 2 c protocol 22.2 2-wire serial interface bus definition the 2-wire serial interface (twi) is ideally suited for typica l microcontroller applications. the twi protocol allows the systems designer to interconnect up to 128 different devices using only two bi-directional bus lines, one for clock (scl) and one for data (sda). the only external hardware needed to implem ent the bus is a single pull-up re sistor for each of the twi bus lines. all devices connected to the bus have individual addresses, and mechanisms for resolving bus contention are inherent in the twi protocol. figure 22-1. twi bus interconnection 22.2.1 twi terminology the following definitions are frequently encountered in this section. the prtwi bit in section 10.10 ?minimizing power consumption? on page 37 must be written to zero to enable the 2-wire serial interface. device 1 sda scl v cc device 2 device 3 device n ........ r1 r2 table 22-1. twi terminology term description master the device that initiates and terminates a transmi ssion. the master also generates the scl clock. slave the device addressed by a master. transmitter the device placing data on the bus. receiver the device reading data from the bus. 183 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 22.2.2 electrical interconnection as depicted in figure 22-1 , both bus lines are connected to the positive su pply voltage through pull-up resistors. the bus drivers of all twi-compliant devices are open-drain or open- collector. this implements a wired-and function which is essential to the operation of the interface. a low level on a twi bus line is generated when one or more twi devices output a zero. a high level is output when all twi devices tri-state t heir outputs, allowing the pull-up resistors to pull the line hi gh. note that all avr devices connected to the twi bus must be powered in order to allow any bus operation. the number of devices that can be connecte d to the bus is only limited by the bus capacitance limit of 400pf and the 7-bit slave address space. a detailed specif ication of the electrical characte ristics of the twi is given in ?two-wire serial interface characteristics? on page 275 . two different sets of specifications are pres ented there, one relevant for bus speeds below 100khz, and one valid for bus speeds up to 400khz. 22.3 data transfer and frame format 22.3.1 transferring bits each data bit transferred on the twi bus is accompanied by a pulse on the clock line. the level of the data line must be stable when the clock line is high. the only exception to this rule is for generat ing start and stop conditions. figure 22-2. data validity 22.3.2 start and stop conditions the master initiates and terminates a data transmission. the transmission is in itiated when the master issues a start condition on the bus, and it is termina ted when the master issues a stop condition. between a start and a stop condition, the bus is considered busy, and no other master should try to seize control of the bus. a special case occurs when a new start condition is issued between a start and stop condition. this is referred to as a repeated start condition, and is used when the master wi shes to initiate a new transfer without relinquishing control of the bus. after a repeated start, the bus is considered bu sy until the next stop. this is identic al to the start behavior, and therefore start is used to describe both start and repeated start for the remainder of this datasheet, unl ess otherwise noted. as depicted below, start and stop conditions are signa lled by changing the level of the sda line when the scl line is high. figure 22-3. start, repeated start and stop conditions sda scl data stable data change data stable sda scl start start repeated start stop stop atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 184 22.3.3 address packet format all address packets transmitted on the twi bus are 9 bits long , consisting of 7 address bits, one read/write control bit and an acknowledge bit. if the read/write bit is set, a re ad operation is to be performe d, otherwise a write operation should be performed. when a slave recognizes that it is being addressed, it should acknowledge by pulling sda low in the ninth scl (ack) cycle. if the addressed slave is busy, or for some other reason can not service the master?s request, the sda line should be left high in the ack clock cycle. the master can then tran smit a stop condition, or a repeated start condition to initiate a new transmission. an address packet consisting of a slave address and a read or a write bit is called sla+r or sla+w, respectively. the msb of the address byte is transmitted first. slave addres ses can freely be allocated by the designer, but the address 0000 000 is reserved for a general call. when a general call is issued, all slaves should respond by pulling the sda line low in the ack cycle. a general call is used when a master wishes to transmit the same message to several slaves in th e system. when the gener al call address followed by a write bit is transmitted on t he bus, all slaves set up to acknowledge the general call will pull the sda line low in the ack cycle. the following data packets will then be received by all the slaves that acknowledged the general call. note that transmitting the general call address followed by a read bit is meaningless, as this would caus e contention if several slaves started transmitting different data. all addresses of the format 1111 xxx shou ld be reserved for future purposes. figure 22-4. address packet format 22.3.4 data packet format all data packets transmitted on the twi bus are nine bits long , consisting of one data byte and an acknowledge bit. during a data transfer, the master generat es the clock and the start and stop conditions, while the receiver is responsible for acknowledging the reception. an acknowledge (ack) is signa lled by the receiver pulling the sda line low during the ninth scl cycle. if the receiver leaves the sda line high, a nack is signalled. when the receiver has received the last byte, or for some reason cannot receive any more bytes, it should info rm the transmitter by sending a nack after the final byte. the msb of the data byte is transmitted first. figure 22-5. data packet format sda scl start addr msb addr lsb r/w ack 12 789 aggregate sda sda from transmitter sda from receiver scl from master data msb data lsb ack 12 7 data byte stop, repeated start or next data byte sla + r/w 89 185 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 22.3.5 combining address and data packets into a transmission a transmission basically consists of a start condition, a sla+ r/w, one or more data packets and a stop condition. an empty message, consisting of a start follo wed by a stop condition, is illegal. note that the wired-anding of the scl line can be used to implement handshaking betw een the master and the slave. the slave can extend the scl low period by pulling the scl line low. this is useful if the clock speed set up by the master is too fast fo r the slave, or the slave needs extra time for processing between the data transmissions. t he slave extending the scl low period will not affect the scl high period, which is determined by the master. as a consequ ence, the slave can reduce th e twi data transfer speed by prolonging the scl duty cycle. figure 22-6 shows a typical data transmission. note that severa l data bytes can be transmitted between the sla+r/w and the stop condition, depending on the software prot ocol implemented by the application software. figure 22-6. typical data transmission 22.4 multi-master bus systems, arbitration and synchronization the twi protocol al lows bus systems with several mast ers. special concerns have been taken in order to ensure that transmissions will proceed as normal, even if two or more mast ers initiate a transmission at the same time. two problems arise in multi-master systems: an algorithm must be implemented allowing only one of t he masters to complete the transmission. all other masters should cease transmission when they disco ver that they have lost the selecti on process. this selection process is called arbitration. when a contending master discovers that it has lost the arbi tration process, it should immediately switch to slave mode to check whether it is being addre ssed by the winning master. the fact that multiple masters have started transmission at the same time should not be det ectable to the slaves, i.e. the data being transferred on the bus must not be corrupted. different masters may use different sc l frequencies. a scheme must be devised to synchronize the serial clocks from all masters, in order to let the transmission proceed in a lockstep fashi on. this will facilit ate the arbitration process. the wired-anding of the bus lines is used to solve both these problems. the seri al clocks from all masters will be wired- anded, yielding a combined clock with a high period equal to the one from the master with the shortest high period. the low period of the combined clock is equal to the low period of the master with the longest low period. note that all masters listen to the scl line, effectively starting to count their scl high a nd low time-out periods when the combined scl line goes high or low, respectively. sda scl stop start sla + r/w data byte addr msb addr lsb data msb data lsb ack r/w ack 12 789 12 789 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 186 figure 22-7. scl synchronization between multiple masters arbitration is carried out by all masters continuously monitori ng the sda line after outputting data. if the value read from th e sda line does not match the value the master had output, it has lost the arbitration. note that a master can only lose arbitration when it outputs a high sda va lue while another master outputs a low value. the losing master should immediately go to slave mode, checking if it is being addressed by the winning master. the sda line should be left high, but losing masters are allowed to generate a clock signal until t he end of the current data or address packet. arbitration will continue until only one master remains, and this may take m any bits. if several masters are trying to address the same slave, arbitration will c ontinue into the data packet. figure 22-8. arbitration between two masters note that arbitration is not allowed between: a repeated start condition and a data bit. a stop condition and a data bit. a repeated start and a stop condition. it is the user software?s responsibility to ensure that these illegal arbitration cond itions never occur. this implies that in multi- master systems, all data transfers must use the same com position of sla+r/w and data pa ckets. in other words: all transmissions must contain the same number of data packets , otherwise the result of t he arbitration is undefined. scl from master a scl from master b scl bus line masters start counting low period masters start counting high period ta low ta high tb low tb high sda from master a sda from master b synchronized scl line sda line start master a loses arbitration, sda a sda 187 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 22.5 overview of the twi module the twi module is comprised of several submodules, as shown in figure 22-9 . all registers drawn in a thick line are accessible through the avr data bus. figure 22-9. overview of the twi module 22.5.1 scl and sda pins these pins interface the avr twi with the rest of the mcu system. the output drivers contain a slew-rate limiter in order to conform to the twi specification. the inpu t stages contain a spike suppression unit removing spikes shorter than 50ns. note that the internal pull-ups in the avr p ads can be enabled by setting the port bits corresponding to the scl and sda pins, as explained in the i/o port section. the internal pull-ups can in some systems eliminat e the need for external ones. 22.5.2 bit rate generator unit this unit controls the period of scl when operating in a master mode. the scl period is controlled by settings in the twi bit rate register (twbr) and the prescaler bits in the twi status register (twsr). slave operation does not depend on bit rate or prescaler settings, but the cpu clock frequency in the slave must be at least 16 times higher than the scl frequency. note that slaves may prolong the scl lo w period, thereby reducing the average tw i bus clock period. the scl frequency is generated according to the following equation: start/ stop control spike filter slew-rate control address/ data shift register (twdr) arbitration detection spike suppression bit rate register (twbr) prescaler ack bus interface unit scl spike filter slew-rate control sda bit rate generator address register (twar) address comparator address match unit status register (twsr) control register (twcr) state machine and status control control unit twi unit scl frequency cpu clock frequency 16 2(twbr) prescalervalue () + ------------------------------------------------------------------------------------ = atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 188 twbr = value of the twi bit rate register. prescalervalue = value of the prescaler, see table 22-8 on page 208 . note: pull-up resistor values should be selected according to the scl frequency and the capacitive bus line load. see table 29-8 on page 275 for value of pull-up resistor. 22.5.3 bus interface unit this unit contains the data and address shift register (twdr) , a start/stop controller and arbitration detection hardware. the twdr contains the address or data bytes to be transmitted, or the address or data bytes received. in addition to the 8-bit twdr, the bus interface unit also contains a register containing the (n)ack bit to be transmitted or received. this (n)ack register is not directly accessible by the application so ftware. however, when receiving, it can be set or cleared by manipulating the twi control register (twcr). when in tr ansmitter mode, the value of the received (n)ack bit can be determined by the value in the twsr. the start/stop controller is responsible for generatio n and detection of start, repeated start, and stop conditions. the start/stop controller is able to detect start and stop conditions even when the avr mcu is in one of the sleep modes, enabling the mcu to wake up if addressed by a master. if the twi has initiated a transmission as master, the arbitrat ion detection hardware continuous ly monitors the transmission trying to determine if arbitration is in process. if the twi has lost an arbitration, the control un it is informed. correct act ion can then be taken and appropr iate status codes generated. 22.5.4 address match unit the address match unit checks if received address bytes match the seven-bit addre ss in the twi address register (twar). if the twi general call recognition enable (twgce) bit in the tw ar is written to one, all incoming address bits will also be compared against the general call address. upon an address matc h, the control unit is informed, allowing correct action to be taken. the twi may or may not acknowledge its address, dep ending on settings in the twcr. the address match unit is able to compare addresses even when the avr mcu is in sleep mode, enabling the mcu to wake up if addressed by a master. 22.5.5 control unit the control unit monitors the twi bus and generates responses corresponding to settings in the twi control register (twcr). when an event requiring the attention of the applicat ion occurs on the twi bus, the twi interrupt flag (twint) is asserted. in the next clock cycle, the twi status register (twsr) is updated with a status code identifying the event. the twsr only contains relevant status information when the tw i interrupt flag is asserted. at all other times, the twsr contains a special status code indicating that no relevant status inform ation is available. as long as the twint flag is set, t he scl line is held low. this allows the application software to co mplete its tasks before allo wing the twi transmission to continue. the twint flag is set in the following situations: after the twi has transmitted a start/repeated start condition. after the twi has transmitted sla+r/w. after the twi has transmitted an address byte. after the twi has lost arbitration. after the twi has been addressed by own slave address or general call. after the twi has received a data byte. after a stop or repeated start has been received while still addressed as a slave. when a bus error has occurred due to an illegal start or stop condition. 189 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 22.6 using the twi the avr twi is byte-oriented and interrupt based. interrupts are issued after all bus events, like reception of a byte or transmission of a start condition. because the twi is interr upt-based, the applicat ion software is free to carry on other operations during a twi byte transfer. note that the twi inte rrupt enable (twie) bit in twcr together with the global interrupt enable bit in sreg allow the application to decide wh ether or not assertion of the twint flag should generate an interrupt request. if the twie bit is cleared, the application mu st poll the twint flag in order to detect actions on the twi bus. when the twint flag is asserted, the twi has finished an operati on and awaits application response. in this case, the twi status register (twsr) contains a value indicating the curr ent state of the twi bus. the application software can then decide how the twi should behave in the next twi bus cycle by m anipulating th e twcr and twdr registers. figure 22-10 is a simple example of how the application can interface to the twi hardware. in this example, a master wishes to transmit a single data byte to a slave. this description is quite abstract, a more detailed explanation follows later in thi s section. a simple code example implementi ng the desired behavior is also presented. figure 22-10.interfacing the application to the twi in a typical transmission 1. the first step in a twi transmission is to transmit a star t condition. this is done by writing a specific value into twcr, instructing the twi hardware to transmit a start condition. which value to write is described later on. however, it is important that the twin t bit is set in the value written. writing a one to twint clears the flag. the twi will not start any operation as l ong as the twint bit in twcr is set. immediately after the application has cleared twint, the twi will initiate transmission of the start condition. 2. when the start condition has been transmitted, the tw int flag in twcr is set, and twsr is updated with a status code indicating that the star t condition has successfully been sent. 3. the application software should now examine the value of twsr, to make sure that the start condition was successfully transmitted. if twsr indicates otherwise, the application software might take some special action, like calling an error routine. assuming that the status co de is as expected, the applic ation must load sla+w into twdr. remember that twdr is used both for address a nd data. after twdr has been loaded with the desired sla+w, a specific value must be written to twcr, instru cting the twi hardware to transmit the sla+w present in twdr. which value to write is described later on. however, it is important that the twint bit is set in the value written. writing a one to twint clears the flag. the twi will not start any o peration as long as the twint bit in twcr is set. immediately after the application has cleared twint, the tw i will initiate transmission of the address packet. 4. when the address packet has been transmitted, the twin t flag in twcr is set, and twsr is updated with a status code indicating that the address packet has su ccessfully been sent. the status code will also reflect whether a slave acknowledged the packet or not. start twi hardware action application action twi bus indicates twint set sla + w a a stop data 1. application writes to twcr to initiate transmission of start 2. twint set. status code indicates start condition sent 4. twint set. status code indicates sla + w sent, ack received 6. twint set. status code indicates data sent, ack received 3. check twsr to see if start was sent. application loads sla + w into twdr, and loads appropriate control signals into twcr, making sure that twint is written to one, and twsta is written to zero. 5. check twsr to see if sla + w was sent and ack received. application loads data intotwdr, and loads appropriate control signals into twcr, making sure that twint is written to one 7. check twsr to see if data was sent and ack received. application loads appropriate control signals to send stop into twcr, makin sure that twint is written to one atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 190 5. the application software should now examine the value of twsr, to make sure that the address packet was suc- cessfully transmitted, and that the value of the ack bit was as expected. if twsr indicates otherwise, the application software might take some special action, like ca lling an error routine. assu ming that the status code is as expected, the application mu st load a data packet into twdr. subsequen tly, a specific valu e must be written to twcr, instructing the twi hardware to transmit the data packet present in twdr. which value to write is described later on. however, it is important that the twint bit is set in the value written. writing a one to twint clears the flag. the twi will not start any operation as long as the twint bit in twcr is set. immediately after the application has cleared twint, the twi will initiate transmission of the data packet. 6. when the data packet has been transmitted, the twint flag in twcr is set, and twsr is updated with a status code indicating that the data packet has successfully been sent. the status code will also reflect whether a slave acknowledged the packet or not. 7. the application software should now examine the value of twsr, to make sure that the data packet was success- fully transmitted, and that t he value of the ack bit was as expected. if twsr indicates otherwise, the application software might take some special action, like calling an error routine. assuming that the status code is as expected, the application must write a specific value to twcr, instru cting the twi hardware to transmit a stop condition. which value to write is described later on. howeve r, it is important that the twint bit is set in the value written. writing a one to twint clears the flag. the twi will not start any o peration as long as the twint bit in twcr is set. immediately after the app lication has cleared twint, the twi will initiate transmission of the stop condition. note that twint is not set after a stop condition has been sent. even though this example is simple, it show s the principles involved in all twi transmissions. these can be summarized as follows: when the twi has finished an operation and expects application response, the twint flag is set. the scl line is pulled low until twint is cleared. when the twint flag is set, the user must update all twi registers with the value relevant for the next twi bus cycle. as an example, twdr must be loaded with t he value to be transmitted in the next bus cycle. after all twi register updates and other pending applicat ion software tasks have been completed, twcr is written. when writing twcr, the twint bit should be set. writ ing a one to twint clears the flag. the twi will then commence executing whatever operatio n was specified by the twcr setting. in the following an assembly and c implemen tation of the example is given. note th at the code below assumes that several definitions have been made, for ex ample by using include-files. 191 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 22-2. assembly code examples assembly code example c example comments 1 ldi r16, (1< 193 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 a start condition is sent by wr iting the following value to twcr: twen must be set to enable the 2-wire serial interface, twst a must be written to one to transmit a start condition and twint must be written to one to clear the twint flag. the twi will then test the 2-wire serial bus and generate a start condition as soon as the bus becomes free. after a start co ndition has been transmitted, the twint flag is set by hardware, and the status code in twsr will be 0x08 (see table 22-3 ). in order to enter mt mode, sla+w must be transmitted. this is done by writing sla+w to twdr. thereaft er the twint bit should be cleared (by writing it to one) to continue the transfer. this is accomplished by writing the following value to twcr: when sla+w have been transmitted and an ack nowledgement bit has been received, tw int is set again and a number of status codes in twsr are possible. possible status codes in master mode are 0x18, 0x20, or 0x38. the appropriate action to be taken for each of these status codes is detailed in table 22-3 . when sla+w has been successfully transmitte d, a data packet should be transmitted. th is is done by writing the data byte to twdr. twdr must only be written when twint is high. if not, the access will be discard ed, and the write collision bit (twwc) will be set in the twcr register. after updating twdr, th e twint bit should be cleared (by writing it to one) to continue the transfer. this is accomplished by writing the following value to twcr: this scheme is repeated until the last byte has been sent and the transfer is ended by gener ating a stop condition or a repeated start condition. a stop condition is ge nerated by writing the following value to twcr: a repeated start condition is generated by writing the following value to twcr: after a repeated start condition (state 0x10) the 2-wire serial interface can access the same slave again, or a new slave without transmitting a stop condition. re peated start enables the master to swit ch between slaves, master transmitter mode and master receiver mode wit hout losing control of the bus. twcr twint twea twsta twsto twwc twen ? twie value 1 x10 x1 0 x twcr twint twea twsta twsto twwc twen ? twie value 1 x00 x1 0 x twcr twint twea twsta twsto twwc twen ? twie value 1 x00 x1 0 x twcr twint twea twsta twsto twwc twen ? twie value 1 x01 x1 0 x twcr twint twea twsta twsto twwc twen ? twie value 1 x10 x1 0 x atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 194 table 22-3. status codes for master transmitter mode status code (twsr) prescaler bits are 0 status of the 2-wire serial bus and 2-wire serial interface hardware application software response next action taken by twi hardware to/from twdr to twcr sta sto twint twea 0x08 a start condition has been transmitted load sla+w 0 0 1 x sla+w will be transmitted; ack or not ack will be received 0x10 a repeated start condition has been transmitted load sla+w or load sla+r 0 0 0 0 1 1 x x sla+w will be transmitted; ack or not ack will be received sla+r will be transmitted; logic will switch to master receiver mode 0x18 sla+w has been transmitted; ack has been received load data byte or no twdr action or no twdr action or no twdr action 0 1 0 1 0 0 1 1 1 1 1 1 x x x x data byte will be transmitted and ack or not ack will be received repeated start will be transmitted stop condition will be transmitted and twsto flag will be reset stop condition followed by a start condition will be transmitted and twsto flag will be reset 0x20 sla+w has been transmitted; not ack has been received load data byte or no twdr action or no twdr action or no twdr action 0 1 0 1 0 0 1 1 1 1 1 1 x x x x data byte will be transmitted and ack or not ack will be received repeated start will be transmitted stop condition will be transmitted and twsto flag will be reset stop condition followed by a start condition will be transmitted and twsto flag will be reset 0x28 data byte has been transmitted; ack has been received load data byte or no twdr action or no twdr action or no twdr action 0 1 0 1 0 0 1 1 1 1 1 1 x x x x data byte will be transmitted and ack or not ack will be received repeated start will be transmitted stop condition will be transmitted and twsto flag will be reset stop condition followed by a start condition will be transmitted and twsto flag will be reset 0x30 data byte has been transmitted; not ack has been received load data byte or no twdr action or no twdr action or no twdr action 0 1 0 1 0 0 1 1 1 1 1 1 x x x x data byte will be transmitted and ack or not ack will be received repeated start will be transmitted stop condition will be transmitted and twsto flag will be reset stop condition followed by a start condition will be transmitted and twsto flag will be reset 0x38 arbitration lost in sla+w or data bytes no twdr action or no twdr action 0 1 0 0 1 1 x x 2-wire serial bus will be released and not addressed slave mode entered a start condition will be transmitted when the bus becomes free 195 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 22-12.formats and states in the master transmitter mode s successfull transmission to a slave receiver next transfer started with a repeated start condition not acknowledge received after the slave address not acknowledge received after a data byte arbitration lost and addressed as slave from master to slave any number of data bytes and their associated acknowledge bits this number (contained in twsr) corresponds to a defined state of the 2-wire serial bus. the prescaler bits are zero or masked to zero from slave to master arbitration lost in slave address or data byte sla w r s sla w aap ap r mr mt data a data $08 $18 $20 $38 $28 ap $30 $38 $10 a or a other master continues $68 $78 n a other master continues to corresponding states in slave mode a or a other master continues $b0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 196 22.7.2 master receiver mode in the master receiver mode, a number of data by tes are received from a slave transmitter (slave see figure 22-13 ). in order to enter a master mode, a start condit ion must be transmitted. the format of the following address packet determines whether master transmitter or master receiver mode is to be entered. if sla+w is transmitted, mt mode is entered, if sla+r is transmitted, mr mode is entered. all the status codes mentioned in this section assume that the prescaler bits are zero or are masked to zero. figure 22-13.data transfer in master receiver mode a start condition is sent by wr iting the following value to twcr: twen must be written to one to enable the 2-wire serial inte rface, twsta must be written to one to transmit a start condition and twint must be set to clear the twint flag. th e twi will then test the 2-wire serial bus and generate a start condition as soon as the bus become s free. after a start condition has been transmitted, the twint flag is set by hardware, and the status code in twsr will be 0x08 (see table 22-3 ). in order to enter mr mode, sla+r must be transmitted. this is done by writing sla+r to twdr. thereafter the twint bit should be cleared (by writing it to one) to continue the transfer. this is accomplished by writing the following value to twcr: when sla+r have been transmitted and an acknowledgement bit has been received, twint is set again and a number of status codes in twsr are possible. possible status codes in master mode are 0x38, 0x40, or 0x48. the appropriate action to be taken for each of these status codes is detailed in table 22-4 . received data can be read from the twdr register when the twint flag is set high by hardware. this scheme is repeated until the last byte has been received. after the last byte has been received, the mr should inform the st by sending a nack after the last received data byte. the transfer is ended by generating a stop condition or a repeated start c ondition. a stop condition is generated by writing the following value to twcr: a repeated start condition is generated by writing th e following value to twcr: after a repeated start condition (state 0x10) the 2-wire serial interface can access the same slave again, or a new slave without transmitting a stop condition. re peated start enables the master to swit ch between slaves, master transmitter mode and master receiver mode wit hout losing control over the bus. twcr twint twea twsta twsto twwc twen ? twie value 1 x10 x1 0 x twcr twint twea twsta twsto twwc twen ? twie value 1 x00 x1 0 x twcr twint twea twsta twsto twwc twen ? twie value 1 x01 x1 0 x twcr twint twea twsta twsto twwc twen ? twie value 1 x10 x1 0 x device 1 master receiver sda scl v cc device 3 device n ........ r1 r2 device 2 slave transmitter 197 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 22-4. status codes for master receiver mode status code (twsr) prescaler bits are 0 status of the 2-wire serial bus and 2-wire serial interface hardware application software response next action taken by twi hardware to/from twdr to twcr sta sto twint twea 0x08 a start condition has been transmitted load sla+r 0 0 1 x sla+r will be transmitted ack or not ack will be received 0x10 a repeated start condition has been transmitted load sla+r or load sla+w 0 0 0 0 1 1 x x sla+r will be transmitted ack or not ack will be received sla+w will be transmitted logic will switch to master transmitter mode 0x38 arbitration lost in sla+r or not ack bit no twdr action or no twdr action 0 1 0 0 1 1 x x 2-wire serial bus will be released and not addressed slave mode will be entered a start condition will be transmitted when the bus becomes free 0x40 sla+r has been transmitted; ack has been received no twdr action or no twdr action 0 0 0 0 1 1 0 1 data byte will be received and not ack will be returned data byte will be received and ack will be returned 0x48 sla+r has been transmitted; not ack has been received no twdr action or no twdr action or no twdr action 1 0 1 0 1 1 1 1 1 x x x repeated start will be transmitted stop condition will be transmitted and twsto flag will be reset stop condition followed by a start condition will be transmitted and twsto flag will be reset 0x50 data byte has been received; ack has been returned read data byte or read data byte 0 0 0 0 1 1 0 1 data byte will be received and not ack will be returned data byte will be received and ack will be returned 0x58 data byte has been received; not ack has been returned read data byte or read data byte or read data byte 1 0 1 0 1 1 1 1 1 x x x repeated start will be transmitted stop condition will be transmitted and twsto flag will be reset stop condition followed by a start condition will be transmitted and twsto flag will be reset atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 198 figure 22-14.formats and states in the master receiver mode 22.7.3 slave receiver mode in the slave receiver mode, a number of data byte s are received from a master transmitter (see figure 22-15 ). all the status codes mentioned in this section a ssume that the prescaler bits are zero or are masked to zero. figure 22-15.data transfer in slave receiver mode s successfull reception from a slave receiver next transfer started with a repeated start condition not acknowledge received after the slave address arbitration lost and addressed as slave arbitration lost in slave address or data byte from master to slave any number of data bytes and their associated acknowledge bits this number (contained in twsr) corresponds to a defined state of the 2-wire serial bus. the prescaler bits are zero or masked to zero from slave to master sla r r s sla r a data ap ap w mt mr data a data $08 $40 $48 $38 $50 $58 $38 $10 a a or a other master continues $68 $78 n a other master continues to corresponding states in slave mode a or a other master continues $b0 device 1 slave receiver sda v cc scl device 3 device n ........ r1 r2 device 2 master transmitter 199 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 to initiate the slave receiver mode, twar and twcr must be initialized as follows: the upper 7 bits are the address to which the 2-wire serial interface will respond when addressed by a master. if the lsb is set, the twi will respond to the general call address (0x00), otherwise it will ignor e the general call address. twen must be written to one to enable the twi. the twea bit must be written to one to enable the acknowledgement of the device?s own slave address or the general call address. twsta and twsto must be written to zero. when twar and twcr have been initialized, the twi waits unti l it is addressed by its own slave address (or the general call address if enabled) followed by the data direction bit. if the direction bit is ?0? (write), the twi will operate in sr mo de, otherwise st mode is entered. after its own slave address and the write bit have been received, the twint flag is set and a valid status code can be read from twsr. the status co de is used to determine the appropriate software action. the appropriate action to be taken for each status code is detailed in table 22-5 . the slave receiver mode may also be entered if arbitration is lost while the twi is in th e master mode (see states 0x68 and 0x78). if the twea bit is reset during a transfer, the twi will return a ?not acknowledge? (?1?) to sda after the next received data byte. this can be used to indicate that the slave is not able to receive any more bytes. while twea is zero, the twi does not acknowledge its own slave address. however, the 2-wire serial bus is still monitored and address recognition may resume at any time by setting twea. this implies that the twea bit may be used to temporarily isolate t he twi from the 2-wire serial bus. in all sleep modes other than idle mode, the clock system to the twi is turned off. if the twea bit is set, the interface can still acknowledge its own slave address or the general call addr ess by using the 2-wire serial bus clock as a clock source. the part will then wake up from sleep and the twi will hold t he scl clock low during the wake up and until the twint flag is cleared (by writing it to one). further data receptio n will be carried out as normal, with the avr clocks running as normal. observe that if the avr is set up with a long start-up time, the scl line may be held low for a long time, blocking other data transmissions. note that the 2-wire serial interface data register ? twdr does not reflect the last byte present on the bus when waking up from these sleep modes. twar twa6 twa5 twa4 twa3 twa2 twa1 twa0 twgce value device?s own slave address twcr twint twea twsta twsto twwc twen ? twie value 0 100 01 0 x table 22-5. status codes for slave receiver mode status code (twsr) prescaler bits are 0 status of the 2-wire serial bus and 2-wire serial interface hardware application software response next action taken by twi hardware to/from twdr to twcr sta sto twint twea 0x60 own sla+w has been received; ack has been returned no twdr action or no twdr action x x 0 0 1 1 0 1 data byte will be received and not ack will be returned data byte will be received and ack will be returned 0x68 arbitration lost in sla+r/w as master; own sla+w has been received; ack has been returned no twdr action or no twdr action x x 0 0 1 1 0 1 data byte will be received and not ack will be returned data byte will be received and ack will be returned 0x70 general call address has been received; ack has been returned no twdr action or no twdr action x x 0 0 1 1 0 1 data byte will be received and not ack will be returned data byte will be received and ack will be returned 0x7 arbitration lost in sla+r/w as master; general call address has been received; ack has been returned no twdr action or no twdr action x x 0 0 1 1 0 1 data byte will be received and not ack will be returned data byte will be received and ack will be returned 0x80 previously addressed with own sla+w; data has been received; ack has been returned read data byte or read data byte x x 0 0 1 1 0 1 data byte will be received and not ack will be returned data byte will be received and ack will be returned atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 200 0x88 previously addressed with own sla+w; data has been received; not ack has been returned read data byte or read data byte or read data byte or read data byte 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 switched to the not addressed slave mode; no recognition of own sla or gca switched to the not addressed slave mode; own sla will be recognized; gca will be recognized if twgce = ?1? switched to the not addressed slave mode; no recognition of own sla or gca; a start condition will be transmitted when the bus becomes free switched to the not addressed slave mode; own sla will be recognized; gca will be recognized if twgce = ?1?; a start condition will be transmitted when the bus becomes free 0x90 previously addressed with general call; data has been received; ack has been returned read data byte or read data byte x x 0 0 1 1 0 1 data byte will be received and not ack will be returned data byte will be received and ack will be returned 0x98 previously addressed with general call; data has been received; not ack has been returned read data byte or read data byte or read data byte or read data byte 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 switched to the not addressed slave mode; no recognition of own sla or gca switched to the not addressed slave mode; own sla will be recognized; gca will be recognized if twgce = ?1? switched to the not addressed slave mode; no recognition of own sla or gca; a start condition will be transmitted when the bus becomes free switched to the not addressed slave mode; own sla will be recognized; gca will be recognized if twgce = ?1?; a start condition will be transmitted when the bus becomes free 0xa0 a stop condition or repeated start condition has been received while still addressed as slave no action 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 switched to the not addressed slave mode; no recognition of own sla or gca switched to the not addressed slave mode; own sla will be recognized; gca will be recognized if twgce = ?1? switched to the not addressed slave mode; no recognition of own sla or gca; a start condition will be transmitted when the bus becomes free switched to the not addressed slave mode; own sla will be recognized; gca will be recognized if twgce = ?1?; a start condition will be transmitted when the bus becomes free table 22-5. status codes for slave receiver mode (continued) status code (twsr) prescaler bits are 0 status of the 2-wire serial bus and 2-wire serial interface hardware application software response next action taken by twi hardware to/from twdr to twcr sta sto twint twea 201 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 22-16.formats and states in the slave receiver mode s reception of the own slave address and one or more data bytes. all are acknowledged last data byte received is not acknowledged last data byte received is not acknowledged arbitration lost as master and addressed as slave arbitration lost as master and as slave by general call from master to slave any number of data bytes and their associated acknowledge bits this number (contained in twsr) corresponds to a defined state of the 2-wire serial bus. the prescaler bits are zero or masked to zero from slave to master sla w a data ap or s a data a data $60 $68 $80 $80 $a0 $88 a p or s a n $90 $90 $a0 $98 p or s a reception of the general call address and one or more data bytes a $70 general call data ap or s a data $78 a atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 202 22.7.4 slave transmitter mode in the slave transmitter mode, a number of data bytes are transmitted to a master receiver (see figure 22-17 ). all the status codes mentioned in this section a ssume that the prescaler bits are zero or are masked to zero. figure 22-17.data transfer in slave transmitter mode to initiate the slave transmitter mode, tw ar and twcr must be initialized as follows: the upper seven bits are the address to which the 2-wire seri al interface will respond when addressed by a master. if the lsb is set, the twi will respond to the general call address (0 x00), otherwise it will ignore the general call address. twen must be written to one to enable the twi. the twea bit must be written to one to enable the acknowledgement of the device?s own slave address or the general call address. twsta and twsto must be written to zero. when twar and twcr have been initialized, the twi waits unti l it is addressed by its own slave address (or the general call address if enabled) followed by the data direction bit. if the direction bit is ?1? (read), the twi will operate in st mod e, otherwise sr mode is entered. after its own slave address and the write bit have been received, the twint flag is set and a valid status code can be read from twsr . the status code is used to determine the appropriate software action. the appropriate action to be taken for each status code is detailed in table 22-6 . the slave transmitter mode may also be entered if arbitration is lost while the twi is in the master mode (see state 0xb0). if the twea bit is written to zero during a transfer, the twi will transmit the last byte of the transfer. state 0xc0 or state 0xc8 will be entered, depending on whether the ma ster receiver transmits a nack or ack after the final byte. the twi is switched to the not addressed slave mode, and will ignore the master if it continues the transfer. thus the master receiver receives all ?1? as serial data. state 0xc8 is entered if the master demands additi onal data bytes (by transmitting ack), even though the slave has transmitted the last byte (twea zero and expecting nack from the master). while twea is zero, the twi does not respond to its own slave address. however, the 2-wire se rial bus is still monitored and address recognition may resume at any time by sett ing twea. this implies that the twea bit may be used to temporarily isolate the twi from the 2-wire serial bus. in all sleep modes other than idle mode, the clock system to the twi is turned off. if the twea bit is set, the interface can still acknowledge its own slave address or the general call addr ess by using the 2-wire serial bus clock as a clock source. the part will then wake up from sleep and the twi will hold the scl clock will low during the wake up and until the twint flag is cleared (by writing it to one). further data transmission will be carried out as normal, with the avr clocks running as normal. observe that if the avr is set up with a long start-up time, the scl line may be held low for a long time, blocking other data transmissions. note that the 2-wire serial interface data register ? twdr does not reflect the last byte present on the bus when waking up from these sleep modes. twar twa6 twa5 twa4 twa3 twa2 twa1 twa0 twgce value device?s own slave address twcr twint twea twsta twsto twwc twen ? twie value 0 100 01 0 x device 1 slave transmitter sda v cc scl device 3 device n ........ r1 r2 device 2 master receiver 203 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 22-6. status codes for slave transmitter mode status code (twsr) prescaler bits are 0 status of the 2-wire serial bus and 2-wire serial interface hardware application software response next action taken by twi hardware to/from twdr to twcr sta sto twint twea 0xa8 own sla+r has been received; ack has been returned load data byte or load data byte x x 0 0 1 1 0 1 last data byte will be transmitted and not ack should be received data byte will be transmitted and ack should be received 0xb0 arbitration lost in sla+r/w as master; own sla+r has been received; ack has been returned load data byte or load data byte x x 0 0 1 1 0 1 last data byte will be transmitted and not ack should be received data byte will be transmitted and ack should be received 0xb8 data byte in twdr has been transmitted; ack has been received load data byte or load data byte x x 0 0 1 1 0 1 last data byte will be transmitted and not ack should be received data byte will be transmitted and ack should be received 0xc0 data byte in twdr has been transmitted; not ack has been received no twdr action or no twdr action or no twdr action or no twdr action 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 switched to the not addressed slave mode; no recognition of own sla or gca switched to the not addressed slave mode; own sla will be recognized; gca will be recognized if twgce = ?1? switched to the not addressed slave mode; no recognition of own sla or gca; a start condition will be transmitted when the bus becomes free switched to the not addressed slave mode; own sla will be recognized; gca will be recognized if twgce = ?1?; a start condition will be transmitted when the bus becomes free 0xc8 last data byte in twdr has been transmitted (twea = ?0?); ack has been received no twdr action or no twdr action or no twdr action or no twdr action 0 0 1 1 0 0 0 0 1 1 1 1 0 1 0 1 switched to the not addressed slave mode; no recognition of own sla or gca switched to the not addressed slave mode; own sla will be recognized; gca will be recognized if twgce = ?1? switched to the not addressed slave mode; no recognition of own sla or gca; a start condition will be transmitted when the bus becomes free switched to the not addressed slave mode; own sla will be recognized; gca will be recognized if twgce = ?1?; a start condition will be transmitted when the bus becomes free atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 204 figure 22-18.formats and states in the slave transmitter mode 22.7.5 miscellaneous states there are two status code s that do not correspond to a defined twi state, see table 22-7 . status 0xf8 indicates that no relevant information is availabl e because the twint flag is not set. this occurs between other states, and when the twi is not involved in a serial transfer. status 0x00 indicates that a bus error has occurred during a 2- wire serial bus transfer. a bus error occurs when a start or stop condition occurs at an illegal position in the format fram e. examples of such illegal positions are during the serial transfer of an address byte, a data byte, or an acknowledge bit. when a bus error occurs, twin t is set. to recover from a bus error, the twsto flag must set and twint must be cleared by writing a logic one to it. this causes the twi to enter the not addressed slave mode and to clear th e twsto flag (no other bits in twcr are affected). the sda and scl lines are released, and no stop condition is transmitted. s reception of the own slave address and one or more data bytes last data byte transmitted. switched to not adressed slave (twea = 0 a rbitration lost as master and addressed as slave from master to slave any number of data bytes and their associated acknowledge bits this number (contained in twsr) corresponds to a defined state of the 2-wire serial bus. the prescaler bits are zero or masked to zero from slave to master sla r a data a p or s a data all 1s a data $a8 $b0 $b8 $c0 $c8 a p or s a n table 22-7. miscellaneous states status code (twsr) prescaler bits are 0 status of the 2-wire serial bus and 2-wire serial interface hardware application software response next action taken by twi hardware to/from twdr to twcr sta sto twint twea 0xf8 no relevant state information available; twint = ?0? no twdr action no twcr action wait or proceed current transfer 0x00 bus error due to an illegal start or stop condition no twdr action 0 1 1 x only the internal hardware is affected, no stop condition is sent on the bus. in all cases, the bu s is released and twsto is cleared. 205 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 22.7.6 combining several twi modes in some cases, several twi modes must be combined in order to complete the desired action. consider for example reading data from a serial eeprom. ty pically, such a transfer involves the following steps: 1. the transfer must be initiated. 2. the eeprom must be instructed what location should be read. 3. the reading must be performed. 4. the transfer must be finished. note that data is transmitted both from master to slave and vice versa. the master must instru ct the slave what location it wants to read, requiring the use of the mt mode. subsequently, data must be read from the sl ave, implying the use of the mr mode. thus, the transfer direction must be changed. the mast er must keep control of the bus during al l these steps, and the steps should be carri ed out as an atomical operat ion. if this principle is violated in a multi ma ster system, another maste r can alter the data pointer in the eeprom between steps 2 and 3, and the master will read the wrong data location. such a change in transfer direction is accomplished by transmitti ng a repeated start between the transmission of the address byte and reception of the da ta. after a repeated start, the master keeps ownership of the bus. the following figure shows the flow in this transfer. figure 22-19.combining several twi modes to access a serial eeprom 22.8 multi-master systems and arbitration if multiple masters are connec ted to the same bus, transmissions may be init iated simultaneously by one or more of them. the twi standard ensures that such situat ions are handled in such a way that one of the masters will be allowed to proceed with the transfer, and that no data will be lost in the process. an example of an arbi tration situation is depicted below, wher e two masters are trying to trans mit data to a slave receiver. figure 22-20.an arbitration example several different scenarios may arise dur ing arbitration, as described below: two or more masters are performing i dentical communication with the same slave. in this case, neither the slave nor any of the masters will know about the bus contention. two or more masters are accessing the same slave with differ ent data or direction bit. in this case, arbitration will occur, either in the read/write bit or in the data bits. the masters trying to output a one on sda while another master outputs a zero will lose the arbitration. losing master s will switch to not addressed slave mode or wait until the bus is free and transmit a new start condition, depending on application software action. s s = start p = stop r s = repeated start p r s a sla + w a a a address master transmitter transmitted from master to slave transmitted from slave to master master receiver data sla + r device 1 master transmitter sda scl v cc device n ........ r1 r2 device 2 master transmitter device 3 slave receiver atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 206 two or more masters are accessing different slaves. in this case, arbitration will occur in the sla bits. masters trying to output a one on sda while another master outputs a zero will lose the arbitration. masters losing arbitration in sla will switch to slave mode to check if they are being addre ssed by the winning master. if addressed, they will switch to sr or st mode, depending on the value of the read/write bit. if they are not being addressed, they will switch to not addressed slave mode or wait until the bus is free and transmit a new star t condition, depending on application software action. this is summarized in figure 22-21 . possible status values are given in circles. figure 22-21.possible status codes caused by arbitration 22.9 register description 22.9.1 twbr ? twi bi t rate register ? bits 7...0 ? twi bit rate register twbr selects the division factor for the bit rate generator. th e bit rate generator is a frequ ency divider which generates the scl clock frequency in the master modes. see section 22.5.2 ?bit rate generator unit? on page 187 for calculating bit rates. 22.9.2 twcr ? twi control register the twcr is used to control the operation of the twi. it is used to enable the twi, to initiate a master access by applying a start condition to the bus, to generate a receiver acknowledge, to generate a stop condition, and to control halting of the bus while the data to be written to the bus are written to the twdr. it also indica tes a write collision if data is attempted written to twdr while the register is inaccessible. own address/ general call received direction twi bus will be released and not addressed slave mode will be entered a start condition will be transmitted when the bus becomes free data byte will be received and not ack will be returned data byte will be received and ack will be returned last data byte will be transmitted and not ack should be received data byte will be transmitted and ack should be received start sla no yes write read 38 68/78 arbitration lost in sla arbitration lost in data data stop b0 bit 76543210 (0xb8) twbr7 twbr6 twbr5 twbr4 twbr3 twbr2 twbr1 twbr0 twbr read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 bit 76543210 (0xbc) twint twea twsta twsto twwc twen ? twie twcr read/write r/w r/w r/w r/w r r/w r r/w initial value00000000 207 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 ? bit 7 ? twint: twi interrupt flag this bit is set by hardware when the twi has finished its curr ent job and expects application software response. if the i-bit i n sreg and twie in twcr are set, the mcu will jump to the tw i interrupt vector. while the twint flag is set, the scl low period is stretched. the twint flag must be cleared by software by writing a logic one to it. note that this flag is not automatically cleared by hardware when execut ing the interrupt routine. also note that clearing this flag starts the operation of the twi, so all accesses to the twi address register (twar) , twi status register (twsr), and twi data register (twdr) must be complete before clearing this flag. ? bit 6 ? twea: twi enable acknowledge bit the twea bit controls the generation of the acknowledge pulse. if the twea bit is written to one, the ack pulse is generated on the twi bus if the following conditions are met: 1. the device?s own slave address has been received. 2. a general call has been received, while the twgce bit in the twar is set. 3. a data byte has been received in master receiver or slave receiver mode. by writing the twea bit to zero, the device can be virtually disconnected from the 2-wire serial bus temporarily. address recognition can then be resumed by writing the twea bit to one again. ? bit 5 ? twsta: twi start condition bit the application writes the twsta bit to one when it desires to become a master on the 2-wire serial bus. the twi hardware checks if the bus is avail able, and gener ates a start condition on the bus if it is free. however, if the bus is not free, the twi waits until a stop condition is detect ed, and then generates a new start cond ition to claim the bus master status. twsta must be cleared by software when the start condition has been transmitted. ? bit 4 ? twsto: twi stop condition bit writing the twsto bit to one in master mode will generate a stop condition on the 2-wire serial bus. when the stop condition is executed on the bus, the twsto bit is cleared automatically. in slav e mode, setting the twsto bit can be used to recover from an error condition. this will not generate a stop condition, but the twi returns to a well-defined unaddressed slave mode and releases the sc l and sda lines to a high impedance state. ? bit 3 ? twwc: twi write collision flag the twwc bit is set when attemp ting to write to the twi data register ? twdr when twint is low. this flag is cleared by writing the twdr register when twint is high. ? bit 2 ? twen: twi enable bit the twen bit enables twi operation and activates the twi interf ace. when twen is written to one, the twi takes control over the i/o pins connected to the scl and sda pins, enabling the slew-rate limiters and spike filt ers. if this bit is written to zero, the twi is swit ched off and all twi transmissions are termina ted, regardless of any ongoing operation. ? bit 1 ? reserved this bit is a reserved bit and will always read as zero. ? bit 0 ? twie: twi interrupt enable when this bit is written to one, and the i- bit in sreg is set, the twi interrupt r equest will be activated for as long as the twint flag is high. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 208 22.9.3 twsr ? twi status register ? bits 7:3 ? tws: twi status these 5 bits reflect the status of the twi logic and the 2-wire serial bus. the di fferent status codes are described later in t his section. note that the value read from twsr contains both the 5-bit status value and the 2-bit prescaler value. the application designer should mask the prescaler bits to zero when checking the status bits. this makes status checking independent of prescaler setting. this approach is used in this datasheet, unless otherwise noted. ? bit 2 ? reserved this bit is reserved and will always read as zero. ? bits 1:0 ? twps: twi prescaler bits these bits can be read and written, and control the bit rate prescaler. to calculate bit rates, see section 22.5.2 ?bit rate generator unit? on page 187 . the value of twps1...0 is used in the equation. 22.9.4 twdr ? twi data register in transmit mode, twdr contains the nex t byte to be transmitted. in receive mo de, the twdr contains the last byte received. it is writable while the twi is not in the process of shifting a byte. this occurs when the twi interrupt flag (twint ) is set by hardware. note that the data register cannot be init ialized by the user before the fi rst interrupt occurs. the data i n twdr remains stable as long as twint is set. while data is shifted out, data on the bus is simultaneously shifted in. twdr always contains the last byte present on the bus, except a fter a wake up from a sleep mode by the twi interrupt. in this case, the contents of twdr is undefined. in the case of a lost bus arbitr ation, no data is lost in the transition from ma ster to slave. handling of the ack bit is contr olled automatically by the twi logic, the cpu cannot access the ack bit directly. ? bits 7:0 ? twd: twi data register these eight bits constitute the next data byte to be transmitte d, or the latest data byte received on the 2-wire serial bus. bit 76543210 (0xb9) tws7 tws6 tws5 tws4 tws3 ? twps1 twps0 twsr read/write rrrrrrr/wr/w initial value11111000 table 22-8. twi bit rate prescaler twps1 twps0 prescaler value 0 0 1 0 1 4 1 0 16 1 1 64 bit 76543210 (0xbb) twd7 twd6 twd5 twd4 twd3 twd2 twd1 twd0 twdr read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value11111111 209 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 22.9.5 twar ? twi (slave) address register the twar should be loaded with the 7-bit slave address (in the seven most significant bits of twar) to which the twi will respond when programmed as a slave transmitter or receiver , and not needed in the master modes. in multi master systems, twar must be set in masters which c an be addressed as slaves by other masters. the lsb of twar is used to enable recognition of the general call address (0x00). there is an associated address comparator that looks for the slave address (or general call address if enabled) in the received serial address. if a match is found, an interrupt request is generated. ? bits 7:1 ? twa: twi (slave) address register these seven bits constitute the slave address of the twi unit. ? bit 0 ? twgce: twi general call recognition enable bit if set, this bit enables the recognition of a general call given over the 2-wire serial bus. 22.9.6 twamr ? twi (slave) address mask register ? bits 7:1 ? twam: twi address mask the twamr can be loaded with a 7-bit slave address mask. each of the bits in twamr can mask (disable) the corresponding address bits in the twi address register (twar) . if the mask bit is set to one then the address match logic ignores the compare between the incoming address bit and the corresponding bit in twar. figure 22-22 shown the address match logic in detail. figure 22-22.twi address ma tch logic, block diagram ? bit 0 ? reserved this bit is an unused bit in the atmel ? atmega48pa/88pa/168pa, and will always read as zero. bit 76543210 (0xba) twa6 twa5 twa4 twa3 twa2 twa1 twa0 twgce twar read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value11111110 bit 76543210 (0xbd) twam[6:0] ? twamr read/write r/w r/w r/w r/w r/w r/w r/w r initial value00000000 twar0 address match twamr0 address bit comparator 6 to 1 address bit comparator 0 address bit 0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 210 23. analog comparator 23.1 overview the analog comparator compares the input values on the positive pin ain0 and negative pin ain1. when the voltage on the positive pin ain0 is higher than the vo ltage on the negative pin ain1, the analog comparator output, aco, is set. the comparator?s output can be set to trigge r the timer/counter1 input capt ure function. in addition, th e comparator can trigger a separate interrupt, exclusive to the analog comparator. the user can select interrupt triggering on comparator output rise, fall or toggle. a block diagram of the comparator and its surrounding logic is shown in figure 23-1 . the power reduction adc bit, pradc, in section 10.10 ?minimizing power consumption? on page 37 must be disabled by writing a logical zero to be able to use the adc input mux. figure 23-1. analog comparator block diagram (2) notes: 1. see table 23-1 on page 210 . 2. refer to figure 1-1 on page 3 and table 14-9 on page 76 for analog comparator pin placement. 23.2 analog comparator multiplexed input it is possible to select any of the adc7...0 pins to replac e the negative input to the analog comparator. the adc multiplexer is used to select this input, and consequently, the adc must be switched off to utilize this f eature. if the analog comparator multiplexer enable bit (acme in adcsrb) is set and the adc is switched off (aden in adcsra is zero), mux2...0 in admux select the input pin to replace the negativ e input to the analog comparator, as shown in table 23-1 . if acme is cleared or aden is set, ain1 is applied to the negative input to the analog comparator. bandgap reference interrupt select ain0 vcc acis1 adc multiplexer output (1) acis0 acic aco acie analog comparator irq aci to t/c1 capture trigger mux acbg acme aden acd + - ain1 table 23-1. analog comparator multiplexed input acme aden mux2...0 analog comparator negative input 0 x xxx ain1 1 1 xxx ain1 1 0 000 adc0 1 0 001 adc1 1 0 010 adc2 1 0 011 adc3 1 0 100 adc4 1 0 101 adc5 1 0 110 adc6 1 0 111 adc7 211 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 23.3 register description 23.3.1 adcsrb ? adc control and status register b ? bit 6 ? acme: analog comparator multiplexer enable when this bit is written logic one and the adc is switched of f (aden in adcsra is zero), the adc multiplexer selects the negative input to the analog comparator. when this bit is written logic zero, ain1 is applied to the negative input of the analog comparator. for a detailed description of this bit, see section 23.2 ?analog comparator multiplexed input? on page 210 . 23.3.2 acsr ? analog comparator control and status register ? bit 7 ? acd: analog comparator disable when this bit is written logic one, the power to the analog compar ator is switched off. this bit can be set at any time to turn off the analog comparator. this will reduce power consumption in active and idle mode. when changing the acd bit, the analog comparator interrupt must be disabled by clearing the acie bit in acsr. otherwise an interrupt can occur when the bit is changed. ? bit 6 ? acbg: analog comparator bandgap select when this bit is set, a fixed bandgap reference voltage replaces the positive input to the analog comparator. when this bit is cleared, ain0 is applied to the positive in put of the analog comparat or. when the bandgap reference is used as input to the analog comparator, it will take a certain time for the voltage to stabilize. if not stabilized, th e first conversion may give a wrong value. see section 11.7 ?internal voltage reference? on page 44 . ? bit 5 ? aco: analog comparator output the output of the analog compar ator is synchronized and then di rectly connected to aco. the synchronization introduces a delay of 1 - 2 clock cycles. ? bit 4 ? aci: analog comparator interrupt flag this bit is set by hardware when a comparator output event triggers the interrupt mode defined by acis1 and acis0. the analog comparator interrupt routine is execut ed if the acie bit is set and the i-bit in sreg is set. aci is cleared by hardware when executing the corresponding interrupt handling vector. alter natively, aci is cleared by writing a logic one to the flag. ? bit 3 ? acie: analog comparator interrupt enable when the acie bit is written logic one and the i-bit in the stat us register is set, the analog comparator interrupt is activate d. when written logic zero, the interrupt is disabled. ? bit 2 ? acic: analog comparator input capture enable when written logic one, this bit enables the input capture function in timer/counter1 to be triggered by the analog comparator. the comparator out put is in this case directly connected to the input capture front- end logic, making the comparator utilize the noise c anceler and edge select features of the timer/ counter1 input capture interrupt. when written logic zero, no connection between the analog comparator and t he input capture function exists. to make the comparator trigger the timer/counter1 input capture in terrupt, the icie1 bit in th e timer interrupt mask register (timsk1) must be set. bit 7 6543210 (0x7b) ?acme ? ? ? adts2 adts1 adts0 adcsrb read/write r r/w r r r r/w r/w r/w initial value0 0000000 bit 76543210 0x30 (0x50) acd acbg aco aci acie acic acis1 acis0 acsr read/write r/w r/w r r/w r/w r/w r/w r/w initial value00n/a00000 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 212 ? bits 1, 0 ? acis1, acis0: analog comparator interrupt mode select these bits determine which comparator events that trigger th e analog comparator interrupt. the different settings are shown in table 23-2 . when changing the acis1/acis0 bits, the a nalog comparator interrupt must be dis abled by clearing its interrupt enable bit in the acsr register. otherwise an inte rrupt can occur when the bits are changed. 23.3.3 didr1 ? digital input disable register 1 ? bit 7:2 ? reserved these bits are unused bits in the atmel ? atmega48pa/88pa/168pa, and will always read as zero. ? bit 1, 0 ? ain1d, ain0d: ai n1, ain0 digital input disable when this bit is written logic one, the digital input buffer on the ain1/0 pin is disabled. the corresponding pin register bit will always read as zero when this bit is set. when an analog signal is applied to the ain1/0 pin and the digital input from this pi n is not needed, this bit should be written logic one to reduce power consumption in the digital input buffer. table 23-2. acis1/acis0 settings acis1 acis0 interrupt mode 0 0 comparator interrupt on output toggle 0 1 reserved 1 0 comparator interrupt on falling output edge 1 1 comparator interrupt on rising output edge bit 76543210 (0x7f) ??????ain1dain0ddidr1 read/write rrrrrrr/wr/w initial value00000000 213 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 24. analog-to-digital converter 24.1 features 10-bit resolution 0.5 lsb integral non-linearity 2 lsb absolute accuracy 13 - 260s conversion time up to 76.9ksps (up to 15k sps at maximum resolution) 6 multiplexed single ended input channels 2 additional multiplexed single ended input channels temperature sensor input channel optional left adjustment for adc result readout 0 - v cc adc input voltage range selectable 1.1v adc reference voltage free running or single conversion mode interrupt on adc conversion complete sleep mode noise canceler 24.2 overview the atmel ? atmega48pa/88pa/168pa features a 10-bit successive approximation adc. the adc is connected to an 8- channel analog multiplexer which allows eight single-ended voltage inputs constructed from the pins of port a. the single- ended voltage inputs refer to 0v (gnd). the adc contains a sample and hold circuit which ensures that the input voltage to the adc is held at a constant level during conversion. a block diagram of the adc is shown in figure 24-1 on page 214 . the adc has a separate analog supply voltage pin, av cc . av cc must not differ more than 0.3v from v cc . see section 24.6 ?adc noise canceler? on page 220 on how to connect this pin. internal reference voltages of nominally 1.1v or av cc are provided on-chip. the voltage reference may be externally decoupled at the aref pin by a ca pacitor for better noise performance. the power reduction adc bit, pradc, in section 10.10 ?minimizing power consumption? on page 37 must be disabled by writing a logical zero to enable the adc. the adc converts an analog input voltage to a 10-bit digital value through successive approximation. the minimum value represents gnd and the maximum value represents the voltage on the aref pin minus 1 lsb. optionally, av cc or an internal 1.1v reference voltage may be connected to the aref pi n by writing to the refsn bits in the admux register. the internal voltage reference may thus be decoupled by an external capacitor at the aref pin to improve noise immunity. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 214 figure 24-1. analog to digital c onverter block schematic operation the analog input channel is selected by writing to the mux bits in admux. any of the adc input pins, as well as gnd and a fixed bandgap voltage reference, can be selected as single ended inputs to the adc. the adc is enabled by setting the adc enable bit, aden in adcsra. voltage reference and input ch annel selections will not go into effect until aden is set. the adc does not consume power when aden is cleared, so it is recommended to switch off the adc before entering power saving sleep modes. the adc generates a 10-bit result which is presented in the adc data registers, adch and adcl. by default, the result is presented right adjusted, but can optionally be presen ted left adjusted by setting the adlar bit in admux. prescaler - + 15 0 adc multiplexer select (admux) mux decoder avcc 8-bit data bus aref gnd adc7 adc6 adc5 adc4 adc3 adc2 adc1 adc0 10-bit dac input mux sample and hold comparator internal 1.1v reference conversion logic adc conversion complete irq adc ctrl and status register (adcsra) adc data register (adch/adcl) adif aden refs1 refs0 adlar mux3 mux2 mux1 mux0 channel selection adsc adif adfr adps2 adps1 adps0 adie bandgap reference temperature sensor adc[9:0] adc multiplexer output 215 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 if the result is left adjusted and no more than 8-bit precision is required, it is sufficient to read adch. otherwise, adcl mus t be read first, then adch, to ensure that the content of the data registers belongs to the same conversion. once adcl is read, adc access to data registers is blocked. this means t hat if adcl has been read, and a conversion completes before adch is read, neither register is updated and the result from the conversion is lost. when adch is read, adc access to the adch and adcl registers is re-enabled. the adc has its own interrupt which can be triggered when a conversion completes. when adc access to the data registers is prohibited between reading of ad ch and adcl, the interrupt will trigger even if the result is lost. 24.3 starting a conversion a single conversion is started by disabli ng the power reduction adc bit, pradc, in section 10.10 ?minimizing power consumption? on page 37 by writing a logical zero to it and writing a logical one to the adc start conversion bit, adsc. this bit stays high as long as the conversion is in progress and will be cleared by hardware when the conversion is completed. if a different data channel is selected while a conversion is in progress, the adc will finish the current conversion before performing the channel change. alternatively, a conversion can be triggered automatically by various sources. auto triggering is enabled by setting the adc auto trigger enable bit, adate in adcsra. the trigger source is selected by setting the adc trigger select bits, adts in adcsrb (see description of the adts bits for a list of the trigger sources). when a positive edge occurs on the selected trigger signal, the adc prescaler is reset and a conversion is star ted. this provides a method of starting conversions at fixed intervals. if the trigger signal still is set when the conversion comp letes, a new conversion will not be started. if another positive edge occurs on the trigger signal dur ing conversion, the edge will be ignored. no te that an interrupt flag will be set even if the specific interrupt is disabled or the global interrupt enable bit in sr eg is cleared. a c onversion can thus be triggered without causing an interrupt. however, the interrupt fl ag must be cleared in order to trigger a new conversion at the next interrupt event. figure 24-2. adc auto trigger logic using the adc interrupt flag as a trigger source makes the a dc start a new conversion as soon as the ongoing conversion has finished. the adc then operates in free running mode, constant ly sampling and updating the adc data register. the first conversion must be started by writing a logical one to the adsc bit in adcsra. in this mode the adc will perform successive conversions independently of whether t he adc interrupt flag, adif is cleared or not. if auto triggering is enabled, single conv ersions can be started by writing adsc in adcsra to one. adsc can also be used to determine if a conversion is in progress. the adsc bit wi ll be read as one during a conv ersion, independently of how the conversion was started. edge detector conversion logic prescaler adif adsc adate start clk adc adts[2:0] . . . . source 1 source n atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 216 24.4 prescaling and conversion timing figure 24-3. adc prescaler by default, the successive approximation circuitry requires an input clock frequency between 50khz and 200khz to get maximum resolution. if a lower resolution than 10 bits is needed, the input clock frequency to the adc can be higher than 200khz to get a higher sample rate. the adc module contains a prescaler, which generates an acceptable adc clock frequency from any cpu frequency above 100khz. the prescaling is set by the adps bits in adcsra. the prescaler starts counting from the moment the adc is switched on by setting the aden bit in adcsra. the prescaler keeps running for as long as the aden bit is set, and is continuously reset when aden is low. when initiating a single ended conversion by setting the adsc bi t in adcsra, the conversion starts at the following rising edge of the adc clock cycle. a normal conversion takes 13 adc clock cycles . the first conversion after the adc is switched on (aden in adcsra is set) takes 25 adc clock cycles in order to initialize the analog circuitry. when the bandgap reference voltage is used as input to the adc, it will ta ke a certain time for the voltage to stabilize. if no t stabilized, the first value read after the first conversion may be wrong. the actual sample-and-hold takes place 1.5 adc clock cycles after the start of a normal conversion and 13.5 adc clock cycles after the start of an first conversion. when a conversion is complete, the result is written to the adc data registers, and adif is set. in single conversion mode, adsc is clear ed simultaneously. the software may then set adsc again, and a new conversion will be initiated on the first rising adc clock edge. when auto triggering is used, the prescaler is reset when the trigger event occurs. this assures a fixed delay from the trigger event to the start of conversi on. in this mode, the sample-a nd-hold takes place two adc clo ck cycles after the rising edge on the trigger source signal. thre e additional cpu clock cycles ar e used for synchronization logic. in free running mode, a new conversion w ill be started immediately after the conversion completes, while adsc remains high. for a summary of conversion times, see table 24-1 on page 218 . 7-bit adc prescaler adc clock source aden start ck adps0 adps1 adps2 reset ck/2 ck/4 ck/8 ck/16 ck/32 ck/64 ck/128 217 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 24-4. adc timing diagram, first conversion (single conversion mode) figure 24-5. adc timing diag ram, single conversion 1 2 12 13 14 15 16 17 18 19 20 21 22 23 24 25 1 2 3 cycle number first conversion sign and msb of result lsb of result next conversion mux and refs update conversion complete mux and refs update adc clock aden adsc adif adch adcl sample and hold 12345678910111213 123 cycle number one conversion sign and msb of result lsb of result next conversion mux and refs update conversion complete mux and refs update adc clock adsc adif adch adcl sample and hold atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 218 figure 24-6. adc timing diagram, auto triggered conversion figure 24-7. adc timing diagra m, free running conversion table 24-1. adc conversion time condition sample and hold (cycles from start of conversion) conversion time (cycles) first conversion 13.5 25 normal conversions, single ended 1.5 13 auto triggered conversions 2 13.5 12345678910111213 12 cycle number one conversion sign and msb of result lsb of result next conversion mux and refs update prescaler reset prescale r reset conversion complete adc clock trigger source adif adate adch adcl sample and hold 11 12 13 1 2 3 4 cycle number one conversion sign and msb of result lsb of result next conversion mux and refs update conversion complete adc clock adsc adif adch adcl sample and hold 219 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 24.5 changing channel or reference selection the muxn and refs1:0 bits in the admux register are single buffered through a temporary r egister to which the cpu has random access. this ensures that the channels and referenc e selection only takes place at a safe point during the conversion. the channel and reference select ion is continuously updated until a conv ersion is started. once the conversion starts, the channel and reference selection is locked to ensure a sufficient sampling time for the adc. continuous updating resumes in the last adc clock cycle before the conversion completes (adif in adcsra is set). note that the conversion starts on the following rising adc clock edge after adsc is wri tten. the user is thus advised not to write new channel or reference selection values to admux until one adc clock cycle after adsc is written. if auto triggering is used, the exact time of the triggering event can be indetermin istic. special care must be taken when updating the admux register, in order to control which conversion will be affected by the new settings. if both adate and aden is written to one, an interrupt event can occur at any time . if the admux register is changed in this period, the user cannot tell if the next conversion is based on the old or th e new settings. admux can be safely updated in the following ways: a. when adate or aden is cleared. b. during conversion, minimum one a dc clock cycle after the trigger event. c. after a conversion, before the interrupt flag used as trigger source is cleared. when updating admux in one of these conditions, the new settings will affect the next adc conversion. 24.5.1 adc input channels when changing channel selections, the user should observe the following guidelines to ensure that the correct channel is selected: in single conversion mode, always select the channel before starting the conversion. the channel selection may be changed one adc clock cycle after writing one to adsc. however, the simp lest method is to wait fo r the conversion to complete before changing the channel selection. in free running mode, always select the ch annel before starting the first conversion. the channel selection may be changed one adc clock cycle after writing one to adsc. however, the simp lest method is to wait for the first conversion to complete, and then change the channel selection. si nce the next conversion has already star ted automatically, the next result will reflect the previous channel selection. subsequent conversions will reflect the new channel selection. 24.5.2 adc voltage reference the reference voltage for the adc (v ref ) indicates the conversion range for the adc. single ended channels that exceed v ref will result in code s close to 0x3ff. v ref can be selected as either av cc , internal 1.1v reference, or external aref pin. av cc is connected to the adc through a passive switch. the inte rnal 1.1v reference is generated from the internal bandgap reference (v bg ) through an internal amplifier. in either case, the exte rnal aref pin is directly c onnected to the adc, and the reference voltage can be made more immune to noise by connecting a capacitor between the aref pin and ground. v ref can also be measured at the aref pin with a high impedance voltmeter. note that v ref is a high impedance source, and only a capacitive load should be connected in a system. if the user has a fixed voltage source connected to the aref pin, the user may not use the other reference voltage options in the application, as they will be shorte d to the external voltage. if no external voltage is applied to the aref pin, the use r may switch between av cc and 1.1v as reference selection. the first adc conversion result after switching reference voltage source may be inaccurate, and the user is advised to discard this result. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 220 24.6 adc noise canceler the adc features a noise canceler that enables conversion during sleep mode to reduce noise induced from the cpu core and other i/o peripherals. the noise canceler can be used with adc noise reduction and idle mode. to make use of this feature, the following procedure should be used: a. make sure that the adc is enabled and is not busy co nverting. single conversion mode must be selected and the adc conversion complete interrupt must be enabled. b. enter adc noise reduction mode (or idle mode). the adc will start a conversion once the cpu has been halted. c. if no other interrupts occur before t he adc conversion completes, the adc interrupt will wake up the cpu and execute the adc conversion complete interrupt routine. if another interrupt wakes up the cpu before the adc conversion is complete, that interrup t will be executed, and an adc conversion complete interrupt request will be generated when the adc conversion completes. the cpu wi ll remain in active mode until a new sleep command is executed. note that the adc will not be automatically turned off when entering ot her sleep modes than idle mode and adc noise reduction mode. the user is advised to write zero to aden before entering such sleep modes to avoid excessive power consumption. 24.6.1 analog in put circuitry the analog input circuitry for single ended channels is illustrated in figure 24-8 an analog source applied to adcn is subjected to the pin capacitance and input l eakage of that pin, regardless of whether t hat channel is selected as input for the adc. when the channel is selected, t he source must drive the s/h capacitor through the series resistance (combined resistance in the input path). the adc is optimized for analog signals wi th an output impedance of approximately 10k or less. if such a source is used, the sampling time will be negligible. if a source with higher impedance is used, the sampling time will depend on how long time the source needs to charge the s/h capacitor, with can vary widely. the user is recommended to only use low impedance sources with slowly varying signals, since this minimizes the required charge transfer to the s/h capacitor. signal components higher than the nyquist frequency (f adc /2) should not be present for eit her kind of channels, to avoid distortion from unpredictable signal convol ution. the user is advised to remove high frequency components with a low-pass filter before applying the signals as inputs to the adc. figure 24-8. analog input circuitry i il v cc /2 c s/h = 14pf i ih a dcn 1 to 100k 221 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 24.6.2 analog noise canceling techniques digital circuitry inside and outside the device generates emi which might affect the accuracy of analog measurements. if conversion accuracy is critical, the noise level can be reduced by applying the following techniques: a. keep analog signal paths as short as possible. make sure analog tracks run over the analog ground plane, and keep them well away from hi gh-speed switching digital tracks. b. the av cc pin on the device should be connected to the digital v cc supply voltage via an lc network as shown in figure 24-9 on page 221 . c. use the adc noise canceler function to reduce induced noise from the cpu. d. if any adc [3...0] port pins are used as digital outputs, it is essential that these do not switch while a conversion is in progress. however, using the 2-wire interface (adc4 and adc5) will only affect the conversion on adc4 and adc5 and not the other adc channels. figure 24-9. adc power connections gnd vcc pc5 (adc5/scl) pc4 (adc4/sda) pc3 (adc3) pc2 (adc2) pc1 (adc1) analog ground plane pc0 (adc0) adc7 gnd 100nf 10h avcc adc6 aref pb5 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 222 24.6.3 adc accura cy definitions an n-bit single-ended adc converts a voltage linearly between gnd and v ref in 2 n steps (lsbs). the lowest code is read as 0, and the highest code is read as 2 n -1. several parameters describe the deviation from the ideal behavior: offset: the deviation of the fi rst transition (0x000 to 0x001) compared to t he ideal transition (at 0.5 lsb). ideal value: 0 lsb. figure 24-10.offset error gain error: after adjusting for offset, the gain error is foun d as the deviation of the last transition (0x3fe to 0x3ff) compared to the ideal transition (at 1.5 lsb below maximum). ideal value: 0 lsb figure 24-11.gain error offset error output code ideal adc actual adc v ref input voltage output code ideal adc actual adc v ref input voltage gain error 223 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 integral non-linearity (inl): after adjusting for offset a nd gain error, the inl is the maximum deviation of an actual transition compared to an ideal transition for any code. ideal value: 0 lsb. figure 24-12.integral non-linearity (inl) differential non-linearity (dnl): the maxi mum deviation of the actual code widt h (the interval between two adjacent transitions) from the ideal code width (1 lsb). ideal value: 0 lsb. figure 24-13.differenti al non-linearity (dnl) quantization error: due to the qu antization of the input voltage into a finite number of codes, a range of input voltages (1 lsb wide) will code to the same value. always 0.5 lsb. absolute accuracy: the maximum deviation of an actual (unadjusted) transition compared to an ideal transition for any code. this is the compound effect of offset, gain error, differential error, non-linearity, and quantization error. ideal value: 0.5 lsb. output code ideal adc inl actual adc v ref input voltage output code 0x3ff 0x000 0 1 lsb dnl v ref input voltage atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 224 24.7 adc conversion result after the conversion is complete (adif is high), the conversi on result can be found in the adc result registers (adcl, adch). for single ended conversion, the result is where v in is the voltage on the selected input pin and v ref the selected voltage reference (see table 24-3 on page 225 and table 24-4 on page 226 ). 0x000 represents analog ground, and 0x3ff represents the select ed reference voltage minus one lsb. 24.8 temperature measurement the temperature measurement is based on an on-chip temperature sens or that is coupled to a single ended adc input. 1000 setting in mux[3..0] bits of admux register selects the temperature sensor. the internal 1.1v voltage reference, a 11 setting in refs[1..0] of admux, must al so be selected for the adc voltage reference source during the temperature sensor measurement. when the temperature sens or is enabled, the adc converter can be used in single conversion mode to measure the voltage over the temperature sensor. the measured voltage has a linear relationship to the temperature as described in table 24-2 . the voltage sensitivity is approximately 1lsb/c (142/128) a nd the accuracy of the temper ature measurement is 20c using the manufacturing calibration offset value (ts_adc_25[h..l]). the values described in table 24-2 are typical values. however, due to the process variation the temperature sensor output varies from one chip to another. 24.8.1 manufacturing calibration calibration values determined during test are available in the signature row. the temperature in degrees celsius can be calculated using the formula: where:. a. adch and adcl are the adc data register va lues obtained during temperature sensor reading. b. ts_adc_25_h and _l is the 10-bit adc temp sensor reading stored as two byte values during factory calibration at 25c in the signature row. c. the ratio 128/142 is the design compensation factor fo r the temperature sensor gain, as the temp sensor is slightly more sensitive than 1c/unit. d. the +25 is the offset compensation for the fact that the calibration values are obtained at +25c during factory calibration. see section 27.8.10 ?reading the signature row from software? on page 244 and table 27-5 on page 244 for signature row access and parameter addresses. adc v in 1024 v ref --------------------------- = table 24-2. sensor output code versus temperature (typical values) temperature/c ?40c +25c +125c 0x010d 0x0160 0x01e0 adch<<8 () adcl + () ts_adc_25_h<<8 () ts_adc_25_l + () ? 128 () 142 ------------------------------------------------------------------------------------------------------------------------------- ------------------------------------------------------------- 25 + 225 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 24.9 register description 24.9.1 admux ? adc multiple xer selectio n register ? bit 7:6 ? refs[1:0]: reference selection bits these bits select the voltage reference for the adc, as shown in table 24-3 . if these bits are changed during a conversion, the change will not go in effect until this conversion is comple te (adif in adcsra is set). the internal voltage reference options may not be used if an external refer ence voltage is being applied to the aref pin. ? bit 5 ? adlar: adc le ft adjust result the adlar bit affects the presentation of the adc conversion result in the adc data register. write one to adlar to left adjust the result. otherwise, the result is right adjusted. changing the adla r bit will affect the adc data register immediately, regardless of any ongoing conversions. for a complete description of this bit, see section 24.9.3 ?adcl and adch ? the adc data register? on page 227 . ? bit 4 ? reserved this bit is an unused bit in the atmel ? atmega48pa/88pa/168pa, and will always read as zero. ? bits 3:0 ? mux[3:0]: analog channel selection bits the value of these bits selects which ana log inputs are connected to the adc. see table 24-4 for details. if these bits are changed during a conversion, the change will not go in effect un til this conversion is complete (adif in adcsra is set). bit 76543210 (0x7c) refs1 refs0 adlar ? mux3 mux2 mux1 mux0 admux read/write r/w r/w r/w r r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 table 24-3. voltage reference selections for adc refs1 refs0 voltage reference selection 0 0 aref, internal v ref turned off 0 1 av cc with external capacitor (1) at aref pin 1 0 reserved 1 1 internal 1.1v voltage reference with external capacitor (1) at aref pin note: 1. note the value used for the external aref capacitor (e.g. 10nf) should be very much smaller than the decou- pling capacitor used on the avcc pin (e.g. 100 nf) to prevent possible switching glitches. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 226 24.9.2 adcsra ? adc control and status register a ? bit 7 ? aden: adc enable writing this bit to one enables the adc. by writing it to zero, the adc is turned o ff. turning the adc off while a conversion i s in progress, will terminate this conversion. ? bit 6 ? adsc: adc start conversion in single conversion mode, write this bit to one to start each conversion. in free running mode, write this bit to one to start the first conversion. the first conversion after adsc has been written after the adc has been en abled, or if adsc is written at the same time as th e adc is enabled, will take 25 adc clock cycles instead of the normal 13. this first conversion performs initialization of the adc. adsc will read as one as long as a conversion is in progress. when the conversion is complete, it returns to zero. writing zero to this bit has no effect. ? bit 5 ? adate: adc auto trigger enable when this bit is written to one, auto tr iggering of the adc is enabled . the adc will start a conversion on a positive edge of the selected trigger signal. the trigger s ource is selected by setting the adc trigger select bits, adts in adcsrb. ? bit 4 ? adif: adc interrupt flag this bit is set when an adc conversion completes and th e data registers are updated. the adc conversion complete interrupt is executed if the adie bit and the i-bit in sreg are set. adif is cleared by hardware when executing the corresponding interrupt handling vector. alter natively, adif is cleared by writing a logical one to the flag. beware that if doing a read-modify-write on adcsra, a pending interrupt can be di sabled. this also applies if the sbi and cbi instructions are used. table 24-4. input channel selections mux3...0 single ended input 0000 adc0 0001 adc1 0010 adc2 0011 adc3 0100 adc4 0101 adc5 0110 adc6 0111 adc7 1000 adc8 (1) 1001 (reserved) 1010 (reserved) 1011 (reserved) 1100 (reserved) 1101 (reserved) 1110 1.1v (v bg ) 1111 0v (gnd) note: 1. for temperature sensor. bit 76543210 (0x7a) aden adsc adate adif adie adps2 adps1 adps0 adcsra read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 227 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 ? bit 3 ? adie: adc interrupt enable when this bit is written to one and the i-bit in sreg is set, the adc conversion comp lete interrupt is activated. ? bits 2:0 ? adps[2:0]: adc prescaler select bits these bits determine the division factor between the system clock frequency and the input clock to the adc. 24.9.3 adcl and adch ? the adc data register 24.9.3.1adlar = 0 24.9.3.2adlar = 1 when an adc conversion is complete, the result is found in these two registers. when adcl is read, the adc data register is not updated unt il adch is read. consequently, if the result is left adjusted and no more than 8-bit precision is required, it is sufficie nt to read adch. otherwise, adcl must be read first, then adch. the adlar bit in admux, and the muxn bits in admux affect the way the result is read from the registers. if adlar is set, the result is left adjusted. if adlar is clea red (default), the resu lt is right adjusted. ? adc9:0: adc conversion result these bits represent the result fr om the conversion, as detailed in ?adc conversion result? on page 224 . table 24-5. adc prescaler selections adps2 adps1 adps0 division factor 0 0 0 2 0 0 1 2 0 1 0 4 0 1 1 8 1 0 0 16 1 0 1 32 1 1 0 64 1 1 1 128 bit 151413121110 9 8 (0x79) ?????? adc9 adc8 adch (0x78) adc7 adc6 adc5 adc4 adc3 adc2 adc1 adc0 adcl 76543210 read/write rrrrrrrr rrrrrrrr initial value00000000 00000000 bit 151413121110 9 8 (0x79) adc9 adc8 adc7 adc6 adc5 adc4 adc3 adc2 adch (0x78) adc1adc0?????? adcl 76543210 read/write rrrrrrrr rrrrrrrr initial value00000000 00000000 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 228 24.9.4 adcsrb ? adc control and status register b ? bit 7, 5:3 ? reserved these bits are reserved for future use. to ensure compatibility wi th future devices, these bits must be written to zero when adcsrb is written. ? bit 2:0 ? adts[2:0]: adc auto trigger source if adate in adcsra is written to one, t he value of these bits selects which source will trigger an adc conversion. if adate is cleared, the adts[2:0] settings will hav e no effect. a conversion will be trigger ed by the rising edge of the selected interrupt flag. note that switching from a trigger source that is clear ed to a trigger source that is set, will generate a posi tive edge on the trigger signal. if aden in adcsra is set, this will start a conversion. switching to free running mode (adts[2:0]=0) will not cause a trigger even t, even if the adc interrupt flag is set. 24.9.5 didr0 ? digital input disable register 0 ? bits 7:6 ? reserved these bits are reserved for future use. to ensure compatibility wi th future devices, these bits must be written to zero when didr0 is written. ? bit 5:0 ? adc5d...adc0d: ad c5...0 digital input disable when this bit is written logic one, the digital input buffer on the corresponding adc pin is disabled. the corresponding pin register bit will always read as zero when this bit is set. wh en an analog signal is applied to the adc5...0 pin and the digita l input from this pin is not needed, this bit should be written logic one to reduce power consumption in the digital input buffer . note that adc pins adc7 and adc6 do not have digital input bu ffers, and therefore do not require digital input disable bits. bit 76543210 (0x7b) ? acme ? ? ? adts2 adts1 adts0 adcsrb read/write r r/w r r r r/w r/w r/w initial value00000000 table 24-6. adc auto trig ger source selections adts2 adts1 adts0 trigger source 0 0 0 free running mode 0 0 1 analog comparator 0 1 0 external interrupt request 0 0 1 1 timer/counter0 compare match a 1 0 0 timer/counter0 overflow 1 0 1 timer/counter1 compare match b 1 1 0 timer/counter1 overflow 1 1 1 timer/counter1 capture event bit 76543210 (0x7e) ? ? adc5d adc4d adc3d adc2d adc1d adc0d didr0 read/write r r r/w r/w r/w r/w r/w r/w initial value00000000 229 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 25. debugwire on-chip debug system 25.1 features complete program flow control emulates all on-chip functions, both digital and analog, except reset pin real-time operation symbolic debugging support (both at c and assembler source level, or for other hlls) unlimited number of program break points (using software break points) non-intrusive operation electrical characteristics identical to real device automatic configuration system high-speed operation programming of non-volatile memories 25.2 overview the debugwire on-chip debug system uses a one-wire, bi-direc tional interface to control the program flow, execute avr instructions in the cpu and to progra m the different non-volatile memories. 25.3 physical interface when the debugwire enable (dwen) fuse is programmed and lock bits are unprogrammed, the debugwire system within the target device is activated. the reset port pin is co nfigured as a wire-and (open-drain) bi-directional i/o pin with pull-up enabled and becomes the communication gateway between target and emulator. figure 25-1. the debugwire setup figure 25-1 shows the schematic of a target mcu, with debugwire enabled, and the emulator connector. the system clock is not affected by debugwire and will always be th e clock source selected by the cksel fuses. when designing a system where debugwire will be used, the following observations must be made for correct operation: pull-up resistors on the dw/(reset) line must not be smaller than 10k . the pull-up resistor is not required for debugwire functionality. connecting the reset pin directly to v cc will not work. capacitors connected to the reset pin must be disconnected when using debugwire. all external reset sources must be disconnected. gnd 2.7 - 5.5v dw vcc dw(reset) atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 230 25.4 software break points debugwire supports program memory break points by the avr break instruction. setting a break point in avr studio ? will insert a break instruction in the progra m memory. the instruction replaced by t he break instruction wil l be stored. when program execution is continued, the st ored instruction will be execut ed before continuing from th e program memory. a break can be inserted manually by putting the break instruction in the program. the flash must be re-programmed each time a break point is changed. this is automatically handled by avr studio through the debugwire interface. the use of brea k points will therefore reduce the flash data retention. devices used for debugging purposes should not be shipped to end customers. 25.5 limitations of debugwire the debugwire communicatio n pin (dw) is physically located on the same pi n as external reset (reset ). an external reset source is therefore not support ed when the debugwire is enabled. a programmed dwen fuse enables some parts of the clock system to be running in all sleep modes. this will increase the power consumption while in sleep. thus, the dwen fuse should be disabled when debugwire is not used. 25.6 register description the following section describes th e registers used with the debugwire. 25.6.1 dwdr ? debugwire data register the dwdr register provides a communication channel from the running program in the mcu to the debugger. this register is only accessible by the debugwire and can therefore not be used as a general purpose regist er in the normal operations. bit 76543210 dwdr[7:0] dwdr read/write r/w r/w r/w r/w r/w r/w r/w r/w initial value00000000 231 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 26. self-programming the flash, atmel atmega48pa 26.1 overview in atmel ? atmega48pa there is no read-while-write support, and no separate boot loader section. the spm instruction can be executed from the entire flash. the device provides a self-programming mechanism for down loading and uploading program code by the mcu itself. the self-programming can use any available dat a interface and associated protocol to read code and write (program) that code into the program memory. the program memory is updated in a page by page fashion. before programming a page with the data stored in the temporary page buffer, the page must be erased. the temporary page buffer is filled one word at a time using spm and the buffer can be filled either before the page erase command or between a pag e erase and a page write operation: alternative 1, fill the buffer before a page erase fill temporary page buffer perform a page erase perform a page write alternative 2, fill the buffer after page erase perform a page erase fill temporary page buffer perform a page write if only a part of the page needs to be changed, the rest of the page must be st ored (for example in the temporary page buffer) before the erase, and then be re-written. when using al ternative 1, the boot loader provides an effective read-modify- write feature which allows the user software to first read the page, do the necessary c hanges, and then write back the modified data. if alternative 2 is used, it is not possible to read the old data while loading since the page is already erased . the temporary page buffer can be accessed in a random sequence. it is essential that the page address used in both the page erase and page write operation is addressing the same page. 26.1.1 performing page erase by spm to execute page erase, set up the address in the z-pointer , write ?00000011? to spmcsr a nd execute spm within four clock cycles after writing spmcsr. the data in r1 and r0 is ignored. the page address must be written to pcpage in the z-register. other bits in the z-pointe r will be ignored during this operation. the cpu is halted during the page erase operation. note: if an interrupt occurs in the time sequenc e the four cycle access cannot be guaranteed. in or der to ensure atomic operation you should disable interrupts before writing to spmcsr. 26.1.2 filling the temporar y buffer (page loading) to write an instruction word, set up the address in the z- pointer and data in r1:r0, write ?00000001? to spmcsr and execute spm within four clock cycles after writing spmcsr. t he content of pcword in the z-register is used to address the data in the temporary buffer. the te mporary buffer will auto-erase after a page write operation or by writing the rwwsre bit in spmcsr. it is also erased after a system reset. no te that it is not possible to write more than one time to each address without erasing the temporary buffer. if the eeprom is written in the middle of an sp m page load operation, all data loaded will be lost. 26.1.3 performing a page write to execute page write, set up the address in the z-pointer, write ?00000101? to spmcsr and execute spm within four clock cycles after writing spmcsr. the data in r1 and r0 is ignore d. the page address must be written to pcpage. other bits in the z-pointer must be written to zero during this operation. the cpu is halted during the page write operation. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 232 26.2 addressing the flash during self-programming the z-pointer is used to address the spm commands. since the flash is organized in pages (see table 28-9 on page 255 ), the program counter can be treated as having two different sections. one section, consisting of the least significant bits, is addre ssing the words within a page, while the mos t significant bits are addressing the pages. this is shown in figure 27-3 on page 241 . note that the page erase and page write operations are addressed independently . therefore it is of major importance that the software addresses the same page in both the page erase and page write operation. the lpm instruction uses the z-pointer to store the address. since this instruction addresses the flash byte-by-byte, also the lsb (bit z0) of the z-pointer is used. figure 26-1. addressing the flash during spm (1) note: 1. the different variables used in figure 27-3 are listed in table 28-9 on page 255 . 26.2.1 eeprom write prevents writing to spmcsr note that an eeprom write operation will block all software programming to flash. reading the fuses and lock bits from software will also be prevented during the eeprom write operati on. it is recommended that t he user checks the status bit (eepe) in the eecr register and veri fies that the bit is cleared befo re writing to the spmcsr register. bit 151413121110 9 8 zh (r31) z15 z14 z13 z12 z11 z10 z9 z8 zl (r30) z7 z6 z5 z4 z3 z2 z1 z0 76543210 bit pagemsb pcmsb zpagemsb zpcmsb 0 1 15 z-register program counter word address within page page address within the flash 0 pcword pcpage 02 01 00 pageend pcword [pagemsb:0] page program memory instructions word page 233 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 26.2.2 reading the fuse and lock bits from software it is possible to read both the fuse and lock bits from software. to read the lock bits, load the z-pointer with 0x0001 and set the blbset and selfprgen bits in spmcsr. when an lpm in struction is executed withi n three cpu cycles after the blbset and selfprgen bits are set in spmcsr, the value of the lock bits will be loaded in the destination register. the blbset and selfprgen bits will auto-clear upon completion of readi ng the lock bits or if no lpm instruction is executed within three cpu cycles or no spm instruction is execut ed within four cpu cycles. when blbset and selfprgen are cleared, lpm will work as described in the instruction set manual. the algorithm for reading the fuse low byte is similar to the one described above for reading the lock bits. to read the fuse low byte, load the z-pointer with 0x0000 and set the blbset and selfprgen bits in spmcsr. when an lpm instruction is executed within th ree cycles after the blbset and sel fprgen bits are set in the spmc sr, the value of the fuse low byte (flb) will be loaded in the desti nation register as shown below.see table 28-5 on page 253 for a detailed description and mapping of the fuse low byte. similarly, when reading the fuse high byte (fhb), load 0x0003 in the z-pointer. when an lpm instruction is executed within three cycles after the blbset and selfprgen bits are set in the spmcsr, the va lue of the fuse high byte will be loaded in the destination register as shown below. see table 28-5 on page 253 for detailed description and mapping of the extended fuse byte. similarly, when reading the extended fuse byte (efb), load 0x 0002 in the z-pointer. when an lpm instruction is executed within three cycles after the blbset and sel fprgen bits are set in the spmcsr, t he value of the exte nded fuse byte will be loaded in the destination register as shown below. see table 28-5 on page 253 for detailed description and mapping of the extended fuse byte. fuse and lock bits that are programmed, will be read as zero . fuse and lock bits that are unprogrammed, will be read as one. 26.2.3 preventing flash corruption during periods of low v cc , the flash program can be corrupted because th e supply voltage is too low for the cpu and the flash to operate properly. these issues are the same as fo r board level systems using th e flash, and the same design solutions should be applied. a flash program corruption can be caused by two situations wh en the voltage is too low. firs t, a regular write sequence to the flash requires a minimum voltage to operate correctly. secondl y, the cpu itself can execute instructions incorrectly, if the supply voltage for executing instructions is too low. flash corruption can easily be avoided by followin g these design recommendations (one is sufficient): 1. keep the avr reset active (low) during periods of in sufficient power supply voltage. this can be done by enabling the internal brown-out detector (bod) if the o perating voltage matches the detection level. if not, an external low v cc reset protection circuit can be used. if a reset occurs while a write operation is in progress, the write operation will be completed provided that the power supply voltage is sufficient. 2. keep the avr core in power-down sleep mode during periods of low v cc . this will prevent the cpu from attempt- ing to decode and execute instructions, effectively prot ecting the spmcsr register and thus the flash from unintentional writes. bit 76543210 rd ??????lb2lb1 bit 76543210 rd flb7 flb6 flb5 flb4 flb3 flb2 flb1 flb0 bit 76543210 rd fhb7 fhb6 fhb5 fhb4 fhb3 fhb2 fhb1 fhb0 bit 76543210 rd fhb7 fhb6 fhb5 fhb4 fhb3 fhb2 fhb1 fhb0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 234 26.2.4 programming time for flash when using spm the calibrated rc oscillator is used to time flash accesses. table 27-6 shows the typical prog ramming time for flash accesses from the cpu. 26.2.5 simple assembly code example for a boot loader note that the rwwsb bit will always be read as zero in atmel ? atmega48pa. nevertheless, it is recommended to check this bit as shown in the code example, to ensure co mpatibility with devices supporting read-while-write. ;-the routine writes one page of data from ram to flash ; the first data location in ram is pointed to by the y pointer ; the first data location in flash is pointed to by the z-pointer ;-error handling is not included ;-the routine must be placed inside the boot space ; (at least the do_spm sub routine). only code inside nrww section can ; be read during self-programming (page erase and page write). ;-registers used: r0, r1, temp1 (r16), temp2 (r17), looplo (r24), ; loophi (r25), spmcrval (r20) ; storing and restoring of registers is not included in the routine ; register usage can be optimized at the expense of code size ;-it is assumed that either the interrupt table is moved to the boot ; loader section or that the interrupts are disabled. .equ pagesizeb = pagesize*2 ;pagesizeb is page size in bytes, not words .org smallbootstart write_page: ; page erase ldi spmcrval, (1< 237 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 27. boot loader support ? read-w hile-write self-programming the boot loader support applies to atmel ? atmega48pa/88pa/168pa 27.1 features read-while-write self-programming flexible boot memory size high security (separate boot lock bits for a flexible protection) separate fuse to select reset vector optimized page (1) size code efficient algorithm efficient read-modify-write support note: 1. a page is a section in the flash consisting of several bytes (see table 28-9 on page 255 ) used during program- ming. the page organization does not affect normal operation. 27.2 overview in the atmel atmega48pa/88pa/ 168pa the boot loader support provides a real read-while-write self-programming mechanism for downloading and uploading program code by the mcu it self. this feature allows flexible application software updates controlled by the mcu using a flash-resident boot loader program. the boot loader program can use any available data interface and associated protocol to read code and write (program) that code into the flash memory, or read the code from the program memory. the program code within the boot loader section has the ca pability to write into the entire flash, including the boot loader memory. the boot loader can thus even modify itself, and it can also erase itself from the code if the feature is not needed anymore. the size of the boot loader memory is configurable with fuses and the boot loader has two separate sets of boot lock bits which can be set independent ly. this gives the user a uniq ue flexibility to select differen t levels of protection. 27.3 application and boot loader flash sections the flash memory is organized in two main sections, t he application section and the boot loader section (see figure 27-2 ). the size of the different sections is conf igured by the bootsz fuses as shown in table 27-7 on page 247 and figure 27-2 . these two sections can have different level of protec tion since they have different sets of lock bits. 27.3.1 application section the application section is the section of the flash that is used for storing the app lication code. the protection level for the application section can be selected by the app lication boot lock bits (boot lock bits 0), see table 27-2 on page 240 . the application section can never st ore any boot loader code since the spm instru ction is disabled when executed from the application section. 27.3.2 bls ? boot loader section while the application section is used for st oring the application code, the the boot loader software must be located in the bls since the spm instruction can initiate a programming w hen executing from the bls only. the spm instruction can access the entire flash, including the bls itself. the protection level fo r the boot loader section ca n be selected by the boot loader lock bits (boot lock bits 1), see table 27-3 on page 240 . atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 238 27.4 read-while-write and no read-while-write flash sections whether the cpu supports read-while-write or if the cpu is halted during a boot loader so ftware update is dependent on which address that is being programmed. in addition to the two sections that are configurable by the bootsz fuses as described above, the flash is also divided into two fixed sect ions, the read-while-write (rww) section and the no read-while- write (nrww) section. the limit between the rww- and nrww sections is given in table 27-8 on page 247 and figure 27- 2 on page 239 . the main difference between the two sections is: when erasing or writing a page located inside the rw w section, the nrww section can be read during the operation. when erasing or writing a page located inside the nrww section, the cpu is halted during the entire operation. note that the user software can never re ad any code that is locat ed inside the rww section durin g a boot loader software operation. the syntax ?read-while-write sect ion? refers to which section that is being programmed (erased or written), not which section that actually is being read during a boot loader software update. 27.4.1 rww ? read-wh ile-write section if a boot loader software update is programming a page inside th e rww section, it is possible to read code from the flash, but only code that is located in the nrww section. during an on-going programming, the software must ensure that the rww section never is being read. if the user software is trying to read code that is located inside the rww section (i.e., by a call/jmp/lpm or an interrupt) during programming, the softwar e might end up in an unknown state. to avoid this, the interrupts should either be disabled or mo ved to the boot loader section. the boot loader section is always located in the nrww section. the rww section busy bit (rwwsb) in the stor e program memory control and status register (spmcsr) will be read as logical one as long as the rww section is blocked for reading. after a programming is completed, the rwwsb must be cleared by software before reading code located in the rww section. see section 27.9.1 ?spmcsr ? store program memory control and status register? on page 249 for details on how to clear rwwsb. 27.4.2 nrww ? no read -while-write section the code located in the nrww section can be read when the boo t loader software is updating a page in the rww section. when the boot loader code updates the nrww section, the cpu is halted during the entire page erase or page write operation. table 27-1. read-while-write features which section does the z-pointer address during the programming? which section can be read during programming? cpu halted? read-while-write supported? rww section nrww section no yes nrww section none yes no 239 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 27-1. read-whi le-write versus no read-while-write figure 27-2. memory sections note: 1. the parameters in the figure above are given in table 27-7 on page 247 . z-pointer addresses rww section code located in nrww section can be read during the operation z-pointer addresses nrww section cpu is halted during the operation read while write (rww) section no read while write (nrww) section program memory bootsz = 11 0x0000 flashend read-while-write section no read-while- write section end rww start nrww end application start boot loader program memory bootsz = 10 0x0000 flashend read-while-write section no read-while- write section end rww start nrww end application start boot loader program memory bootsz = 01 0x0000 flashend read-while-write section no read-while- write section end rww start nrww end application start boot loader program memory bootsz = 00 0x0000 flashend read-while-write section no read-while- write section end rww, end application start nrww, start boot loader application flash section application flash section boot loader flash section boot loader flash section application flash section application flash section boot loader flash section application flash section application flash section boot loader flash section application flash section atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 240 27.5 boot loader lock bits if no boot loader capability is needed, the entire flash is available for application code. the boot loader has two separate se ts of boot lock bits which can be set independently. this gives the us er a unique flexibility to select different levels of protec tion. the user can select: to protect the entire flash from a software update by the mcu. to protect only the boot loader flash se ction from a software update by the mcu. to protect only the application flash se ction from a software update by the mcu. allow software update in the entire flash. see table 27-2 and table 27-3 for further details. the boot lock bits can be set in software and in serial or parallel programming mode, but they can be cleared by a chip eras e command only. the general write lock (lock bit mode 2) does not control the programmi ng of the flash memory by spm in struction. similarly, the general read/write lock (lock bit mode 1) does not control reading nor writing by lpm/spm, if it is attempted. 27.6 entering the boot loader program entering the boot loader takes place by a jump or call from the application program. this may be initiated by a trigger such as a command received via usart, or spi interface. alternativ ely, the boot reset fuse can be programmed so that the reset vector is pointing to the boot flash start address after a reset. in this case, the boot loader is started after a reset. after the application code is loaded, the program c an start executing the application code. no te that the fuses cannot be changed by the mcu itself. this means that once the b oot reset fuse is programmed, the reset ve ctor will always point to the boot loader reset and the fuse can only be changed through the serial or parallel programming interface. table 27-2. boot lock bit0 protection modes (application section) (1) blb0 mode blb02 blb01 protection 1 1 1 no restrictions for spm or lpm accessing the application section. 2 1 0 spm is not allowed to writ e to the application section. 3 0 0 spm is not allowed to write to the application section, and lpm executing from the boot loader section is not allowed to read from the application section. if interrupt vectors are placed in the boot loader section, interrupts are disabled while executing from the application section. 4 0 1 lpm executing from the boot loader sect ion is not allowed to read from the application section. if interrupt vector s are placed in the boot loader section, interrupts are disabled while executing from the application section. note: 1. ?1? means unprogrammed, ?0? means programmed table 27-3. boot lock bit1 protection modes (boot loader section) (1) blb1 mode blb12 blb11 protection 1 1 1 no restrictions for spm or lpm accessing the boot loader section. 2 1 0 spm is not allowed to write to the boot loader section. 3 0 0 spm is not allowed to write to the bo ot loader section, and lpm executing from the application section is not allowed to read from the boot loader section. if interrupt vectors are placed in the application section, interrupts are disabled while executing from the boot loader section. 4 0 1 lpm executing from the application sect ion is not allowed to read from the boot loader section. if interrupt vector s are placed in the application section, interrupts are disabled while executing from the boot loader section. note: 1. ?1? means unprogrammed, ?0? means programmed 241 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 27.7 addressing the flash during self-programming the z-pointer is used to address the spm commands. since the flash is organized in pages (see table 28-9 on page 255 ), the program counter can be treated as having two different sections. one section, consisting of the least significant bits, is addre ssing the words within a page, while the mos t significant bits are addressing the pages. this is1 shown in figure 27-3 . note that the page erase and page write operations are addressed independently. therefore it is of major importance that the boot l oader software addresses the same page in both the page erase and page writ e operation. once a programmi ng operation is initiated, the address is latched and the z-pointer can be used for other operations. the only spm operation that does not use t he z-pointer is setting the boot loader lo ck bits. the content of the z-pointer is ignored and will have no effect on the operat ion. the lpm instruction does also use the z-pointer to store the address. since this instruction addresses the flash byte-by-byte, al so the lsb (bit z0) of the z-pointer is used. figure 27-3. addressing the flash during spm (1) note: 1. the different variables used in figure 27-3 are listed in table 27-9 on page 247 . table 27-4. boot reset fuse (1) bootrst reset address 1 reset vector = application reset (address 0x0000) 0 reset vector = boot loader reset (see table 27-7 on page 247 ) note: 1. ?1? means unprogrammed, ?0? means programmed bit 151413121110 9 8 zh (r31) z15 z14 z13 z12 z11 z10 z9 z8 zl (r30) z7 z6 z5 z4 z3 z2 z1 z0 76543210 bit pagemsb pcmsb zpagemsb zpcmsb 0 1 15 z-register program counter word address within page page address within the flash 0 pcword pcpage 02 01 00 pageend pcword [pagemsb:0] page program memory instruction word page atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 242 27.8 self-programming the flash the program memory is updated in a page by page fashion. before programming a page with the data stored in the temporary page buffer, the page must be erased. the temporary page buffer is filled one word at a time using spm and the buffer can be filled either before the page erase command or between a pag e erase and a page write operation: alternative 1, fill the buffer before a page erase fill temporary page buffer perform a page erase perform a page write alternative 2, fill the buffer after page erase perform a page erase fill temporary page buffer perform a page write if only a part of the page needs to be changed, the rest of the page must be st ored (for example in the temporary page buffer) before the erase, and then be rewritten. when using alte rnative 1, the boot loader prov ides an effective read-modify- write feature which allows the user software to first read the page, do the necessary c hanges, and then write back the modified data. if alternative 2 is used, it is not possible to read the old data while loading since the page is already erased . the temporary page buffer can be accessed in a random sequence. it is essential that the page address used in both the page er ase and page write operation is addressing the same page. see section 27.8.13 ?simple assembly code example for a boot loader? on page 245 for an assembly code example. 27.8.1 performing page erase by spm to execute page erase, set up the address in the z-pointer , write ?x0000011? to spmcsr and execute spm within four clock cycles after writing spmcsr. the data in r1 and r0 is ignored. the page address must be written to pcpage in the z-register. other bits in the z-pointe r will be ignored during this operation. page erase to the rww section: the nrww section can be read during the page erase. page erase to the nrww section: the cpu is halted during the operation. 27.8.2 filling the temporar y buffer (page loading) to write an instruction word, set up the address in the z- pointer and data in r1:r0, write ?00000001? to spmcsr and execute spm within four clock cycles after writing spmcsr. t he content of pcword in the z-register is used to address the data in the temporary buffer. the te mporary buffer will auto-erase after a page write operation or by writing the rwwsre bit in spmcsr. it is also erased after a system reset. no te that it is not possible to write more than one time to each address without erasing the temporary buffer. if the eeprom is written in the middle of an spm page load operation, all data loaded will be lost. 27.8.3 performing a page write to execute page write, set up the address in the z-pointer, write ?x0000101? to spmcsr and execute spm within four clock cycles after writing spmcsr. the data in r1 and r0 is ignore d. the page address must be written to pcpage. other bits in the z-pointer must be written to zero during this operation. page write to the rww section: the nrww section can be read during the page write. page write to the nrww section: t he cpu is halted during the operation. 27.8.4 using the spm interrupt if the spm interrupt is enabled, the spm interrupt will generat e a constant interrupt when the selfprgen bit in spmcsr is cleared. this means that the interrupt can be used instead of polling the spmcsr register in software. when using the spm interrupt, the interrupt vectors should be moved to the bls sect ion to avoid that an interrupt is accessing the rww section when it is blocked for reading. how to move the interrupts is described in section 12. ?interrupts? on page 50 . 243 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 27.8.5 consideration while updating bls special care must be taken if the user allows the boot loader section to be updated by leaving boot lock bit11 unprogrammed. an accidental write to the boot loader itself can corrupt the entire boot loader, and further software updates might be impossible. if it is not necessary to change the boot loader software itse lf, it is recommended to program the boot lock bit11 to protect the boot loader softw are from any internal software changes. 27.8.6 prevent reading the rww section during self-programming during self-programming (either page erase or page write) , the rww section is always blocked for reading. the user software itself must prevent that this section is addressed during the self programming operation. the rwwsb in the spmcsr will be set as long as the rww section is busy. duri ng self-programming the interrupt vector table should be moved to the bls as described in section 11.8 ?watchdog timer? on page 45 , or the interrupts must be disabled. before addressing the rww section after the programming is completed, the user software must clear the rwwsb by writing the rwwsre. see section 27.8.13 ?simple assembly code example for a boot loader? on page 245 for an example. 27.8.7 setting the boot loader lock bits by spm to set the boot loader lock bits and general lock bits, writ e the desired data to r0, write ?x0001001? to spmcsr and execute spm within four clock cycles after writing spmcsr. see table 27-2 and table 27-3 for how the different settings of the b oot loader bits affect the flash access. if bits 5...0 in r0 are cleared (zero), the corresponding lock bit will be programmed if an spm instruction is executed within four cycles after blbset and selfprgen are set in spmcsr. the z-pointer is don?t care during this operation, but for future compatibility it is recommended to load the z-pointer with 0x0001 (same as used for reading the lo ck bits). for future compatibility it is also recommended to set bits 7 and 6 in r0 to ?1? when writing the lock bits. when programming the lock bits the entire flash can be read during the operation. 27.8.8 eeprom write prevents writing to spmcsr note that an eeprom write operation will block all software programming to flash. reading the fuses and lock bits from software will also be prevented during the eeprom write operati on. it is recommended that t he user checks the status bit (eepe) in the eecr register and veri fies that the bit is cleared befo re writing to the spmcsr register. 27.8.9 reading the fuse and lock bits from software it is possible to read both the fuse and lock bits from soft ware. to read the lock bits, load the z-pointer with 0x0001 and set the blbset and selfprgen bits in spmcsr. when an lpm in struction is executed withi n three cpu cycles after the blbset and selfprgen bits are set in spmcsr, the value of the lock bits will be loaded in the destination register. the blbset and selfprgen bits will auto-clear upon completion of reading the lock bits or if no lpm instruction is executed within three cpu cycles or no spm instruction is execut ed within four cpu cycles. when blbset and selfprgen are cleared, lpm will work as described in the instruction set manual. the algorithm for reading the fuse low byte is similar to the one described above for reading the lock bits. to read the fuse low byte, load the z-pointer with 0x0000 and set the blbset and selfprgen bits in spmcsr. when an lpm instruction is executed within th ree cycles after the blbset and sel fprgen bits are set in the spmc sr, the value of the fuse low byte (flb) will be loaded in the destinati on register as shown below. refer to table 28-5 on page 253 for a detailed description and mapping of the fuse low byte. bit 76543210 r0 1 1 blb12 blb11 blb02 blb01 lb2 lb1 bit 76543210 rd ? ? blb12 blb11 blb02 blb01 lb2 lb1 bit 76543210 rd flb7 flb6 flb5 flb4 flb3 flb2 flb1 flb0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 244 similarly, when reading the fuse high byte, load 0x0003 in the z-pointer. when an lpm instruction is executed within three cycles after the blbset and selfprgen bits are set in the sp mcsr, the value of the fuse high byte (fhb) will be loaded in the destination register as shown below. refer to table 28-6 on page 253 for detailed description and mapping of the fuse high byte. when reading the extended fuse byte, load 0x0002 in the z-poin ter. when an lpm instruction is executed within three cycles after the blbset and selfprgen bits are se t in the spmcsr, the value of the extended fuse byte (efb) will be loaded in the destination register as shown below. refer to table 28-5 on page 253 for detailed description and mapping of the extended fuse byte. fuse and lock bits that are programmed, will be read as zero . fuse and lock bits that are unprogrammed, will be read as one. 27.8.10 reading the signature row from software to read the signature row from software, load the z-pointer with the signature byte address given in table 27-5 and set the sigrd and selfprgen bits in spmcsr. when an lpm instruction is execut ed within three cpu cycles after the sigrd and selfprgen bits are set in spmcsr, the signature byte value will be loaded in the destination register. the sigrd and selfprgen bits will auto-clear upon completion of reading the signature row lock bits or if no lpm instruction is executed within three cpu cycles. when sigrd and selfprgen are cleared, lpm will work as described in the instruction set manual. 27.8.11 preventing flash corruption during periods of low v cc , the flash program can be corrupted because th e supply voltage is too low for the cpu and the flash to operate properly. these issues are the same as for board level systems using the flash, and the same design solutions should be applied. a flash program corruption can be caused by two situations wh en the voltage is too low. firs t, a regular write sequence to the flash requires a minimum voltage to operate correctly. second ly, the cpu itself can execute instructions incorrectly, if th e supply voltage for executing instructions is too low. flash corruption can easily be avoided by followin g these design recommendations (one is sufficient): 1. if there is no need for a boot loader update in the system, program the boot loader lock bits to prevent any boot loader software updates. 2. keep the avr reset active (low) during periods of in sufficient power supply voltage. this can be done by enabling the internal brown-out detector (bod) if the o perating voltage matches the detection level. if not, an external low v cc reset protection circuit can be used. if a reset occurs while a write operation is in progress, the write operation will be completed provided that the power supply voltage is sufficient. 3. keep the avr core in power-down sleep mode during periods of low v cc . this will prevent the cpu from attempt- ing to decode and execute instructions, effectively prot ecting the spmcsr register and thus the flash from unintentional writes. bit 76543210 rd fhb7 fhb6 fhb5 fhb4 fhb3 fhb2 fhb1 fhb0 bit 76543210 rd ? ? ? ? efb3 efb2 efb1 efb0 table 27-5. signature row addressing signature byte z-pointer address device signature byte 1 0x0000 device signature byte 2 0x0002 device signature byte 3 0x0004 rc oscillator calibration byte 3v 0x0001 ts_adc_25_l - temp sensor value at 25c - low byte 0x0005 ts_adc_25_h - temp sensor value at 25c - high byte 0x0007 rc oscillator calibration byte 5v 0x0009 note: all other addresses are reserved for future use 245 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 27.8.12 programming time for flash when using spm the calibrated rc oscillator is used to time flash accesses. table 27-6 shows the typical prog ramming time for flash accesses from the cpu. 27.8.13 simple assembly code example for a boot loader ;-the routine writes one page of data from ram to flash ; the first data location in ram is pointed to by the y pointer ; the first data location in flash is pointed to by the z-pointer ;-error handling is not included ;-the routine must be placed inside the boot space ; (at least the do_spm sub routine). only code inside nrww section can ; be read during self-programming (page erase and page write). ;-registers used: r0, r1, temp1 (r16), temp2 (r17), looplo (r24), ; loophi (r25), spmcrval (r20) ; storing and restoring of registers is not included in the routine ; register usage can be optimized at the expense of code size ;-it is assumed that either the interrupt table is moved to the boot ; loader section or that the interrupts are disabled. .equ pagesizeb = pagesize*2 ;pagesizeb is page size in bytes, not words .org smallbootstart write_page: ; page erase ldi spmcrval, (1< atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 248 27.8.15 atmel atmega168p a boot loader parameters in table 27-10 through table 27-12 , the parameters used in the description of the self programming are given. note: the different bootsz fuse configurations are shown in figure 27-2 on page 239 . for details about these two section, see section 27.4.2 ?nrww ? no read-while-write section? on page 238 and section 27.4.1 ?rww ? read-while-write section? on page 238 table 27-10. boot size configuration, atmel atmega168pa bootsz1 bootsz0 boot size pages application flash section boot loader flash section end application section boot reset address (start boot loader section) 1 1 128 words 2 0x0000 - 0x1f7f 0x1f80 - 0x1fff 0x1f7f 0x1f80 1 0 256 words 4 0x0000 - 0x1eff 0x1f00 - 0x1fff 0x1eff 0x1f00 0 1 512 words 8 0x0000 - 0x1dff 0x1e00 - 0x1fff 0x1dff 0x1e00 0 0 1024 words 16 0x0000 - 0x1bff 0x1c00 - 0x1fff 0x1bff 0x1c00 table 27-11. read-while-write limit, atmel atmega168pa section pages address read-while-write section (rww) 112 0x0000 - 0x1bff no read-while-write section (nrww) 16 0x1c00 - 0x1fff table 27-12. explanation of different variables used in figure 27-3 and the mapping to the z-pointer, atmel atmega168pa variable corresponding z-value (1) description pcmsb 12 most significant bit in the progr am counter (the program counter is 13 bits pc[12:0]) pagemsb 5 most significant bit which is used to address the words within one page (64 words in a page requires 6 bits pc [5:0]) zpcmsb z13 bit in z-register that is mapped to pcmsb. because z0 is not used, the zpcmsb equals pcmsb + 1. zpagemsb z6 bit in z-register that is mapped to pagemsb. because z0 is not used, the zpagemsb equals pagemsb + 1. pcpage pc[12:6] z13:z7 program counter page address: page select, for page erase and page write pcword pc[5:0] z6:z1 program counter word address: wo rd select, for filling temporary buffer (must be zero during page write operation) note: 1. z15:z14: always ignored z0: should be zero for all spm commands, byte select for the lpm instruction. see section 27.7 ?addressing the flash during self-programming? on page 241 for details about the use of z-pointer during self- programming. 249 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 27.9 register description 27.9.1 spmcsr ? store program memory control and status register the store program memory control and status register contains the control bits n eeded to control the boot loader operations. ? bit 7 ? spmie: spm interrupt enable when the spmie bit is written to one, and the i-bit in the stat us register is set (one), the spm ready interrupt will be enable d. the spm ready interrupt will be executed as long as the selfprgen bit in the spmcsr register is cleared. ? bit 6 ? rwwsb: read-while-write section busy when a self-programming (page erase or page write) operati on to the rww section is initiated, the rwwsb will be set (one) by hardware. when the rwwsb bit is set, the rww sect ion cannot be accessed. the rwwsb bit will be cleared if the rwwsre bit is written to one afte r a self-programming operation is completed. alternatively the rwwsb bit will automatically be cleared if a pa ge load operation is initiated. ? bit 5 ? reserved this bit is a reserved bit in the atmel ? atmega48pa/88pa/168pa and always read as zero. ? bit 4 ? rwwsre: read-while-write section read enable when programming (page erase or page write) to the rww section, the rww section is blocked for reading (the rwwsb will be set by hardware). to re-enable t he rww section, the user software must wait until the programming is completed (selfprgen will be cleared). then, if the rwwsre bit is written to one at the same time as self prgen, the next spm instruction within four clock cycles re-en ables the rww section. the rww section cannot be re- enabled while the flash is busy with a page erase or a page write (selfprgen is set). if the rwwsre bit is written while the flash is being loaded, the flash load operation will abort and the data loaded will be lost. ? bit 3 ? blbset: boot lock bit set if this bit is written to one at the same time as selfprgen, the next spm instruction within four clock cycles sets boot lock bits and memory lock bits, according to the data in r0. the data in r1 and the address in the z-pointer are ignored. the blbset bit will automatically be cleared upon completion of the lock bit set, or if no spm instruction is executed within four clock cycles. an lpm instruction within three cycles after blbset and selfprgen are set in the spmcsr register, will read either the lock bits or the fuse bits (depending on z0 in the z-pointer) into the destination register. see section 27.8.9 ?reading the fuse and lock bits from software? on page 243 for details. ? bit 2 ? pgwrt: page write if this bit is written to one at the same time as selfprgen, the next spm in struction within four cl ock cycles executes page write, with the data stored in the temporary buffer. the page address is taken fr om the high part of the z-pointer. the data in r1 and r0 are ignored. the pgwrt bit will auto-clear upon comple tion of a page write, or if no spm instruction is executed within four clock cycles. the cpu is halte d during the entire page write operation if the nrww section is addressed. ? bit 1 ? pgers: page erase if this bit is written to one at the same time as selfprgen, the next spm in struction within four cl ock cycles executes page erase. the page address is taken from the high part of the z-pointer. the data in r1 and r0 are ignored. the pgers bit will auto-clear upon completion of a page erase, or if no spm instru ction is executed within four cl ock cycles. the cpu is halted during the entire page writ e operation if the nrww section is addressed. bit 7 6 5 4 3 2 1 0 0x37 (0x57) spmie rwwsb ? rwwsre blbset pgwrt pgers selfprgen spmcsr read/write r/w r r r/w r/w r/w r/w r/w initial value 0 0 0 0 0 0 0 0 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 250 ? bit 0 ? selfprgen: self programming enable this bit enables the spm instruction for the next four clock cy cles. if written to one together with either rwwsre, blbset, pgwrt or pgers, the following spm inst ruction will have a special meaning, see description above. if only selfprgen is written, the following spm instructio n will store the value in r1:r0 in the temporary page buffer addressed by the z-pointer. the lsb of the z-pointer is ignored. the selfprge n bit will auto-clear upon completion of an spm instruction, or if no spm instruction is executed withi n four clock cycles. during page erase and page write, the selfprgen bit remains high until the operation is completed. writing any other combination than ?10001?, ?01001?, ?00101?, ?00011 ? or ?00001? in the lower five bits will have no effect. 251 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 28. memory programming 28.1 program and data memory lock bits the atmel ? atmega48pa provides two lock bits and the atmel atmega48pa/88pa/168pa provides six lock bits. these can be left unprogrammed (?1?) or can be programmed (?0?) to obtain the additional features listed in table 28-2 . the lock bits can only be erased to ?1? with the chip erase command. the atmel atmega48pa has no separate boot loader section, and the spm instruction is enabled for the whole flash if the selfprgen fuse is programm ed (?0?). otherwise the spm instruction is disabled. table 28-1. lock bit byte (1) lock bit byte bit no description default value 7 ? 1 (unprogrammed) 6 ? 1 (unprogrammed) blb12 () 5 boot lock bit 1 (unprogrammed) blb11 () 4 boot lock bit 1 (unprogrammed) blb02 () 3 boot lock bit 1 (unprogrammed) blb01 () 2 boot lock bit 1 (unprogrammed) lb2 1 lock bit 1 (unprogrammed) lb1 0 lock bit 1 (unprogrammed) notes: 1. ?1? means unprogrammed, ?0? means programmed. 2. only on atmel atmega48pa/88pa/168pa. table 28-2. lock bit protection modes (1)(2) memory lock bits protection type lb mode lb2 lb1 1 1 1 no memory lock features enabled. 2 1 0 further programming of the flash and eeprom is disabled in parallel and serial programming mode. the fuse bits are locked in both serial and parallel programming mode. (1) 3 0 0 further programming and verification of the flash and eeprom is disabled in parallel and serial programming mode. the boot lock bits and fuse bits are locked in both serial and parallel programming mode. (1) notes: 1. ?program the fuse bits and boot lo ck bits before programming the lb1 and lb2. 2. ?1? means unprogrammed, ?0? means programmed atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 252 28.2 fuse bits the atmel ? atmega48pa/88pa/168pa has three fuse bytes. table 28-5 - table 28-7 describe briefly the functionality of all the fuses and how they are mapped into the fuse bytes. note that the fuses are read as logical zero, ?0?, if they are programmed. table 28-3. lock bit protection modes (1)(2) (only atmel atmega48pa/88pa/168pa) blb0 mode blb02 blb01 1 1 1 no restrictions for spm or lpm accessing the application section. 2 1 0 spm is not allowed to write to the application section. 3 0 0 spm is not allowed to write to the ap plication section, and lpm executing from the boot loader section is not al lowed to read from the application section. if interrupt vectors are placed in the boot loader section, interrupts are disabled while executing from the application section. 4 0 1 lpm executing from the boot loader sect ion is not allowed to read from the application section. if interrupt vectors are placed in the boot loader section, interrupts are disabled while executing from the application section. blb1 mode blb12 blb11 1 1 1 no restrictions for spm or lpm accessing the boot loader section. 2 1 0 spm is not allowed to write to the boot loader section. 3 0 0 spm is not allowed to write to the bo ot loader section, and lpm executing from the application section is not allowed to read from the boot loader section. if interrupt vectors are placed in the application section, interrupts are disabled while executing from the boot loader section. 4 0 1 lpm executing from the application sect ion is not allowed to read from the boot loader section. if interrupt vectors are placed in the application section, interrupts are disabled while executing from the boot loader section. notes: 1. program the fuse bits and boot lock bits before programming the lb1 and lb2. 2. ?1? means unprogrammed, ?0? means programmed table 28-4. extended fuse byte for the atmel atmega48pa extended fuse byte bit no description default value ? 7 ? 1 ? 6 ? 1 ? 5 ? 1 ? 4 ? 1 ? 3 ? 1 ? 2 ? 1 ? 1 ? 1 selfprgen 0 self programming enable 1 (unprogrammed) 253 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 table 28-5. extended fuse byte for atmel atmega88pa/168pa extended fuse byte bit no description default value ? 7 ? 1 ? 6 ? 1 ? 5 ? 1 ? 4 ? 1 ? 3 ? 1 bootsz1 2 select boot size (see table 27-7 on page 247 and ta b l e 27-10 on page 248 for details) 0 (programmed) (1) bootsz0 1 select boot size (see table 27-7 on page 247 and ta b l e 27-10 on page 248 for details) 0 (programmed) (1) bootrst 0 select reset vector 1 (unprogrammed) note: 1. the default value of bootsz[1:0 ] results in maximu m boot size. see section 28-11 ?pin name mapping? on page 256 . table 28-6. fuse high byte for the atmel atmega48pa/88pa/168pa high fuse byte bit no description default value rstdisbl (1) 7 external reset disable 1 (unprogrammed) dwen 6 debugwire enable 1 (unprogrammed) spien (2) 5 enable serial program and data downloading 0 (programmed, spi programming enabled) wdton (3) 4 watchdog timer always on 1 (unprogrammed) eesave 3 eeprom memory is preserved through the chip erase 1 (unprogrammed), eeprom not reserved bodlevel2 (4) 2 brown-out detector trigger level 1 (unprogrammed) bodlevel1 (4) 1 brown-out detector trigger level 0 (programmed) bodlevel0 (4) 0 brown-out detector trigger level 1 (unprogrammed) notes: 1. see section 14.3.2 ?alternate functions of port c? on page 74 for description of rstdisbl fuse. 2. the spien fuse is not accessible in serial programming mode. 3. see section 11.9.2 ?wdtcsr ? watchdog timer control register? on page 48 for details. 4. see table 29-6 on page 272 for bodlevel fuse deco ding (default = 2.7v). atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 254 the status of the fuse bits is not affected by chip erase. note that the fuse bits are locked if lock bit1 (lb1) is programmed. program the fuse bits before programming the lock bits. 28.2.1 latching of fuses the fuse values are latched when the device enters programming mode and changes of the fuse values will have no effect until the part leaves programming mode. this does not ap ply to the eesave fuse which will take effect once it is programmed. the fuses are also latched on power-up in normal mode. 28.3 signature bytes all atmel microcontrollers have a three-by te signature code which identifies the device. this code can be read in both serial and parallel mode, also when the device is locked. the three bytes reside in a separate address space. for the atmel ? atmega48pa/88pa/168pa the signature bytes are given in table 28-8 . 28.4 calibration byte the atmel atmega48pa/88pa/168pa has 2 calibra tion values for the internal rc oscilla tor. the 3v calibration byte resides in the address 0x0001 in the signature address space and the 5v calibration byte resides in the address 0x0009. during reset, the 3v calibration byte is automatically written into t he osccal register to ensure corr ect frequency of the calibrated rc oscillator. table 28-7. fuse low byte low fuse byte bit no description default value ckdiv8 (4) 7 divide clock by 8 0 (programmed) ckout (3) 6 clock output 1 (unprogrammed) sut1 5 select start-up time 1 (unprogrammed) (1) sut0 4 select start-up time 0 (programmed) (1) cksel3 3 select clock source 0 (programmed) (2) cksel2 2 select clock source 0 (programmed) (2) cksel1 1 select clock source 1 (unprogrammed) (2) cksel0 0 select clock source 0 (programmed) (2) note: 1. the default value of sut1...0 results in maximu m start-up time for the default clock source. see table 9-12 on page 30 for details. 2. the default setting of cksel3...0 re sults in internal rc oscillator at 8mhz. see table 9-11 on page 30 for details. 3. the ckout fuse allows the system clock to be outp ut on portb0. see section 9.9 ?clock output buffer? on page 32 for details. 4. see section 9.11 ?system clock prescaler? on page 32 for details. table 28-8. device id part signature bytes address 0x000 0x002 0x004 atmel atmega48pa 0x1e 0x92 0x0a atmel atmega88pa 0x1e 0x93 0x0f atmel atmega168pa 0x1e 0x94 0x0b 255 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 28.5 page size 28.6 parallel programming parameters, pin mapping, and commands this section describes how to parallel program and verify flash program memory, eeprom data memory, memory lock bits, and fuse bits in the atmel ? atmega48pa/88pa/168pa. pulses are assumed to be at least 250 ns unless otherwise noted. 28.6.1 signal names in this section, some pins of the atmel atmega48pa/88pa/ 168pa are referenced by signal names describing their functionality during parallel programming, see figure 28-1 and table 28-11 . pins not described in the following table are referenced by pin names. the xa1/xa0 pins determine the action executed when the xta l1 pin is given a positive pulse. the bit coding is shown in table 28-13 . when pulsing wr or oe , the command loaded determines the action exec uted. the different co mmands are shown in table 28-14 . figure 28-1. parallel programming note: v cc ? 0.3v < av cc < v cc + 0.3v, however, av cc should always be within 4.5 - 5.5v table 28-9. no. of words in a page and no. of pages in the flash device flash size page size pcword no. of pages pcpage pcmsb atmel atmega48pa/ 88pa/168pa 2k words (4k bytes) 32 words pc[4:0] 64 pc[10:5] 10 atmel atmega88pa 4k words (8k bytes) 32 words pc[4:0] 128 pc[11:5] 11 atmel atmega168pa 8k words (16k bytes) 64 words pc[5:0] 128 pc[12:6] 12 table 28-10. no. of words in a pa ge and no. of pages in the eeprom device eeprom size page size pcword no. of pages pcpage eeamsb atmel atmega48pa/ 88pa/168pa 256 bytes 4 bytes eea[1:0] 64 eea[7:2] 7 atmel atmega88pa 512 bytes 4 bytes eea[1:0] 128 eea[8:2] 8 atmel atmega168pa 512 bytes 4 bytes eea[1:0] 128 eea[8:2] 8 gnd xtal1 pc2 pd1 pd2 pd3 pd4 data pd5 pd6 pd7 reset vcc avcc pc[1:0]:pb[5:0] + 4.5v to 5.5v + 4.5v to 5.5v rdy/bsy oe wr bs1 xa0 xa1 pagel +12v bs2 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 256 table 28-11. pin name mapping signal name in programming mode pin name i/o function rdy/bsy pd1 o 0: device is busy programming, 1: device is ready for new command oe pd2 i output enable (active low) wr pd3 i write pulse (active low) bs1 pd4 i byte select 1 (?0? selects low byte, ?1? selects high byte) xa0 pd5 i xtal action bit 0 xa1 pd6 i xtal action bit 1 pagel pd7 i program memory and eeprom data page load bs2 pc2 i byte select 2 (?0? selects lo w byte, ?1? selects 2?nd high byte) data {pc[1:0]: pb[5:0]} i/o bi-directional data bus (output when oe is low) table 28-12. pin values used to enter programming mode pin symbol value pagel prog_enable[3] 0 xa1 prog_enable[2] 0 xa0 prog_enable[1] 0 bs1 prog_enable[0] 0 table 28-13. xa1 and xa0 coding xa1 xa0 action when xtal1 is pulsed 0 0 load flash or eeprom address (high or low address byte determined by bs1). 0 1 load data (high or low data byte for flash determined by bs1). 1 0 load command 1 1 no action, idle table 28-14. command byte bit coding command byte command executed 1000 0000 chip erase 0100 0000 write fuse bits 0010 0000 write lock bits 0001 0000 write flash 0001 0001 write eeprom 0000 1000 read signature bytes and calibration byte 0000 0100 read fuse and lock bits 0000 0010 read flash 0000 0011 read eeprom 257 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 28.7 parallel programming 28.7.1 enter programming mode the following algorithm puts the device in parallel (high-voltage) programming mode: 1. set prog_enable pins listed in table 28-12 on page 256 to ?0000?, reset pin to 0v and v cc to 0v. 2. apply 4.5 - 5.5v between v cc and gnd. ensure that v cc reaches at least 1.8v within the next 20s. 3. wait 20 - 60s, and apply 11.5 - 12.5v to reset. 4. keep the prog_enable pins unchanged for at least 10s after the high-voltage has been applied to ensure the prog_enable signature has been latched. 5. wait at least 300s before giving any parallel programming commands. 6. exit programming mode by power the device down or by bringing reset pin to 0v. if the rise time of the v cc is unable to fulfill the requirements listed above, the following alternative algorithm can be used. 1. set prog_enable pins listed in table 28-12 on page 256 to ?0000?, reset pin to 0v and v cc to 0v. 2. apply 4.5 - 5.5v between v cc and gnd. 3. monitor v cc , and as soon as v cc reaches 0.9 - 1.1v, apply 11.5 - 12.5v to reset. 4. keep the prog_enable pins unchanged for at least 10s after the high-voltage has been applied to ensure the prog_enable signature has been latched. 5. wait until v cc actually reaches 4.5 -5.5v before giving any parallel programming commands. 6. exit programming mode by power the device down or by bringing reset pin to 0v. 28.7.2 considerations for efficient programming the loaded command and address are retained in the device dur ing programming. for efficient programming, the following should be considered. the command needs only be loaded once when writing or reading multiple memory locations. skip writing the data value 0xff, that is the contents of the entire eeprom (unless the eesave fuse is programmed) and flash after a chip erase. address high byte needs only be loaded before programmi ng or reading a new 256 word window in flash or 256 byte eeprom. this consideration also applies to signature bytes reading. 28.7.3 chip erase the chip erase will er ase the flash and eeprom (1) memories plus lock bits. the lock bits are not reset until the program memory has been completely erased. the fuse bits are no t changed. a chip erase must be performed before the flash and/or eeprom are reprogrammed. note: 1. the eeprpom memory is preserved during chip erase if the eesave fuse is programmed. load command ?chip erase? 1. set xa1, xa0 to ?10?. this enables command loading. 2. set bs1 to ?0?. 3. set data to ?1000 0000?. this is the command for chip erase. 4. give xtal1 a positive pulse. this loads the command. 5. give wr a negative pulse. this star ts the chip erase. rdy/bsy goes low. 6. wait until rdy/bsy goes high before loading a new command. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 258 28.7.4 programming the flash the flash is organized in pages, see table 28-9 on page 255 . when programming the flash, the program data is latched into a page buffer. this allows one page of program data to be programmed simultaneously. the following procedure describes how to program the entire flash memory: a. load command ?write flash? 1. set xa1, xa0 to ?10?. this enables command loading. 2. set bs1 to ?0?. 3. set data to ?0001 0000?. this is the command for write flash. 4. give xtal1 a positive pulse. this loads the command. b. load address low byte 1. set xa1, xa0 to ?00?. this enables address loading. 2. set bs1 to ?0?. this selects low address. 3. set data = address low byte (0x00 - 0xff). 4. give xtal1 a positive pulse. this loads the address low byte. c. load data low byte 1. set xa1, xa0 to ?01?. this enables data loading. 2. set data = data low byte (0x00 - 0xff). 3. give xtal1 a positive pulse. this loads the data byte. d. load data high byte 1. set bs1 to ?1?. this selects high data byte. 2. set xa1, xa0 to ?01?. this enables data loading. 3. set data = data high byte (0x00 - 0xff). 4. give xtal1 a positive pulse. this loads the data byte. e. latch data 1. set bs1 to ?1?. this selects high data byte. 2. give pagel a positive pulse. this latches the data bytes. (see figure 28-3 for signal waveforms) f. repeat b through e until the entire buffer is filled or until all data within the page is loaded. while the lower bits in the address are mapped to words wi thin the page, the higher bits address the pages within the flash. this is illustrated in figure 28-2 on page 259 . note that if less than eight bits are required to address words in the page (pagesize < 256), the most signi ficant bit(s) in the address low byte are used to address the page when per- forming a page write. g. load address high byte 1. set xa1, xa0 to ?00?. this enables address loading. 2. set bs1 to ?1?. this selects high address. 3. set data = address high byte (0x00 - 0xff). 4. give xtal1 a positive pulse. this loads the address high byte. h. program page 1. give wr a negative pulse. this starts programm ing of the entire page of data. rdy/bsy goes low. 2. wait until rdy/bsy goes high (see figure 28-3 for signal waveforms). i. repeat b through h until the entire flash is programmed or until all data has been programmed. j. end page programming 1. 1. set xa1, xa0 to ?10?. this enables command loading. 2. set data to ?0000 0000?. this is the command for no operation. 3. give xtal1 a positive pulse. this loads the co mmand, and the internal write signals are reset. 259 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 28-2. addressing the flash which is organized in pages (1) note: 1. pcpage and pcword are listed in table 28-9 on page 255 . figure 28-3. programming the flash waveforms (1) note: 1. ?xx? is don?t care. the letters re fer to the programming description above. pagemsb pcmsb program counter word address within page page address within the flash pcword pcpage 02 01 00 pageend pcword [pagemsb : 0] page program memory instruction word page 0x10 addr. low ab data xa1 xa0 bs1 bs2 xtal1 wr pagel rdy/bsy oe reset +12v data low data high cd addr. low b data low data high cd f xx e xx e xx addr. high gh atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 260 28.7.5 programming the eeprom the eeprom is organized in pages, see table 28-10 on page 255 . when programming the eeprom, the program data is latched into a page buffer. this allows one page of data to be programmed simultaneously. the programming algorithm for the eeprom data memory is as follows (refer to section 28.7.4 ?programming the flash? on page 258 for details on command, address and data loading): 1. a: load command ?0001 0001?. 2. g: load address high byte (0x00 - 0xff). 3. b: load address low byte (0x00 - 0xff). 4. c: load data (0x00 - 0xff). 5. e: latch data (give pagel a positive pulse). k: repeat 3 through 5 until the entire buffer is filled. l: program eeprom page 1. set bs1 to ?0?. 2. give wr a negative pulse. this starts pr ogramming of the eeprom page. rdy/bsy goes low. 3. wait until to rdy/bsy goes high before programming the next page (see figure 28-4 for signal waveforms). figure 28-4. programming the eeprom waveforms 28.7.6 reading the flash the algorithm for reading the flash memory is as follows (refer to section 28.7.4 ?programmi ng the flash? on page 258 for details on command and address loading): 1. a: load command ?0000 0010?. 2. g: load address high byte (0x00 - 0xff). 3. b: load address low byte (0x00 - 0xff). 4. set oe to ?0?, and bs1 to ?0?. the flash word low byte can now be read at data. 5. set bs1 to ?1?. the flash word high byte can now be read at data. 6. set oe to ?1?. 0x11 ag data xa1 xa0 bs1 bs2 xtal1 wr pagel rdy/bsy oe reset +12v bc addr. low addr. low b data xx ce k xx data el addr. high 261 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 28.7.7 reading the eeprom the algorithm for reading the eeprom memory is as follows (refer to section 28.7.4 ?programming the flash? on page 258 for details on command and address loading): 1. a: load command ?0000 0011?. 2. g: load address high byte (0x00 - 0xff). 3. b: load address low byte (0x00 - 0xff). 4. set oe to ?0?, and bs1 to ?0?. the eeprom data byte can now be read at data. 5. set oe to ?1?. 28.7.8 programming the fuse low bits the algorithm for programming the fuse low bits is as follows (refer to section 28.7.4 ?programming the flash? on page 258 for details on command and data loading): 1. a: load command ?0100 0000?. 2. c: load data low byte. bit n = ?0? programs and bit n = ?1? erases the fuse bit. 3. give wr a negative pulse and wait for rdy/bsy to go high. 28.7.9 programming the fuse high bits the algorithm for programming the fuse high bits is as follows (refer to section 28.7.4 ?programming the flash? on page 258 for details on command and data loading): 1. a: load command ?0100 0000?. 2. c: load data low byte. bit n = ?0? programs and bit n = ?1? erases the fuse bit. 3. set bs1 to ?1? and bs2 to ?0?. this selects high data byte. 4. give wr a negative pulse and wait for rdy/bsy to go high. 5. set bs1 to ?0?. this selects low data byte. 28.7.10 programming the extended fuse bits the algorithm for programming the extended fuse bits is as follows (refer to section 28.7.4 ?programmi ng the flash? on page 258 for details on command and data loading): 1. 1. a: load command ?0100 0000?. 2. 2. c: load data low byte. bit n = ?0? progr ams and bit n = ?1? erases the fuse bit. 3. 3. set bs1 to ?0? and bs2 to ?1?. this selects extended data byte. 4. 4. give wr a negative pulse and wait for rdy/bsy to go high. 5. 5. set bs2 to ?0?. this selects low data byte. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 262 figure 28-5. programmi ng the fuses waveforms 28.7.11 programming the lock bits the algorithm for programming the lock bits is as follows (refer to section 28.7.4 ?programming the flash? on page 258 for details on command and data loading): 1. a: load command ?0010 0000?. 2. c: load data low byte. bit n = ?0? programs the lock bit. if lb mode 3 is programmed (lb1 and lb2 is pro- grammed), it is not possible to program the boot lock bits by any external programming mode. 3. give wr a negative pulse and wait for rdy/bsy to go high. the lock bits can only be cleared by executing chip erase. 28.7.12 reading the fuse and lock bits the algorithm for reading the fuse and lock bits is as follows (refer to section 28.7.4 ?programming the flash? on page 258 for details on command loading): 1. a: load command ?0000 0100?. 2. set oe to ?0?, bs2 to ?0? and bs1 to ?0?. the status of the fuse low bits can now be read at data (?0? means programmed). 3. set oe to ?0?, bs2 to ?1? and bs1 to ?1?. the status of t he fuse high bits can now be read at data (?0? means programmed). 4. set oe to ?0?, bs2 to ?1?, and bs1 to ?0?. the status of the extended fuse bits can now be read at data (?0? means programmed). 5. set oe to ?0?, bs2 to ?0? and bs1 to ?1?. the status of the lock bits can now be read at data (?0? means programmed). 6. set oe to ?1?. 0x40 ac data xa1 xa0 bs1 bs2 xtal1 wr rdy/bsy oe reset +12v 0x40 0x40 data a data xx c write fuse low byte write fuse high byte write extended fuse byte xx data a xx c 263 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 28-6. mapping between bs1, bs2 and the fuse and lock bits during read 28.7.13 reading the signature bytes the algorithm for reading the signature bytes is as follows (refer to section 28.7.4 ?programming the flash? on page 258 for details on command and address loading): 1. a: load command ?0000 1000?. 2. b: load address low byte (0x00 - 0x02). 3. set oe to ?0?, and bs1 to ?0?. the selected signature byte can now be read at data. 4. set oe to ?1?. 28.7.14 reading the calibration byte the algorithm for reading the calibratio n byte is as follows (refer to section 28.7.4 ?programming the flash? on page 258 for details on command and address loading): 1. a: load command ?0000 1000?. 2. b: load address low byte, 0x00. 3. set oe to ?0?, and bs1 to ?1?. the calibration byte can now be read at data. 4. set oe to ?1?. 28.7.15 parallel prog ramming characteristics for characteristics of the parallel programming, see section 29.9 ?parallel programming characteristics? on page 277 . extended fuse byte 0 1 fuse low byte bs2 fuse high byte 0 1 lock bits bs2 bs1 data 0 1 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 264 28.8 serial downloading both the flash and eeprom memory arrays can be programmed usi ng the serial spi bus while reset is pulled to gnd. the serial interface consists of pins sck, mosi (input) and miso (output). after reset is set low, the programming enable instruction needs to be executed first before pr ogram/erase operations can be executed. note, in table 28-15 on page 264 , the pin mapping for spi programming is listed. not all parts use the spi pins dedicated for the internal spi interface. figure 28-7. serial programming and verify (1) notes: 1. if the device is clocked by the internal oscillator, it is no need to connect a clock source to the xtal1 pin. 2. v cc ? 0.3v < av cc < v cc + 0.3v, however, av cc should always be within 2.7 - 5.5v when programming the eeprom, an auto-erase cycle is built in to the self-timed programmi ng operation (in the serial mode only) and there is no need to first execute the chip erase inst ruction. the chip erase operat ion turns the content of every memory location in both the prog ram and eeprom arrays into 0xff. depending on cksel fuses, a vali d clock must be present. the minimum low and high periods for the serial clock (sck) input are defined as follows: low: > 2 cpu clock cycles for f ck < 12mhz, 3 cpu clock cycles for f ck 12mhz high: > 2 cpu clock cycles for f ck < 12mhz, 3 cpu clock cycles for f ck 12mhz 28.8.1 serial programming pin mapping gnd xtal1 reset vcc avcc + 2.7v to 5.5v + 2.7v to 5.5v (2) mosi miso sck table 28-15. pin mapping serial programming symbol pins i/o description mosi pb3 i serial data in miso pb4 o serial data out sck pb5 i serial clock 265 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 28.8.2 serial programming algorithm when writing serial data to the atmel ? atmega48pa/88pa/168pa, data is clocked on the rising edge of sck. when reading data from the atmel atmega48pa/88pa/168pa, data is clock ed on the falling edge of sck. see figure 28-9 for timing details. to program and verify the atmel atmega48pa/88pa/168pa in the serial programming mode, the following sequence is recommended (see serial prog ramming instru ction set in table 28-17 on page 266 ): 1. power-up sequence: apply power between v cc and gnd while reset and sck are set to ?0?. in so me systems, the programmer can not guarantee that sck is held low dur ing power-up. in this case, reset must be given a positive pulse of at least two cpu clock cycles durati on after sck has been set to ?0?. 2. wait for at least 20ms and enable serial programming by sending the programming enable serial instruction to pin mosi. 3. the serial programming instructions will not work if t he communication is out of syn chronization. when in sync. the second byte (0x53), will echo back when issuing the third byte of the programming enable instruction. whether the echo is correct or not, all four bytes of the instruction must be transmitted. if the 0x53 did not echo back, give reset a positive pulse and issue a new programming enable command. 4. the flash is programmed one page at a time. the memory page is loaded one byte at a time by supplying the 6 lsb of the address and data together wi th the load program memory page instruction. to ensure correct loading of the page, the data low byte must be loaded before dat a high byte is applied for a given address. the program memory page is stored by loading the write program memo ry page instruction with the 7 msb of the address. if polling (rdy/bsy ) is not used, the user must wait at least t wd_flash before issuing the next page (see table 28- 16 ). accessing the serial programming interface before the flash write operation complete s can result in incorrect programming. 5. a : the eeprom array is programmed one byte at a ti me by supplying the address and data together with the appropriate write instruction. an eeprom memory location is first auto matically erased before new data is writ- ten. if polling (rdy/bsy ) is not used, the user must wait at least t wd_eeprom before issuing th e next byte (see table 28-16 ). in a chip erased device, no 0xffs in the data file(s) need to be programmed. b : the eeprom array is programmed one pa ge at a time. the memory page is loaded one byte at a time by sup- plying the 6 lsb of the address and data together wit h the load eeprom memory page instruction. the eeprom memory page is stored by loading the write eep rom memory page instructi on with the 7 msb of the address. when using eeprom page access only byte loca tions loaded with the load eeprom memory page instruction is altered. the remaining loca tions remain unchanged. if polling (rdy/bsy ) is not used, the used must wait at least t wd_eeprom before issuing the next byte (see table 28-16 ). in a chip erased device, no 0xff in the data file(s) need to be programmed. 6. any memory location can be verified by using the read instruction which returns the content at the selected address at serial output miso. 7. at the end of the programming session, reset can be set high to commence normal operation. 8. power-off sequence (if needed): set reset to ?1?. turn v cc power off. table 28-16. typical wait de lay before writin g the next flash or eeprom location symbol minimum wait delay t wd_flash 4.5ms t wd_eeprom 3.6ms t wd_erase 9.0ms atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 266 28.8.3 serial programming instruction set table 28-17 on page 266 and figure 28-8 on page 267 describes the instruction set. if the lsb in rdy/bsy data byte out is ?1?, a programming oper ation is still pending. wait until this bit returns ?0? before th e next instruction is carried out. within the same page, the low data byte must be loaded prior to the high data byte. after data is loaded to the page buffer, program the eeprom page, see figure 28-8 on page 267 . table 28-17. serial programming instruction set (hexadecimal values) instruction/operation instruction format byte 1 byte 2 byte 3 byte4 programming enable $ac $53 $00 $00 chip erase (program memory/eeprom) $ac $80 $00 $00 poll rdy/bsy $f0 $00 $00 data byte out load instructions load extended address byte (1) $4d $00 extended adr $00 load program memory page, high byte $48 $00 adr lsb high data byte in load program memory page, low byte $40 $00 adr lsb low data byte in load eeprom memory page (page access) $c1 $00 0000 000aa data byte in read instructions read program memory, high byte $28 adr msb adr lsb high data byte out read program memory, low byte $20 adr msb adr lsb low data byte out read eeprom memory $a0 0000 00aa aaaa aaaa data byte out read lock bits $58 $00 $00 data byte out read signature byte $30 $00 0000 000aa data byte out read fuse bits $50 $00 $00 data byte out read fuse high bits $58 $08 $00 data byte out read extended fuse bits $50 $08 $00 data byte out read calibration byte $38 $00 $00 data byte out write instructions (6) write program memory page $4c adr msb (8) adr lsb (8) $00 write eeprom memory $c0 0000 00aa aaaa aaaa data byte in write eeprom memory page (page access) $c2 0000 00aa aaaa aa00 $00 write lock bits $ac $e0 $00 data byte in write fuse bits $ac $a0 $00 data byte in write fuse high bits $ac $a8 $00 data byte in write extended fuse bits $ac $a4 $00 data byte in notes: 1. not all instructions are applicable for all parts. 2. a = address. 3. bits are programmed ?0?, unprogrammed ?1?. 4. to ensure future compatibility, unused fuses and lock bits should be unprogrammed (?1?). 5. refer to the corresponding section for fuse and lock bits, calibration and signature bytes and page size. 6. instructions accessing program memory use a word add ress. this address may be random within the page range. 7. see http://www.atmel.com/avr for application notes regarding programming and programmers. 8. words 267 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 28-8. serial programming instruction example 28.8.4 spi serial programming characteristics figure 28-9. serial programming waveforms for characteristics of the spi module see section 29.6 ?spi timing ch aracteristics? on page 273 . byte 1 byte 2 byte 3 byte 4 page 0 page 1 page 2 adr lbs adr mbs bit 15 b 0 bit 15 b 0 byte 1 byte 2 byte 3 byte 4 adr lbs adr mbs page n-1 program memory/ eeprom memory serial programming instruction page buffer page number page offset load program memory page (high/low byte)/ load eeprom memory page (page access) write program memory page/ write eeprom memory page serial data input (mosi) serial data output (miso) serial clock input (sck) sample msb lsb msb lsb atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 268 29. electrical characteristics all ac/dc characteristics containe d in this datasheet are based on characterization of the atmel ? atmega48pa/88pa/168pa avr microcontroller manufac tured in an automotive process technology. 29.1 absolute maximum ratings 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 any other conditions beyond t hose indicated in the operational sections of this specification is not implied. exposure to absolute maximum rating conditions for extended periods may affect device reliability . parameters min. typ. max. unit operating temperature ?55 +125 c storage temperature ?65 +150 c voltage on any pin except reset with respect to ground ?0.5 v cc + 0.5 v voltage on reset with respect to ground ?0.5 +13.0 v maximum operating voltage 6 v dc current per i/o pin 40 ma dc current v cc and gnd pins 200 ma 269 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 29.2 dc characteristics table 29-1. common dc characteristics t a = -40c to 125c, v cc = 2.7v to 5.5v (unless otherwise noted) parameter condition symbol min. typ. max. unit input low voltage, except xtal1 and reset pin v cc = 2.7v - 5.5v v il ?0.3 0.3v cc (1) v input high voltage, except xtal1 and reset pins v cc = 2.4v - 5.5v v ih 0.6v cc (2) v cc + 0.5 v input low voltage, xtal1 pin v cc = 2.7v - 5.5v v il1 ?0.3 0.1v cc (1) v input high voltage, xtal1 pin v cc = 2.4v - 5.5v v ih1 0.7v cc (2) v cc + 0.5 v input low voltage, reset pin v cc = 2.7v - 5.5v v il2 ?0.3 0.1v cc (1) v input high voltage, reset pin v cc = 2.7v - 5.5v v ih2 0.9v cc (2) v cc + 0.5 v output low voltage (4) except reset pin i ol = 20ma, v cc = 5v i ol = 5ma, v cc = 3v v ol 0.8 0.5 v output high voltage (3) except reset pin i oh = ?20ma, v cc = 5v i oh = ?10ma, v cc = 3v v oh 4.1 2.3 v input leakage current i/o pin v cc = 5.5v, pin low (absolute value) i il 1 a input leakage current i/o pin v cc = 5.5v, pin high (absolute value) i ih 1 a reset pull-up resistor v cc = 5v, v in = 0v r rst 30 60 k i/o pin pull-up resistor r pu 20 50 k analog comparator input offset voltage v cc = 5v, 0.1v cc < v in < v cc - 100mv v acio < 10 40 mv analog comparator input leakage current 0.1v cc < vin < v cc ? 100mv i aclk ?50 50 na analog comparator propagation delay v cc = 4.5v t acid 140 ns notes: 1. ?max? means the highest value where the pin is guaranteed to be read as low 2. ?min.? means the lowest value where t he pin is guaranteed to be read as high 3. although each i/o port can source more than the test conditions (20ma at v cc = 5v, 10ma at v cc = 3v) under steady state conditions (non-transient), the following must be observed: atmel atmega48pa/88pa/168pa: 1] the sum of all i oh , for ports c0 - c5, d0- d4, adc7, reset should not exceed 150ma. 2] the sum of all i oh , for ports b0 - b5, d5 - d7, adc6, xtal1, xtal2 should not exceed 150ma. if ii oh exceeds the test condition, v oh may exceed the related specification. pi ns are not guaranteed to source current greater than the listed test condition. 4. although each i/o port can sink more than the test conditions (20ma at v cc = 5v, 10ma at v cc = 3v) under steady state conditions (non-transient), the following must be observed: atmel atmega48pa/88pa/168pa: 1] the sum of all i ol , for ports c0 - c5, adc7, adc6 should not exceed 100ma. 2] the sum of all i ol , for ports b0 - b5, d5 - d7, xtal1, xtal2 should not exceed 100ma. 3] the sum of all i ol , for ports d0 - d4, reset should not exceed 100ma. if i ol exceeds the test condition, v ol may exceed the related specification. pins are not guaranteed to sink current greater than the listed test condition. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 270 29.2.1 dc characteristics 29.3 speed grades maximum frequency is dependent on v cc. as shown in figure 29-1 . figure 29-1. maximum frequency versus v cc table 29-2. dc characteristics - t a = ?40c to +125c, v cc = 2.7v to 5.5v (unless otherwise noted) parameter condition symbol min. typ. (2) max. unit power supply current (1) active 4mhz, v cc = 3v icc 1.3 2.4 ma active 8mhz, v cc = 5v 4.6 10 ma active 16mhz, v cc = 5v 8.4 16 ma idle 4mhz, v cc = 3v 0.2 0.6 ma idle 8mhz, v cc = 5v 0.9 1.6 ma idle 16mhz, v cc = 5v 1.8 4 ma power-down mode (3) wdt enabled, v cc = 3v 4.2 44 a wdt enabled, v cc = 5v 6.2 66 a wdt disabled, v cc = 3v 0.8 40 a wdt disabled, v cc = 5v 1.1 60 a notes: 1. values with ?minimizing power consumption? enabled (0xff). 2. typical values at 25c. maximum values are test limits in production. 3. the current consumption values include input leakage current safe operating area 2.7v 4mhz 16mhz 5.5v 4.5v 8mhz 271 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 29.4 clock characteristics 29.4.1 calibrated internal rc oscillator accuracy 29.4.2 external clock drive waveforms figure 29-2. external clock drive waveforms 29.4.3 external clock drive table 29-3. calibration accuracy of internal rc oscillator frequency v cc temperature calibration accuracy default 3v factory calibration 8.0mhz 3v 25c 1% 2.7v - 5.5v ?40c - 125c 14% 5v factory calibration 8.0mhz 5v 25c 1% 4.5v - 5.5v ?40c - 125c 10% watchdog oscillator 128khz 2.7v - 5.5v ?40c - 125c 40% t chcx v ih1 v il1 t chcx t clch t chcl t clcx t clcl table 29-4. external clock drive parameter symbol v cc = 2.7 - 5.5v v cc = 4.5 - 5.5v unit min. max. min. max. oscillator frequency 1/t clcl 0 8 0 16 mhz clock period t clcl 125 62.5 ns high time t chcx 50 25 ns low time t clcx 50 25 ns rise time t clch 1.6 0.5 s fall time t chcl 1.6 0.5 s change in period from one clock cycle to the next t clcl 2 2 % note: all dc characteristics contained in this datasheet are based on simulation and characte rization of other avr microcon- trollers manufactured in the same process technology. these values are preliminar y values representing design targets, and will be updated after characterization of actual silicon. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 272 29.5 system and reset characteristics table 29-5. power on reset specifications (1) parameter symbol min. typ max unit power-on reset threshold voltage (rising) v pot 1.4 v power-on reset threshold voltage (falling) (2) v pot 0.6 1.3 1.6 v vcc maximum start voltage to ensure internal power-on reset signal vpormax 0.4 v vcc min. start voltage to ensure internal power-on reset signal vpormin ?0.1 v vcc rise rate to ensure power-on reset v ccrr 0.01 v/ms reset pin threshold voltage v rst 0.2vcc 0.9vcc v minimum pulse width on reset pin t rst 2.5 s bandgap reference voltage v bg 1.0 1.1 1.2 v bandgap reference start-up time t bg 40 70 s brown-out detector hysteresis v hyst 80 mv notes: 1. values are guidelines only. 2. before rising, the supply has to be between vpormin and vpormax to ensure a reset. table 29-6. bodlevel fuse coding (1) bodlevel 2:0 fuses min. v bot typ v bot max v bot unit 111 bod disabled 110 1.6 1.8 2.0 v 101 2.5 2.7 2.9 100 3.9 4.3 4.6 011 2.3 (2) 010 2.2 (2) 000 2.0 (2) 001 1.9 (2) notes: 1. v bot may be below nominal minimum operating voltage for some devices. for devices where this is the case, the device is tested down to v cc = v bot during the production test. this guarantees that a brown-out reset will occur before v cc drops to a voltage where correct operation of the microcontro ller is no longer guaranteed. the test is performed using bodlevel = 110, 101 and 100. 2. not tested in production 273 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 29.6 spi timing characteristics see figure 29-3 and figure 29-4 for details. table 29-7. spi timing parameters no. description mode min. typ max unit 1 sck period master see table 19-5 ns 2 sck high/low master 50% duty cycle 3 rise/fall time master 3.6 4 setup master 10 5 hold master 10 6 out to sck master 0.5 t sck 7 sck to out master 10 8 sck to out high master 10 9 ss low to out slave 15 10 sck period slave 4 t ck 11 sck high/low (1) slave 2 t ck 12 rise/fall time slave 1600 13 setup slave 10 14 hold slave t ck 15 sck to out slave 15 16 sck to ss high slave 20 17 ss high to tri-state slave 10 18 ss low to sck slave 20 notes: 1. in spi programming mode the minimum sck high/low period is: - 2 t clcl for f ck < 12mhz - 3 t clcl for f ck > 12mhz 2. all dc characteristics contained in this datasheet are based on simulation and characterization of other avr microcontrollers manufactured in the same process te chnology. these values are preliminary values repre- senting design targets, and will be updated af ter characterization of actual silicon. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 274 figure 29-3. spi interface timing requirements (master mode) figure 29-4. spi interface timing requirements (slave mode) 6 msb ss sck (cpol = 0) sck (cpol = 1) miso (data input) mosi (data output) msb lsb lsb ... ... 45 8 7 1 2 2 3 9 msb ss sck (cpol = 0) sck (cpol = 1) mosi (data input) miso (data output) msb lsb x lsb ... ... 13 14 17 15 10 16 11 11 12 275 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 29.7 two-wire serial interface characteristics table 29-8 describes the requirements for devices conn ected to the 2-wire serial bus. the atmel ? atmega48pa/88pa/168pa 2-wire serial interface meets or exceeds these requirements under the noted conditions. timing symbols refer to figure 29-5 . table 29-8. two-wire serial bus requirements parameter condition symbol min. max unit input low-voltage v il -0.3 0.3 v cc v input high-voltage v ih 0.7 v cc v cc + 0.5 v hysteresis of schmitt trigger inputs v hys (1) 0.05 v cc (2) ? v output low-voltage 3ma sink current v ol (1) 0 0.4 v rise time for both sda and scl t r (1) 20 + 0.1c b (3)(2) 300 ns output fall time from v ihmin to v ilmax 10pf < c b < 400pf (3) t of (1) 20 + 0.1c b (3)(2) 250 ns spikes suppressed by input filter t sp (1) 0 50 (2) ns input current each i/o pin 0.1v cc < v i < 0.9v cc i i -10 10 a capacitance for each i/o pin c i (1) ? 10 pf scl clock frequency f ck (4) > max(16f scl , 250khz) (5) f scl 0 400 khz value of pull-up resistor f scl 100khz rp f scl > 100khz rp hold time (repeated) start condition f scl 100khz t hd;sta 4.0 ? s f scl > 100khz t hd;sta 0.6 ? s low period of the scl clock f scl 100khz t low 4.7 ? s f scl > 100khz t low 1.3 ? s high period of the scl clock f scl 100khz t high 4.0 ? s f scl > 100khz t high 0.6 ? s set-up time for a repeated start condition f scl 100khz t su;sta 4.7 ? s f scl > 100khz t su;sta 0.6 ? s data hold time f scl 100khz t hd;dat 0 3.45 s f scl > 100khz t hd;dat 0 0.9 s data setup time f scl 100khz t su;dat 250 ? ns f scl > 100khz t su;dat 100 ? ns setup time for stop condition f scl 100khz t su;sto 4.0 ? s f scl > 100khz t su;sto 0.6 ? s bus free time between a stop and start condition f scl 100khz t buf 4.7 ? s f scl > 100khz t buf 1.3 ? s notes: 1. in the atmel atmega48pa/88pa/168pa, this parameter is characterized and not 100% tested. 2. required only for f scl > 100khz. 3. c b = capacitance of one bus line in pf. 4. f ck = cpu clock frequency 5. this requirement applies to all atmel atmega48pa/88pa/1 68pa 2-wire serial interface operation. other devices con- nected to the 2-wire serial bus need only obey the general f scl requirement. v cc 0,4v ? 3ma --------------------------- - 1000ns c b ---------------- - v cc 0,4v ? 3ma --------------------------- - 300ns c b ------------- - atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 276 figure 29-5. two-wire serial bus timing 29.8 adc characteristics sda scl t low t buf t hd;dat t hd;sta t su;dat t su;sto t su;sta t high t r t of t low table 29-9. adc characteristics parameter condition symbol min. typ max unit resolution ?40c to 125c, 2.70v to 5.50v adc clock = 200khz 10 bits absolute accuracy v cc = 4v, v ref = 4v tue 2.2 3.5 lsb integral non-linearity v cc = 4v, v ref = 4v inl 0.6 1.5 lsb differential non-linearity v cc = 4v, v ref = 4v dnl 0.3 0.7 lsb gain error v cc = 4v, v ref = 4v ?4.0 3.0 lsb offset error v cc = 4v, v ref = 4v ?3.5 3.5 lsb clock frequency 50 200 khz analog supply voltage av cc (1) v cc ? 0.3 v cc + 0.3 v reference voltage v ref 1.0 av cc v input voltage v in gnd v ref v input bandwidth 38.5 khz internal voltage reference v int 1.0 1.1 1.2 v reference input resistance r ref 22 32 42 k analog input resistance r ain 100 m note: 1. av cc absolute min./max: 2.7v/5.5v 277 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 29.9 parallel programming characteristics figure 29-6. parallel programming timing, including some general timing requirements table 29-10. parallel programming characteristics, v cc = 5v 10% parameter symbol min. typ max unit programming enable voltage v pp 11.5 12.5 v programming enable current i pp 250 a data and control valid before xtal1 high t dvxh 67 ns xtal1 low to xtal1 high t xlxh 200 ns xtal1 pulse width high t xhxl 150 ns data and control hold after xtal1 low t xldx 67 ns xtal1 low to wr low t xlwl 0 ns xtal1 low to pagel high t xlph 0 ns pagel low to xtal1 high t plxh 150 ns bs1 valid before pagel high t bvph 67 ns pagel pulse width high t phpl 150 ns bs1 hold after pagel low t plbx 67 ns bs2/1 hold after wr low t wlbx 67 ns pagel low to wr low t plwl 67 ns bs1 valid to wr low t bvwl 67 ns wr pulse width low t wlwh 150 ns wr low to rdy/bsy low t wlrl 0 1 s wr low to rdy/bsy high (1) t wlrh 3.7 4.5 ms wr low to rdy/bsy high for chip erase (2) t wlrh_ce 7.5 9 ms xtal1 low to oe low t xlol 0 ns bs1 valid to data valid t bvdv 0 250 ns oe low to data valid t oldv 250 ns oe high to data tri-stated t ohdz 250 ns notes: 1. t wlrh is valid for the write flash, write eeprom, wr ite fuse bits and write lock bits commands. 2. t wlrh_ce is valid for the chip erase command. xtal1 pagel wr data and control (data, xa0/1, bs1, bs2) t xhxl t dvxh t bvph t xlwl t xldx t phpl t plbx t plwl t bvwl t wlbx t wlwh t wlrl t wlrh rdy/bsy atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 278 figure 29-7. parallel programming timing, loading sequence with timing requirements (1) note: 1. the timing requirements shown in figure 29-6 (i.e., t dvxh , t xhxl , and t xldx ) also apply to loading operation. figure 29-8. parallel programming timing, reading sequence (within the same page) with timing requirements (1) note: 1. the timing requirements shown in figure 29-6 (i.e., t dvxh , t xhxl , and t xldx ) also apply to reading operation. xtal1 bs1 pagel data xa0 xa1 t xlxh t plxh t xlph load address (low byte) load data (low byte) load data (high byte) load address (low byte) load data addr0 (low byte) addr1 (low byte) data (low byte) data (high byte) xtal1 bs1 oe data xa0 xa1 t bvdv t xlol t oldv t ohdz load address (low byte) read data (low byte) read data (high byte) load address (low byte) addr0 (low byte) addr1 (low byte) data (low byte) data (high byte) 279 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 30. typical characteristics the following charts show typical behavior. these figures ar e not tested during manufactur ing. all current consumption measurements are performed with all i/o pins configured as inputs and with internal pull-ups enabled. a square wave generator with rail-to-rail output is used as clock source. 30.1 atmega48pa typical characteristics 30.1.1 active supply current figure 30-1. active supply current versus low frequency (0.1-1.0mhz) figure 30-2. active supply current versus frequency (1-16mhz) 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (mhz) 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 i cc (ma) 6.0 5. 5 5. 0 4. 5 4.0 3. 6 3. 3 3.0 2. 7 2. 4 2. 1 2.0 1. 8 1. 5 1. 4 0 2 4 6 8 10 1214161820 frequency (mhz) 14 16 18 20 12 10 8 6 4 2 0 i cc (ma) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.5 2.2 2.0 1.8 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 280 30.1.2 idle supply current figure 30-3. idle supply current versus low frequency (0.1-1.0mhz) figure 30-4. idle supply current versus frequency (1-16mhz) 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (mhz) 0.14 0.16 0.18 0.12 0.1 0.08 0.06 0.04 0.02 0 i cc (ma) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.5 2.2 2.0 1.8 1.62 0 2 4 6 8 10 12 14 16 18 20 frequency (mhz) 3.5 4.0 3.0 2.5 2.0 1.5 1.0 0.5 0 i cc (ma) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.5 2.2 2.0 1.8 1.62 281 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 30.1.3 supply current of io modules the tables and formulas below can be used to calculate the addi tional current consumption for the different i/o modules in active and idle mode. the enabling or disabling of the i/o m odules are controlled by the power reduction register. see section 10.9 ?power reduction register? on page 37 for details. it is possible to calculate the typical curr ent consumption based on the numbers from table 30-2 for other v cc and frequency settings than listed in table 30-1 . 30.1.3.1example calculate the expected current consumption in id le mode with timer1, adc, and spi enabled at v cc = 2.0v and f = 1mhz. from table 30-2 , third column, we see that we need to add 11.2% for the timer1, 22.1% for the adc, and 17.6% for the spi module. reading from figure 30-3 on page 280 , we find that the idle current consumption is ~0.028ma at v cc = 2.0v and f = 1mhz. the total current consumption in idle mode with timer1, adc, and spi enabled, gives: i cctotal 0.028ma (1 + 0.112 + 0221 + 0.176) 0.042ma table 30-1. additional current consumption for the different i/o modules (absolute values) prr bit typical numbers v cc = 2v, f = 1mhz v cc = 3v, f = 4mhz v cc = 5v, f = 8mhz prusart0 2.9a 20.7a 97.4a prtwi 6.0a 44.8a 219.7a prtim2 5.0a 34.5a 141.3a prtim1 3.6a 24.4a 107.7a prtim0 1.4a 9.5a 38.4a prspi 5.0a 38.0a 190.4a pradc 6.1a 47.4a 244.7a table 30-2. additional current consumption (percentage) in active and idle mode prr bit additional current consumption compared to active with external clock (see figure 30-1 on page 279 and figure 30-2 on page 279 ) additional current consumption compared to idle with external clock (see figure 30-3 on page 280 and figure 30-4 on page 280 ) prusart0 1.8% 11.4% prtwi 3.9% 20.6% prtim2 2.9% 15.7% prtim1 2.1% 11.2% prtim0 0.8% 4.2% prspi 3.3% 17.6% pradc 4.2% 22.1% atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 282 30.1.4 power-down supply current figure 30-5. power-down supply current versus v cc (watchdog timer disabled) figure 30-6. power-down supply current versus v cc (watchdog timer enabled) 30.1.5 pin pull-up figure 30-7. i/o pin pull-up resistor current versus input voltage (v cc = 5.0v) 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 v cc (v) 60 50 40 30 20 10 0 i cc (a) 150 125 85 25 -40 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 v cc (v) 60 50 40 30 100 90 80 70 20 10 0 i cc (a) 150 125 85 25 -40 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 v op (v) 120 100 80 60 160 140 40 20 0 i op (a) 150 125 85 25 -40 283 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 30-8. reset pull-up resistor current versus reset pin voltage (v cc = 5v) 30.1.6 pin driver strength figure 30-9. i/o pin output voltage versus sink current (v cc = 3v) figure 30-10.i/o pin output voltage versus sink current (v cc = 5v) 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 140 120 100 80 60 40 20 0 -20 i reset (a) v reset (v) 150 125 85 25 -40 012345 i ol (ma) 0.3 0.25 0.2 0.15 0.1 0.05 0 v ol (v) 150 125 85 25 -40 0 2 4 6 8 1012 1416 1820 i ol (ma) 0.6 0.5 0.8 0.7 0.4 0.3 0.2 0.1 0 v ol (v) 150 125 85 25 -40 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 284 figure 30-11.i/o pin output voltage versus source current (v cc = 3v) figure 30-12.i/o pin output voltage versus source current (v cc = 5v) 30.1.7 pin threshold and hysteresis figure 30-13.i/o pin input threshold voltage versus v cc (v ih , i/o pin read as ?1?) 012345678910 i oh (ma) 2.8 2.7 3.0 3.1 2.9 2.6 2.5 2.4 2.3 2.2 v oh (v) 150 125 85 25 -40 0 2 4 6 8 1012 1416 1820 i oh (ma) 5 4.8 5.2 4.6 4.4 4.2 4 3.8 v oh (v) 150 125 85 25 -40 1.522.533.544.555.5 v cc (v) 3 2.5 3.5 4 2 1.5 1 0.5 0 threshold (v) 150 125 85 25 -40 285 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 30-14.i/o pin input threshold voltage versus v cc (v il , i/o pin read as ?0?) figure 30-15.reset input threshold voltage versus v cc (v ih , i/o pin read as ?1?) figure 30-16.reset input threshold voltage versus v cc (v il , i/o pin read as ?0?) 1.522.533.544.555.5 v cc (v) 2.5 2 1.5 1 0.5 0 threshold (v) 150 125 85 25 -40 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 2.5 2 1.5 1 0.5 5 4.5 4 3.5 3 0 threshold (v) 150 125 85 25 -40 1.522.533.544.555.5 v cc (v) 2.5 2 1.5 1 0.5 0 threshold (v) 150 125 85 25 -40 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 286 30.1.8 bod threshold figure 30-17. bod thresholds versus temp erature (bodlevel is 1.8v) figure 30-18. bod thresholds versus temp erature (bodlevel is 2.7v) figure 30-19. bod thresholds versus temp erature (bodlevel is 4.3v) -50 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 temperature (c) 1.85 1.8 1.75 2 1.95 1.9 1.7 1.65 1.6 threshold (v) 1 0 -50 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 temperature (c) 2.75 2.7 2.65 2.9 2.85 2.8 2.6 2.55 2.5 threshold (v) 1 0 -50 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 temperature (c) 4.4 4.3 4.2 4.5 4.1 4.0 3.9 threshold (v) 1 0 287 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 30-20.bandgap voltage versus v cc 30.1.9 internal oscillator speed figure 30-21.watchdog oscillat or frequency versus temperature figure 30-22.watchdog osci llator frequency versus v cc 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 1.075 1.05 1.025 1.1 1.125 1.15 1 0.975 0.95 bandgap voltage (v) 150 125 85 25 -40 -40-30-20-10 0 102030 4050607080 90100110120 temperature (c) 150 140 130 120 110 100 f rc (khz) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.4 2.2 2.0 1.8 1.6 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 150 140 130 160 120 110 100 f rc (khz) 150 125 85 25 -40 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 288 figure 30-23.calibrated 8mhz rc oscillator frequency versus v cc figure 30-24.calibrated 8mhz rc oscillator frequency versus temperature figure 30-25.calibrated 8mhz rc osci llator frequency versus osccal value 1.8 2.3 2.8 3.3 3.8 4.3 4.8 5.3 v cc (v) 8.1 8 7.9 8.2 8.3 8.4 7.8 7.7 7.6 f rc (mhz) 150 125 85 25 -40 150 125 85 25 -40 -40-30-20-10 0 102030405060708090100110120130140150 temperature (c) 8.1 8.0 7.9 8.4 8.3 8.2 7.8 7.7 7.6 f rc (mhz) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.5 2.2 2.0 1.8 0 16 32 48 64 80 96 112 128 144 160 176 192 208 224 240 osc cal (x1) 10 8 6 12 14 16 4 2 0 f rc (mhz) 150 125 85 25 -40 150 125 85 25 -40 289 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 30.1.10 reset pulse width figure 30-26.minimum reset pulse width versus v cc 30.2 atmega88pa typical characteristics 30.2.1 active supply current figure 30-27.active supply current versus low frequency (0.1-1.0mhz) 1.8 2.3 2.8 3.3 3.8 4.3 4.8 5.3 5.8 v cc (v) 1000 1500 2000 2500 500 0 pulse width (ns) 150 125 85 25 -40 150 125 85 25 -40 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (mhz) 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 i cc (ma) 6.0 5. 5 5. 0 4. 5 4.0 3. 6 3. 3 3.0 2. 7 2. 4 2. 1 2.0 1. 8 1. 5 1. 4 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 290 figure 30-28.active supply curre nt versus frequency (1-16mhz) 30.2.2 idle supply current figure 30-29.idle supply current versus low frequency (0.1-1.0mhz) figure 30-30.idle supply current versus frequency (1-16mhz) 0 2 4 6 8 10 1214161820 frequency (mhz) 14 16 18 20 12 10 8 6 4 2 0 i cc (ma) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.5 2.2 2.0 1.8 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (mhz) 0.14 0.16 0.18 0.12 0.1 0.08 0.06 0.04 0.02 0 i cc (ma) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.5 2.2 2.0 1.8 1.62 0 2 4 6 8 10 12 14 16 18 20 frequency (mhz) 3.5 4.0 3.0 2.5 2.0 1.5 1.0 0.5 0 i cc (ma) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.5 2.2 2.0 1.8 1.62 291 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 30.2.3 supply current of io modules the tables and formulas below can be used to calculate the addi tional current consumption for the different i/o modules in active and idle mode. the enabling or disabling of the i/o m odules are controlled by the power reduction register. see section 10.9 ?power reduction register? on page 37 for details. it is possible to calculate the typical curr ent consumption based on the numbers from table 30-2 on page 281 for other v cc and frequency settings than listed in table 30-1 on page 281 . 30.2.3.1 example calculate the expected current consumption in id le mode with timer1, adc, and spi enabled at v cc = 2.0v and f = 1mhz. from table 30-2 on page 281 , third column, we see that we need to add 11.2% for the timer1, 22.1% for the adc, and 17.6% for the spi module. reading from figure 30-3 on page 280 , we find that the idle current consumption is ~0.028ma at v cc = 2.0v and f = 1mhz. the total current consumption in idle mode with timer1, adc, and spi enabled, gives: i cctotal 0.028ma (1 + 0.112 + 0221 + 0.176) 0.042ma table 30-3. additional current consumption fo r the different i/o modules (absolute values) prr bit typical numbers v cc = 2v, f = 1mhz v cc = 3v, f = 4mhz v cc = 5v, f = 8mhz prusart0 2.9a 20.7a 97.4a prtwi 6.0a 44.8a 219.7a prtim2 5.0a 34.5a 141.3a prtim1 3.6a 24.4a 107.7a prtim0 1.4a 9.5a 38.4a prspi 5.0a 38.0a 190.4a pradc 6.1a 47.4a 244.7a table 30-4. additional current consumption (percentage) in active and idle mode prr bit additional current consumption compared to active with external clock (see figure 30-1 on page 279 and figure 30-2 on page 279 ) additional current consumption compared to idle with external clock (see figure 30-3 on page 280 and figure 30-4 on page 280 ) prusart0 1.8% 11.4% prtwi 3.9% 20.6% prtim2 2.9% 15.7% prtim1 2.1% 11.2% prtim0 0.8% 4.2% prspi 3.3% 17.6% pradc 4.2% 22.1% atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 292 30.2.4 power-down supply current figure 30-31.power-down supply current versus v cc (watchdog timer disabled) figure 30-32.power-down supply current versus v cc (watchdog timer enabled) 30.2.5 pin pull-up figure 30-33.i/o pin pull-up resist or current versus input voltage (v cc = 5.0v) 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 v cc (v) 60 50 40 30 20 10 0 i cc (a) 150 125 85 25 -40 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 v cc (v) 60 50 40 30 100 90 80 70 20 10 0 i cc (a) 150 125 85 25 -40 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 v op (v) 120 100 80 60 160 140 40 20 0 i op (a) 150 125 85 25 -40 293 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 30-34.reset pull-up resistor current versus reset pin voltage (v cc = 5v) 30.2.6 pin driver strength figure 30-35.i/o pin output voltage versus sink current (v cc = 3v) figure 30-36.i/o pin output voltage versus sink current (v cc = 5v) 140 120 100 80 60 40 20 0 i reset (a) 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 v reset (v) 150 125 85 25 -40 012345 i ol (ma) 0.3 0.25 0.2 0.15 0.1 0.05 0 v ol (v) 150 125 85 25 -40 0 2 4 6 8 1012 1416 1820 i ol (ma) 0.6 0.5 0.8 0.7 0.4 0.3 0.2 0.1 0 v ol (v) 150 125 85 25 -40 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 294 figure 30-37.i/o pin output voltage versus source current (vcc = 3v) figure 30-38.i/o pin output voltage versus source current (v cc = 5v) 30.2.7 pin threshold and hysteresis figure 30-39.i/o pin input threshold voltage versus v cc (v ih , i/o pin read as ?1?) 012345678910 i oh (ma) 2.8 2.7 3.0 3.1 2.9 2.6 2.5 2.4 2.3 2.2 v oh (v) 150 125 85 25 -40 0 2 4 6 8 1012 1416 1820 i oh (ma) 5 4.8 5.2 4.6 4.4 4.2 4 3.8 v oh (v) 150 125 85 25 -40 1.522.533.544.555.5 v cc (v) 3 2.5 3.5 4 2 1.5 1 0.5 0 threshold (v) 150 125 85 25 -40 295 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 30-40.i/o pin input threshold voltage versus v cc (v il , i/o pin read as ?0?) figure 30-41.reset input threshold voltage versus v cc (v ih , i/o pin read as ?1?) figure 30-42.reset input threshold voltage versus v cc (v il , i/o pin read as ?0?) 1.522.533.544.555.5 v cc (v) 2.5 2 1.5 1 0.5 0 threshold (v) 150 125 85 25 -40 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 2.5 2 1.5 1 0.5 5 4.5 4 3.5 3 0 threshold (v) 150 125 85 25 -40 1.522.533.544.555.5 v cc (v) 2.5 2 1.5 1 0.5 0 threshold (v) 150 125 85 25 -40 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 296 30.2.8 bod threshold figure 30-43. bod thresholds versus temp erature (bodlevel is 1.8v) figure 30-44. bod thresholds versus temp erature (bodlevel is 2.7v) figure 30-45. bod thresholds versus temp erature (bodlevel is 4.3v) -50 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 temperature (c) 1.85 1.8 1.75 2 1.95 1.9 1.7 1.65 1.6 threshold (v) 1 0 -50 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 temperature (c) 2.75 2.7 2.65 2.9 2.85 2.8 2.6 2.55 2.5 threshold (v) 1 0 -50 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 temperature (c) 4.5 4.4 4.3 4.6 4.2 4.1 4 threshold (v) 1 0 297 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 30-46.bandgap voltage versus v cc 30.2.9 internal oscillator speed figure 30-47.watchdog oscillat or frequency versus temperature figure 30-48.watchdog osci llator frequency versus v cc 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 1.09 1.088 1.086 1.092 1.094 1.096 1.098 1.1 1.084 1.082 1.08 bandgap voltage (v) 150 125 85 25 -40 -40-30-20-10 0 102030 4050607080 90100110120 temperature (c) 150 140 130 120 110 100 f rc (khz) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.4 2.2 2.0 1.8 1.6 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 v cc (v) 115 110 105 120 135 130 125 140 100 95 90 f rc (khz) 150 125 85 25 -40 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 298 figure 30-49.calibrated 8mhz rc oscillator frequency versus v cc figure 30-50.calibrated 8mhz rc oscillator frequency versus temperature figure 30-51.calibrated 8mhz rc osci llator frequency versus osccal value 1.8 2.3 2.8 3.3 3.8 4.3 4.8 5.3 v cc (v) 8.1 7.9 8 8.2 8.3 8.4 7.8 7.7 7.6 f rc (mhz) 150 125 85 25 -40 150 125 85 25 -40 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 temperature (c) 8.1 8.0 7.9 8.4 8.3 8.2 7.8 7.7 7.6 f rc (mhz) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.5 2.2 2.0 1.8 0 16 32 48 64 80 96 112 128 144 160 176 192 208 224 240 osc cal (x1) 10 8 6 12 14 16 4 2 0 f rc (mhz) 150 125 85 25 -40 150 125 85 25 -40 299 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 30.2.10 reset pulse width figure 30-52.minimum reset pulse width versus v cc 30.3 atmega168pa typical characteristics 30.3.1 active supply current figure 30-53.active supply current versus low frequency (0.1-1.0mhz) 1.8 2.8 3.8 4.8 v cc (v) 400 600 800 1000 1200 1400 1600 1800 200 0 pulse width (ns) 150 125 85 25 -40 150 125 85 25 -40 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (mhz) 1.4 1.6 1.2 1.0 0.8 0.6 0.4 0.2 0 i cc (ma) 6.0 5. 5 5. 0 4. 5 4.0 3. 6 3. 3 3.0 2. 7 2. 4 2. 2 2.0 1. 8 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 300 figure 30-54.active supply curre nt versus frequency (1-16mhz) 30.3.2 idle supply current figure 30-55.idle supply current versus low frequency (0.1-1.0mhz) figure 30-56.idle supply current versus frequency (1-16mhz) 0 2 4 6 8 101214 161820 frequency (mhz) 14 16 18 20 12 10 8 6 4 2 0 i cc (ma) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.4 2.2 2.0 1.8 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 frequency (mhz) 0.14 0.16 0.18 0.2 0.12 0.1 0.08 0.06 0.04 0.02 0 i cc (ma) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.4 2.2 2.0 1.8 0246 8101214161820 frequency (mhz) 6 5 4 3 2 1 0 i cc (ma) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.4 2.2 2.0 1.8 301 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 30.3.3 supply current of io modules the tables and formulas below can be used to calculate the addi tional current consumption for the different i/o modules in active and idle mode. the enabling or disabling of the i/o m odules are controlled by the power reduction register. see section 10.9 ?power reduction register? on page 37 for details. it is possible to calculate the typical curr ent consumption based on the numbers from table 30-2 on page 281 for other v cc and frequency settings than listed in table 30-1 on page 281 . 30.3.3.1 example calculate the expected current consumption in id le mode with timer1, adc, and spi enabled at v cc = 2.0v and f = 1mhz. from table 30-2 on page 281 , third column, we see that we need to add 11.2% for the timer1, 22.1% for the adc, and 17.6% for the spi module. reading from figure 30-3 on page 280 , we find that the idle current consumption is ~0.028ma at v cc = 2.0v and f = 1mhz. the total current consumption in idle mode with timer1, adc, and spi enabled, gives: i cctotal 0.028ma (1 + 0.112 + 0221 + 0.176) 0.042ma table 30-5. additional current consumption fo r the different i/o modules (absolute values) prr bit typical numbers v cc = 2v, f = 1mhz v cc = 3v, f = 4mhz v cc = 5v, f = 8mhz prusart0 2.9a 20.7a 97.4a prtwi 6.0a 44.8a 219.7a prtim2 5.0a 34.5a 141.3a prtim1 3.6a 24.4a 107.7a prtim0 1.4a 9.5a 38.4a prspi 5.0a 38.0a 190.4a pradc 6.1a 47.4a 244.7a table 30-6. additional current consumption (percentage) in active and idle mode prr bit additional current consumption compared to active with external clock (see figure 30-1 on page 279 and figure 30-2 on page 279 ) additional current consumption compared to idle with external clock (see figure 30-3 on page 280 and figure 30-4 on page 280 ) prusart0 1.8% 11.4% prtwi 3.9% 20.6% prtim2 2.9% 15.7% prtim1 2.1% 11.2% prtim0 0.8% 4.2% prspi 3.3% 17.6% pradc 4.2% 22.1% atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 302 30.3.4 power-down supply current figure 30-57.power-down supply current versus v cc (watchdog timer disabled) figure 30-58.power-down supply current versus v cc (watchdog timer enabled) 30.3.5 pin pull-up figure 30-59.i/o pin pull-up resist or current versus input voltage (v cc = 5.0v) 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 30 25 20 15 50 45 40 35 10 5 0 i cc (a) 150 125 85 25 -40 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 120 100 80 60 200 180 160 140 40 20 0 i cc (a) 150 125 85 25 -40 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 v op (v) 120 100 80 60 160 140 200 180 40 20 0 i op (a) 150 125 85 25 -40 303 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 30-60.reset pull-up resistor current versus reset pin voltage (v cc = 5v) 30.3.6 pin driver strength figure 30-61.i/o pin output voltage versus sink current (v cc = 3v) figure 30-62.i/o pin output voltage versus sink current (v cc = 5v) 120 100 80 60 40 20 0 -20 i reset (a) 150 125 85 25 -40 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 v reset (v) 012345 i ol (ma) 0.3 0.25 0.2 0.15 0.1 0.05 0 v ol (v) 150 125 85 25 -40 0 2 4 6 8 1012 1416 1820 i ol (ma) 0.6 0.5 0.8 0.7 0.4 0.3 0.2 0.1 0 v ol (v) 150 125 85 25 -40 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 304 figure 30-63.i/o pin output voltage versus source current (vcc = 3v) figure 30-64.i/o pin output voltage versus source current (v cc = 5v) 30.3.7 pin threshold and hysteresis figure 30-65.i/o pin input threshold voltage versus v cc (v ih , i/o pin read as ?1?) 012345678910 i oh (ma) 2.8 2.7 3.0 3.1 2.9 2.6 2.5 2.4 2.3 2.2 v oh (v) 150 125 85 25 -40 0 2 4 6 8 1012 1416 1820 i oh (ma) 5 4.8 5.2 4.6 4.4 4.2 4 3.8 v oh (v) 150 125 85 25 -40 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 3 2.5 2 1.5 1 0.5 threshold (v) 150 125 85 25 -40 305 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 30-66.i/o pin input threshold voltage versus v cc (v il , i/o pin read as ?0?) figure 30-67.reset input threshold voltage versus v cc (v ih , i/o pin read as ?1?) figure 30-68.reset input threshold voltage versus v cc (v il , i/o pin read as ?0?) 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 2.5 2 1.5 1 0.5 0 threshold (v) 150 125 85 25 -40 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 2.5 2 1.5 1 0.5 3 0 threshold (v) 150 125 85 25 -40 150 125 85 25 -40 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 2.5 2 1.5 1 0.5 0 threshold (v) 150 125 85 25 -40 150 125 85 25 -40 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 306 30.3.8 bod threshold figure 30-69. bod thresholds versus temp erature (bodlevel is 1.8v) figure 30-70. bod thresholds versus temp erature (bodlevel is 2.7v) figure 30-71. bod thresholds versus temp erature (bodlevel is 4.3v) -50 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 1.82 1.81 1.80 1.84 1.83 1.79 1.78 1.77 threshold (v) 1 0 temperature (c) 2.74 2.72 2.70 2.78 2.76 2.68 2.66 2.64 threshold (v) 1 0 -50 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 temperature (c) 4.32 4.30 4.28 4.36 4.34 4.26 4.24 4.22 threshold (v) 1 0 -50 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 temperature (c) 307 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 figure 30-72.bandgap voltage versus v cc 30.3.9 internal oscillator speed figure 30-73.watchdog oscillat or frequency versus temperature figure 30-74.watchdog osci llator frequency versus v cc 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 1.105 1.1 1.095 1.11 1.09 1.085 1.08 bandgap voltage (v) 150 125 85 25 -40 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 temperature (c) 135 140 130 120 125 110 115 105 100 f rc (khz) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.4 2.2 2.0 1.8 1.5 2 2.5 3 3.5 4 4.5 5 5.5 v cc (v) 125 120 115 130 140 135 110 105 100 f rc (khz) 150 125 85 25 -40 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 308 figure 30-75.calibrated 8mhz rc oscillator frequency versus v cc figure 30-76.calibrated 8mhz rc oscillator frequency versus temperature figure 30-77.calibrated 8mhz rc osci llator frequency versus osccal value 1.8 2.3 2.8 3.3 3.8 4.3 4.8 5.3 v cc (v) 8.1 7.9 8 8.2 8.3 8.4 7.8 7.7 7.6 f rc (mhz) 150 125 85 25 -40 150 125 85 25 -40 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 temperature (c) 8.1 8.0 7.9 8.4 8.3 8.2 7.8 7.7 7.6 f rc (mhz) 6.0 5.5 5.0 4.5 4.0 3.6 3.3 3.0 2.7 2.5 2.2 2.0 1.8 0 16 32 48 64 80 96 112 128 144 160 176 192 208 224 240 osc cal (x1) 10 8 6 12 14 16 4 2 0 f rc (mhz) 150 125 85 25 -40 150 125 85 25 -40 309 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 30.3.10 reset pulse width figure 30-78.minimum reset pulse width versus v cc 1.8 2.3 2.8 3.3 3.8 4.3 4.8 5.3 5.8 v cc (v) 400 600 800 1000 200 1400 1600 1800 2000 1200 0 pulse width (ns) 150 125 85 25 -40 150 125 85 25 -40 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 310 31. register summary address name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 page (0xff) reserved ? ? ? ? ? ? ? ? (0xfe) reserved ? ? ? ? ? ? ? ? (0xfd) reserved ? ? ? ? ? ? ? ? (0xfc) reserved ? ? ? ? ? ? ? ? (0xfb) reserved ? ? ? ? ? ? ? ? (0xfa) reserved ? ? ? ? ? ? ? ? (0xf9) reserved ? ? ? ? ? ? ? ? (0xf8) reserved ? ? ? ? ? ? ? ? (0xf7) reserved ? ? ? ? ? ? ? ? (0xf6) reserved ? ? ? ? ? ? ? ? (0xf5) reserved ? ? ? ? ? ? ? ? (0xf4) reserved ? ? ? ? ? ? ? ? (0xf3) reserved ? ? ? ? ? ? ? ? (0xf2) reserved ? ? ? ? ? ? ? ? (0xf1) reserved ? ? ? ? ? ? ? ? (0xf0) reserved ? ? ? ? ? ? ? ? (0xef) reserved ? ? ? ? ? ? ? ? (0xee) reserved ? ? ? ? ? ? ? ? (0xed) reserved ? ? ? ? ? ? ? ? (0xec) reserved ? ? ? ? ? ? ? ? (0xeb) reserved ? ? ? ? ? ? ? ? (0xea) reserved ? ? ? ? ? ? ? ? (0xe9) reserved ? ? ? ? ? ? ? ? (0xe8) reserved ? ? ? ? ? ? ? ? (0xe7) reserved ? ? ? ? ? ? ? ? (0xe6) reserved ? ? ? ? ? ? ? ? (0xe5) reserved ? ? ? ? ? ? ? ? (0xe4) reserved ? ? ? ? ? ? ? ? (0xe3) reserved ? ? ? ? ? ? ? ? (0xe2) reserved ? ? ? ? ? ? ? ? (0xe1) reserved ? ? ? ? ? ? ? ? (0xe0) reserved ? ? ? ? ? ? ? ? notes: 1. for compatibility with future devices, reserved bits sh ould be written to zero if accessed. reserved i/o memory addresses should never be written. 2. i/o registers within the address range 0x00 - 0x1f are directly bit-accessible using the sbi and cbi instructions. in these registers, the value of single bits can be c hecked by using the sbis and sbic instructions. 3. some of the status flags are cleared by writing a logical one to them. note that , unlike most other avrs, the cbi and sbi instructions will only operate on the specified bit, and can ther efore be used on registers containing such status flags. the cbi and sbi instructions work with registers 0x00 to 0x1f only. 4. when using the i/o specific commands in and out, the i/ o addresses 0x00 - 0x3f must be used. when addressing i/o registers as data space using ld and st instructi ons, 0x20 must be added to t hese addresses. the atmel atmega48pa/88pa/168pa is a complex microcontroller with mo re peripheral units than can be supported within the 64 location reserved in opcode for the in and out instructions . for the extended i/o space from 0x60 - 0xff in sram, only the st/sts/std and ld/lds/ldd instructions can be used. 5. only valid for the at mel atmega48pa/88pa/168pa. 6. bods and bodse only available for picopower devices atmega48pa/88pa/168pa 311 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 (0xdf) reserved ? ? ? ? ? ? ? ? (0xde) reserved ? ? ? ? ? ? ? ? (0xdd) reserved ? ? ? ? ? ? ? ? (0xdc) reserved ? ? ? ? ? ? ? ? (0xdb) reserved ? ? ? ? ? ? ? ? (0xda) reserved ? ? ? ? ? ? ? ? (0xd9) reserved ? ? ? ? ? ? ? ? (0xd8) reserved ? ? ? ? ? ? ? ? (0xd7) reserved ? ? ? ? ? ? ? ? (0xd6) reserved ? ? ? ? ? ? ? ? (0xd5) reserved ? ? ? ? ? ? ? ? (0xd4) reserved ? ? ? ? ? ? ? ? (0xd3) reserved ? ? ? ? ? ? ? ? (0xd2) reserved ? ? ? ? ? ? ? ? (0xd1) reserved ? ? ? ? ? ? ? ? (0xd0) reserved ? ? ? ? ? ? ? ? (0xcf) reserved ? ? ? ? ? ? ? ? (0xce) reserved ? ? ? ? ? ? ? ? (0xcd) reserved ? ? ? ? ? ? ? ? (0xcc) reserved ? ? ? ? ? ? ? ? (0xcb) reserved ? ? ? ? ? ? ? ? (0xca) reserved ? ? ? ? ? ? ? ? (0xc9) reserved ? ? ? ? ? ? ? ? (0xc8) reserved ? ? ? ? ? ? ? ? (0xc7) reserved ? ? ? ? ? ? ? ? (0xc6) udr0 usart i/o data register 171 (0xc5) ubrr0h usart baud rate register high 174 (0xc4) ubrr0l usart baud rate register low 174 (0xc3) reserved ? ? ? ? ? ? ? ? (0xc2) ucsr0c umsel01 umsel00 upm01 upm00 usbs0 ucsz01 /udord0 ucsz00 / ucpha0 ucpol0 173 / 181 (0xc1) ucsr0b rxcie0 txcie0 udrie0 rxen0 txen0 ucsz02 rxb80 txb80 172 (0xc0) ucsr0a rxc0 txc0 udre0 fe0 dor0 upe0 u2x0 mpcm0 171 31. register summary (continued) address name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 page notes: 1. for compatibility with future devices, reserved bits sh ould be written to zero if accessed. reserved i/o memory addresses should never be written. 2. i/o registers within the address range 0x00 - 0x1f are directly bit-accessible using the sbi and cbi instructions. in these registers, the value of single bits can be c hecked by using the sbis and sbic instructions. 3. some of the status flags are cleared by writing a logical one to them. note that , unlike most other avrs, the cbi and sbi instructions will only operate on the specified bit, and can ther efore be used on registers containing such status flags. the cbi and sbi instructions work with registers 0x00 to 0x1f only. 4. when using the i/o specific commands in and out, the i/ o addresses 0x00 - 0x3f must be used. when addressing i/o registers as data space using ld and st instructi ons, 0x20 must be added to t hese addresses. the atmel atmega48pa/88pa/168pa is a complex microcontroller with mo re peripheral units than can be supported within the 64 location reserved in opcode for the in and out instructions . for the extended i/o space from 0x60 - 0xff in sram, only the st/sts/std and ld/lds/ldd instructions can be used. 5. only valid for the at mel atmega48pa/88pa/168pa. 6. bods and bodse only available for picopower devices atmega48pa/88pa/168pa atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 312 (0xbf) reserved ? ? ? ? ? ? ? ? (0xbe) reserved ? ? ? ? ? ? ? ? (0xbd) twamr twam6 twam5 twam4 twam3 twam2 twam1 twam0 ? 209 (0xbc) twcr twint twea twsta twsto twwc twen ?twie 206 (0xbb) twdr 2-wire serial interface data register 208 (0xba) twar twa6 twa5 twa4 twa3 twa2 twa1 twa0 twgce 209 (0xb9) twsr tws7 tws6 tws5 tws4 tws3 ? twps1 twps0 208 (0xb8) twbr 2-wire serial interface bit rate register 206 (0xb7) reserved ? ? ? ? ? ? ? (0xb6) assr ? exclk as2 tcn2ub ocr2aub ocr2bub tcr2aub tcr2bub 142 (0xb5) reserved ? ? ? ? ? ? ? ? (0xb4) ocr2b timer/counter2 output compare register b 141 (0xb3) ocr2a timer/counter2 output compare register a 141 (0xb2) tcnt2 timer/counter2 (8-bit) 141 (0xb1) tccr2b foc2a foc2b ? ? wgm22 cs22 cs21 cs20 140 (0xb0) tccr2a com2a1 com2a0 com2b1 com2b0 ? ?wgm21wgm20 137 (0xaf) reserved ? ? ? ? ? ? ? ? (0xae) reserved ? ? ? ? ? ? ? ? (0xad) reserved ? ? ? ? ? ? ? ? (0xac) reserved ? ? ? ? ? ? ? ? (0xab) reserved ? ? ? ? ? ? ? ? (0xaa) reserved ? ? ? ? ? ? ? ? (0xa9) reserved ? ? ? ? ? ? ? ? (0xa8) reserved ? ? ? ? ? ? ? ? (0xa7) reserved ? ? ? ? ? ? ? ? (0xa6) reserved ? ? ? ? ? ? ? ? (0xa5) reserved ? ? ? ? ? ? ? ? (0xa4) reserved ? ? ? ? ? ? ? ? (0xa3) reserved ? ? ? ? ? ? ? ? (0xa2) reserved ? ? ? ? ? ? ? ? (0xa1) reserved ? ? ? ? ? ? ? ? (0xa0) reserved ? ? ? ? ? ? ? ? 31. register summary (continued) address name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 page notes: 1. for compatibility with future devices, reserved bits sh ould be written to zero if accessed. reserved i/o memory addresses should never be written. 2. i/o registers within the address range 0x00 - 0x1f are directly bit-accessible using the sbi and cbi instructions. in these registers, the value of single bits can be c hecked by using the sbis and sbic instructions. 3. some of the status flags are cleared by writing a logical one to them. note that , unlike most other avrs, the cbi and sbi instructions will only operate on the specified bit, and can ther efore be used on registers containing such status flags. the cbi and sbi instructions work with registers 0x00 to 0x1f only. 4. when using the i/o specific commands in and out, the i/ o addresses 0x00 - 0x3f must be used. when addressing i/o registers as data space using ld and st instructi ons, 0x20 must be added to t hese addresses. the atmel atmega48pa/88pa/168pa is a complex microcontroller with mo re peripheral units than can be supported within the 64 location reserved in opcode for the in and out instructions . for the extended i/o space from 0x60 - 0xff in sram, only the st/sts/std and ld/lds/ldd instructions can be used. 5. only valid for the at mel atmega48pa/88pa/168pa. 6. bods and bodse only available for picopower devices atmega48pa/88pa/168pa 313 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 (0x9f) reserved ? ? ? ? ? ? ? ? (0x9e) reserved ? ? ? ? ? ? ? ? (0x9d) reserved ? ? ? ? ? ? ? ? (0x9c) reserved ? ? ? ? ? ? ? ? (0x9b) reserved ? ? ? ? ? ? ? ? (0x9a) reserved ? ? ? ? ? ? ? ? (0x99) reserved ? ? ? ? ? ? ? ? (0x98) reserved ? ? ? ? ? ? ? ? (0x97) reserved ? ? ? ? ? ? ? ? (0x96) reserved ? ? ? ? ? ? ? ? (0x95) reserved ? ? ? ? ? ? ? ? (0x94) reserved ? ? ? ? ? ? ? ? (0x93) reserved ? ? ? ? ? ? ? ? (0x92) reserved ? ? ? ? ? ? ? ? (0x91) reserved ? ? ? ? ? ? ? ? (0x90) reserved ? ? ? ? ? ? ? ? (0x8f) reserved ? ? ? ? ? ? ? ? (0x8e) reserved ? ? ? ? ? ? ? ? (0x8d) reserved ? ? ? ? ? ? ? ? (0x8c) reserved ? ? ? ? ? ? ? ? (0x8b) ocr1bh timer/counter1 - output compare register b high byte 120 (0x8a) ocr1bl timer/counter1 - output compare register b low byte 120 (0x89) ocr1ah timer/counter1 - output compare register a high byte 120 (0x88) ocr1al timer/counter1 - output compare register a low byte 120 (0x87) icr1h timer/counter1 - input capture register high byte 120 (0x86) icr1l timer/counter1 - input capture register low byte 120 (0x85) tcnt1h timer/counter1 - counter register high byte 120 (0x84) tcnt1l timer/counter1 - counter register low byte 120 (0x83) reserved ? ? ? ? ? ? ? ? (0x82) tccr1c foc1a foc1b ? ? ? ? ? ? 119 (0x81) tccr1b icnc1 ices1 ? wgm13 wgm12 cs12 cs11 cs10 118 (0x80) tccr1a com1a1 com1a0 com1b1 com1b0 ? ?wgm11wgm10 116 (0x7f) didr1 ? ? ? ? ? ?ain1dain0d 212 31. register summary (continued) address name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 page notes: 1. for compatibility with future devices, reserved bits sh ould be written to zero if accessed. reserved i/o memory addresses should never be written. 2. i/o registers within the address range 0x00 - 0x1f are directly bit-accessible using the sbi and cbi instructions. in these registers, the value of single bits can be c hecked by using the sbis and sbic instructions. 3. some of the status flags are cleared by writing a logical one to them. note that , unlike most other avrs, the cbi and sbi instructions will only operate on the specified bit, and can ther efore be used on registers containing such status flags. the cbi and sbi instructions work with registers 0x00 to 0x1f only. 4. when using the i/o specific commands in and out, the i/ o addresses 0x00 - 0x3f must be used. when addressing i/o registers as data space using ld and st instructi ons, 0x20 must be added to t hese addresses. the atmel atmega48pa/88pa/168pa is a complex microcontroller with mo re peripheral units than can be supported within the 64 location reserved in opcode for the in and out instructions . for the extended i/o space from 0x60 - 0xff in sram, only the st/sts/std and ld/lds/ldd instructions can be used. 5. only valid for the at mel atmega48pa/88pa/168pa. 6. bods and bodse only available for picopower devices atmega48pa/88pa/168pa atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 314 (0x7e) didr0 ? ? adc5d adc4d adc3d adc2d adc1d adc0d 228 (0x7d) reserved ? ? ? ? ? ? ? ? (0x7c) admux refs1 refs0 adlar ? mux3 mux2 mux1 mux0 225 (0x7b) adcsrb ?acme ? ? ? adts2 adts1 adts0 228 (0x7a) adcsra aden adsc adat e adif adie adps2 adps1 adps0 226 (0x79) adch adc data register high byte 227 (0x78) adcl adc data register low byte 227 (0x77) reserved ? ? ? ? ? ? ? ? (0x76) reserved ? ? ? ? ? ? ? ? (0x75) reserved ? ? ? ? ? ? ? ? (0x74) reserved ? ? ? ? ? ? ? ? (0x73) reserved ? ? ? ? ? ? ? ? (0x72) reserved ? ? ? ? ? ? ? ? (0x71) reserved ? ? ? ? ? ? ? ? (0x70) timsk2 ? ? ? ? ? ocie2b ocie2a toie2 141 (0x6f) timsk1 ? ?icie1 ? ? ocie1b ocie1a toie1 121 (0x6e) timsk0 ? ? ? ? ? ocie0b ocie0a toie0 95 (0x6d) pcmsk2 pcint23 pcint22 pcint21 pcint20 pcint19 pcint18 pcint17 pcint16 63 (0x6c) pcmsk1 ? pcint14 pcint13 pcint12 pcint11 pcint10 pcint9 pcint8 63 (0x6b) pcmsk0 pcint7 pcint6 pcint5 pcint4 pcint3 pcin t2 pcint1 pcint0 63 (0x6a) reserved ? ? ? ? ? ? ? ? (0x69) eicra ? ? ? ? isc11 isc10 isc01 isc00 60 (0x68) pcicr ? ? ? ? ? pcie2 pcie1 pcie0 (0x67) reserved ? ? ? ? ? ? ? ? (0x66) osccal oscillator calibration register 33 (0x65) reserved ? ? ? ? ? ? ? ? (0x64) prr prtwi prtim2 prtim0 ? prtim1 prspi prusart0 pradc 37 (0x63) reserved ? ? ? ? ? ? ? ? (0x62) reserved ? ? ? ? ? ? ? ? (0x61) clkpr clkpce ? ? ? clkps3 clkps2 clkps1 clkps0 33 (0x60) wdtcsr wdif wdie wdp3 wdce wde wdp2 wdp1 wdp0 48 0x3f (0x5f) sreg i t h s v n z c 9 0x3e (0x5e) sph ? ? ? ? ?(sp10) (5) sp9 sp8 12 31. register summary (continued) address name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 page notes: 1. for compatibility with future devices, reserved bits sh ould be written to zero if accessed. reserved i/o memory addresses should never be written. 2. i/o registers within the address range 0x00 - 0x1f are directly bit-accessible using the sbi and cbi instructions. in these registers, the value of single bits can be c hecked by using the sbis and sbic instructions. 3. some of the status flags are cleared by writing a logical one to them. note that , unlike most other avrs, the cbi and sbi instructions will only operate on the specified bit, and can ther efore be used on registers containing such status flags. the cbi and sbi instructions work with registers 0x00 to 0x1f only. 4. when using the i/o specific commands in and out, the i/ o addresses 0x00 - 0x3f must be used. when addressing i/o registers as data space using ld and st instructi ons, 0x20 must be added to t hese addresses. the atmel atmega48pa/88pa/168pa is a complex microcontroller with mo re peripheral units than can be supported within the 64 location reserved in opcode for the in and out instructions . for the extended i/o space from 0x60 - 0xff in sram, only the st/sts/std and ld/lds/ldd instructions can be used. 5. only valid for the at mel atmega48pa/88pa/168pa. 6. bods and bodse only available for picopower devices atmega48pa/88pa/168pa 315 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 0x3d (0x5d) spl sp7 sp6 sp5 sp4 sp3 sp2 sp1 sp0 12 0x3c (0x5c) reserved ? ? ? ? ? ? ? ? 0x3b (0x5b) reserved ? ? ? ? ? ? ? ? 0x3a (0x5a) reserved ? ? ? ? ? ? ? ? 0x39 (0x59) reserved ? ? ? ? ? ? ? ? 0x38 (0x58) reserved ? ? ? ? ? ? ? ? 0x37 (0x57) spmcsr spmie (rwwsb) (5) ?(rwwsre) (5) blbset pgwrt pgers selfprgen 249 0x36 (0x56) reserved ? ? ? ? ? ? ? ? 0x35 (0x55) mcucr ?bods (6) bodse (6) pud ? ? ivsel ivce 39 / 58 / 79 0x34 (0x54) mcusr ? ? ? ? wdrf borf extrf porf 48 0x33 (0x53) smcr ? ? ? ? sm2 sm1 sm0 se 36 0x32 (0x52) reserved ? ? ? ? ? ? ? ? 0x31 (0x51) reserved ? ? ? ? ? ? ? ? 0x30 (0x50) acsr acd acbg aco aci acie acic acis1 acis0 211 0x2f (0x4f) reserved ? ? ? ? ? ? ? ? 0x2e (0x4e) spdr spi data register 151 0x2d (0x4d) spsr spif wcol ? ? ? ? ? spi2x 151 0x2c (0x4c) spcr spie spe dord mstr cpol cpha spr1 spr0 150 0x2b (0x4b) gpior2 general purpose i/o register 2 23 0x2a (0x4a) gpior1 general purpose i/o register 1 23 0x29 (0x49) reserved ? ? ? ? ? ? ? ? 0x28 (0x48) ocr0b timer/counter0 output compare register b 0x27 (0x47) ocr0a timer/counter0 output compare register a 0x26 (0x46) tcnt0 timer/counter0 (8-bit) 0x25 (0x45) tccr0b foc0a foc0b ? ? wgm02 cs02 cs01 cs00 0x24 (0x44) tccr0a com0a1 com0a0 com0b1 com0b0 ? ?wgm01wgm00 0x23 (0x43) gtccr tsm ? ? ? ? ? psrasy psrsync 124 / 143 0x22 (0x42) eearh (eeprom address register high byte) 5. 20 0x21 (0x41) eearl eeprom address register low byte 20 0x20 (0x40) eedr eeprom data register 20 0x1f (0x3f) eecr ? ? eepm1 eepm0 eerie eempe eepe eere 20 0x1e (0x3e) gpior0 general purpose i/o register 0 23 31. register summary (continued) address name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 page notes: 1. for compatibility with future devices, reserved bits sh ould be written to zero if accessed. reserved i/o memory addresses should never be written. 2. i/o registers within the address range 0x00 - 0x1f are directly bit-accessible using the sbi and cbi instructions. in these registers, the value of single bits can be c hecked by using the sbis and sbic instructions. 3. some of the status flags are cleared by writing a logical one to them. note that , unlike most other avrs, the cbi and sbi instructions will only operate on the specified bit, and can ther efore be used on registers containing such status flags. the cbi and sbi instructions work with registers 0x00 to 0x1f only. 4. when using the i/o specific commands in and out, the i/ o addresses 0x00 - 0x3f must be used. when addressing i/o registers as data space using ld and st instructi ons, 0x20 must be added to t hese addresses. the atmel atmega48pa/88pa/168pa is a complex microcontroller with mo re peripheral units than can be supported within the 64 location reserved in opcode for the in and out instructions . for the extended i/o space from 0x60 - 0xff in sram, only the st/sts/std and ld/lds/ldd instructions can be used. 5. only valid for the at mel atmega48pa/88pa/168pa. 6. bods and bodse only available for picopower devices atmega48pa/88pa/168pa atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 316 0x1d (0x3d) eimsk ? ? ? ? ? ?int1int0 61 0x1c (0x3c) eifr ? ? ? ? ? ? intf1 intf0 61 0x1b (0x3b) pcifr ? ? ? ? ? pcif2 pcif1 pcif0 0x1a (0x3a) reserved ? ? ? ? ? ? ? ? 0x19 (0x39) reserved ? ? ? ? ? ? ? ? 0x18 (0x38) reserved ? ? ? ? ? ? ? ? 0x17 (0x37) tifr2 ? ? ? ? ? ocf2b ocf2a tov2 142 0x16 (0x36) tifr1 ? ?icf1 ? ? ocf1b ocf1a tov1 121 0x15 (0x35) tifr0 ? ? ? ? ? ocf0b ocf0a tov0 0x14 (0x34) reserved ? ? ? ? ? ? ? ? 0x13 (0x33) reserved ? ? ? ? ? ? ? ? 0x12 (0x32) reserved ? ? ? ? ? ? ? ? 0x11 (0x31) reserved ? ? ? ? ? ? ? ? 0x10 (0x30) reserved ? ? ? ? ? ? ? ? 0x0f (0x2f) reserved ? ? ? ? ? ? ? ? 0x0e (0x2e) reserved ? ? ? ? ? ? ? ? 0x0d (0x2d) reserved ? ? ? ? ? ? ? ? 0x0c (0x2c) reserved ? ? ? ? ? ? ? ? 0x0b (0x2b) portd portd7 portd6 portd5 portd4 portd3 portd2 portd1 portd0 80 0x0a (0x2a) ddrd ddd7 ddd6 ddd5 ddd4 ddd3 ddd2 ddd1 ddd0 80 0x09 (0x29) pind pind7 pind6 pind5 pind4 pind3 pind2 pind1 pind0 80 0x08 (0x28) portc ? portc6 portc5 portc4 portc3 portc2 portc1 portc0 79 0x07 (0x27) ddrc ? ddc6 ddc5 ddc4 ddc3 ddc2 ddc1 ddc0 79 0x06 (0x26) pinc ? pinc6 pinc5 pinc4 pinc3 pinc2 pinc1 pinc0 80 0x05 (0x25) portb portb7 portb6 portb5 portb4 portb3 portb2 portb1 portb0 79 0x04 (0x24) ddrb ddb7 ddb6 ddb5 ddb4 ddb3 ddb2 ddb1 ddb0 79 0x03 (0x23) pinb pinb7 pinb6 pinb5 pinb4 pinb3 pinb2 pinb1 pinb0 79 0x02 (0x22) reserved ? ? ? ? ? ? ? ? 0x01 (0x21) reserved ? ? ? ? ? ? ? ? 0x0 (0x20) reserved ? ? ? ? ? ? ? ? 31. register summary (continued) address name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 page notes: 1. for compatibility with future devices, reserved bits sh ould be written to zero if accessed. reserved i/o memory addresses should never be written. 2. i/o registers within the address range 0x00 - 0x1f are directly bit-accessible using the sbi and cbi instructions. in these registers, the value of single bits can be c hecked by using the sbis and sbic instructions. 3. some of the status flags are cleared by writing a logical one to them. note that , unlike most other avrs, the cbi and sbi instructions will only operate on the specified bit, and can ther efore be used on registers containing such status flags. the cbi and sbi instructions work with registers 0x00 to 0x1f only. 4. when using the i/o specific commands in and out, the i/ o addresses 0x00 - 0x3f must be used. when addressing i/o registers as data space using ld and st instructi ons, 0x20 must be added to t hese addresses. the atmel atmega48pa/88pa/168pa is a complex microcontroller with mo re peripheral units than can be supported within the 64 location reserved in opcode for the in and out instructions . for the extended i/o space from 0x60 - 0xff in sram, only the st/sts/std and ld/lds/ldd instructions can be used. 5. only valid for the at mel atmega48pa/88pa/168pa. 6. bods and bodse only available for picopower devices atmega48pa/88pa/168pa 317 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 32. instruction set summary mnemonics operands description operation flags #clocks arithmetic and logic instructions add rd, rr add two registers rd rd + rr z,c,n,v,h 1 adc rd, rr add with carry two registers rd rd + rr + c z,c,n,v,h 1 adiw rdl,k add immediate to word rdh:rdl rdh:rdl + k z,c,n,v,s 2 sub rd, rr subtract two registers rd rd - rr z,c,n,v,h 1 subi rd, k subtract constant from register rd rd - k z,c,n,v,h 1 sbc rd, rr subtract with carry two registers rd rd - rr - c z,c,n,v,h 1 sbci rd, k subtract with carry constant from reg. rd rd - k - c z,c,n,v,h 1 sbiw rdl,k subtract immediate from word rdh:rdl rdh:rdl - k z,c,n,v,s 2 and rd, rr logical and registers rd rd ? rr z,n,v 1 andi rd, k logical and register and constant rd rd ? k z,n,v 1 or rd, rr logical or registers rd rd v rr z,n,v 1 ori rd, k logical or register and constant rd rd v k z,n,v 1 eor rd, rr exclusive or registers rd rd rr z,n,v 1 com rd one?s complement rd 0xff ? rd z,c,n,v 1 neg rd two?s complement rd 0x00 ? rd z,c,n,v,h 1 sbr rd,k set bit(s) in register rd rd v k z,n,v 1 cbr rd,k clear bit(s) in register rd rd ? (0xff - k) z,n,v 1 inc rd increment rd rd + 1 z,n,v 1 dec rd decrement rd rd ? 1 z,n,v 1 tst rd test for zero or minus rd rd ? rd z,n,v 1 clr rd clear register rd rd rd z,n,v 1 ser rd set register rd 0xff none 1 mul rd, rr multiply unsigned r1:r0 rd x rr z,c 2 muls rd, rr multiply signed r1:r0 rd x rr z,c 2 mulsu rd, rr multiply signed with unsigned r1:r0 rd x rr z,c 2 fmul rd, rr fractional multiply unsigned r1:r0 (rd x rr) << 1 z,c 2 fmuls rd, rr fractional multiply signed r1:r0 (rd x rr) << 1 z,c 2 fmulsu rd, rr fractional multiply signed with unsigned r1:r0 (rd x rr) << 1 z,c 2 branch instructions rjmp k relative jump pc pc + k + 1 none 2 ijmp indirect jump to (z) pc z none 2 jmp (1) k direct jump pc k none 3 rcall k relative subroutine call pc pc + k + 1 none 3 icall indirect call to (z) pc z none 3 call (1) k direct subroutine call pc k none 4 ret subroutine return pc stack none 4 reti interrupt return pc stack i 4 cpse rd,rr compare, skip if equal if (rd = rr) pc pc + 2 or 3 none 1/2/3 cp rd,rr compare rd ? rr z, n,v,c,h 1 cpc rd,rr compare with carry rd ? rr ? c z, n,v,c,h 1 note: 1. these instructions are only available in the atmel atmega168pa. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 318 cpi rd,k compare register with immediate rd ? k z, n,v,c,h 1 sbrc rr, b skip if bit in register cleared if (rr(b)=0) pc pc + 2 or 3 none 1/2/3 sbrs rr, b skip if bit in register is set if (rr(b)=1) pc pc + 2 or 3 none 1/2/3 sbic p, b skip if bit in i/o register cleared if (p(b)=0) pc pc + 2 or 3 none 1/2/3 sbis p, b skip if bit in i/o register is set if (p(b)=1) pc pc + 2 or 3 none 1/2/3 brbs s, k branch if status flag set if (sreg(s) = 1) then pc pc + k + 1 none 1/2 brbc s, k branch if status flag cleared if (sreg(s) = 0) then pc pc + k + 1 none 1/2 breq k branch if equal if (z = 1) then pc pc + k + 1 none 1/2 brne k branch if not equal if (z = 0) then pc pc + k + 1 none 1/2 brcs k branch if carry set if (c = 1) then pc pc + k + 1 none 1/2 brcc k branch if carry cleared if (c = 0) then pc pc + k + 1 none 1/2 brsh k branch if same or higher if (c = 0) then pc pc + k + 1 none 1/2 brlo k branch if lower if (c = 1) then pc pc + k + 1 none 1/2 brmi k branch if minus if (n = 1) then pc pc + k + 1 none 1/2 brpl k branch if plus if (n = 0) then pc pc + k + 1 none 1/2 brge k branch if greater or equal, signed if (n v= 0) then pc pc + k + 1 none 1/2 brlt k branch if less than zero, signed if (n v= 1) then pc pc + k + 1 none 1/2 brhs k branch if half carry flag set if (h = 1) then pc pc + k + 1 none 1/2 brhc k branch if half carry flag cleared if (h = 0) then pc pc + k + 1 none 1/2 brts k branch if t flag set if (t = 1) then pc pc + k + 1 none 1/2 brtc k branch if t flag cleared if (t = 0) then pc pc + k + 1 none 1/2 brvs k branch if overflow flag is set if (v = 1) then pc pc + k + 1 none 1/2 brvc k branch if overflow flag is cleared if (v = 0) then pc pc + k + 1 none 1/2 brie k branch if interrupt enabled if ( i = 1) then pc pc + k + 1 none 1/2 brid k branch if interrupt disabled if ( i = 0) then pc pc + k + 1 none 1/2 bit and bit-test instructions sbi p, b set bit in i/o register i/o(p,b) 1 none 2 cbi p, b clear bit in i/o register i/o(p,b) 0 none 2 lsl rd logical shift left rd(n+1) rd(n), rd(0) 0 z,c,n,v 1 lsr rd logical shift right rd(n) rd(n+1), rd(7) 0 z,c,n,v 1 rol rd rotate left through carry rd(0) c,rd(n+1) rd(n),c rd(7) z,c,n,v 1 ror rd rotate right through carry rd(7) c,rd(n) rd(n+1), c rd(0) z,c,n,v 1 asr rd arithmetic shift right rd(n) rd(n+1), n=0...6 z,c,n,v 1 swap rd swap nibbles rd(3...0) rd(7...4),rd(7...4) rd(3...0) none 1 bset s flag set sreg(s) 1 sreg(s) 1 bclr s flag clear sreg(s) 0 sreg(s) 1 32. instruction set summary (continued) mnemonics operands description operation flags #clocks note: 1. these instructions are only available in the atmel atmega168pa. 319 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 bst rr, b bit store from register to t t rr(b) t 1 bld rd, b bit load from t to register rd(b) t none 1 sec set carry c 1 c 1 clc clear carry c 0 c 1 sen set negative flag n 1 n 1 cln clear negative flag n 0 n 1 sez set zero flag z 1 z 1 clz clear zero flag z 0 z 1 sei global interrupt enable i 1 i 1 cli global interrupt disable i 0 i 1 ses set signed test flag s 1 s 1 cls clear signed test flag s 0 s 1 sev set twos complement overflow. v 1 v 1 clv clear twos complement overflow v 0 v 1 set set t in sreg t 1 t 1 clt clear t in sreg t 0 t 1 seh set half carry flag in sreg h 1 h 1 clh clear half carry flag in sreg h 0 h 1 data transfer instructions mov rd, rr move between registers rd rr none 1 movw rd, rr copy register word rd+1:rd rr+1:rr none 1 ldi rd, k load immediate rd k none 1 ld rd, x load indirect rd (x) none 2 ld rd, x+ load indirect and post-inc. rd (x), x x + 1 none 2 ld rd, - x load indirect and pre-dec. x x - 1, rd (x) none 2 ld rd, y load indirect rd (y) none 2 ld rd, y+ load indirect and post-inc. rd (y), y y + 1 none 2 ld rd, - y load indirect and pre-dec. y y - 1, rd (y) none 2 ldd rd,y+q load indirect with displacement rd (y + q) none 2 ld rd, z load indirect rd (z) none 2 ld rd, z+ load indirect and post-inc. rd (z), z z+1 none 2 ld rd, -z load indirect and pre-dec. z z - 1, rd (z) none 2 ldd rd, z+q load indirect with displacement rd (z + q) none 2 lds rd, k load direct from sram rd (k) none 2 st x, rr store indirect (x) rr none 2 st x+, rr store indirect and post-inc. (x) rr, x x + 1 none 2 st - x, rr store indirect and pre-dec. x x - 1, (x) rr none 2 st y, r r store indirect (y) rr none 2 st y+, rr store indirect and post-inc. (y) rr, y y + 1 none 2 st - y, rr store indirect and pre-dec. y y - 1, (y) rr none 2 std y+q,rr store indirect with displacement (y + q) rr none 2 32. instruction set summary (continued) mnemonics operands description operation flags #clocks note: 1. these instructions are only available in the atmel atmega168pa. atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 320 st z, rr store indirect (z) rr none 2 st z+, rr store indirect and post-inc. (z) rr, z z + 1 none 2 st -z, rr store indirect and pre-dec. z z - 1, (z) rr none 2 std z+q,rr store indirect with displacement (z + q) rr none 2 sts k, rr store direct to sram (k) rr none 2 lpm load program memory r0 (z) none 3 lpm rd, z load program memory rd (z) none 3 lpm rd, z+ load program memory and post-inc rd (z), z z+1 none 3 spm store program memory (z) r1:r0 none - in rd, p in port rd p none 1 out p, r r out port p rr none 1 push rr push register on stack stack rr none 2 pop rd pop register from stack rd stack none 2 mcu control instructions nop no operation none 1 sleep sleep (see specific descr. for sleep function) none 1 wdr watchdog reset (see specific descr. for wdr/timer) none 1 break break for on-chip debug only none n/a 32. instruction set summary (continued) mnemonics operands description operation flags #clocks note: 1. these instructions are only available in the atmel atmega168pa. 321 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 33. ordering information 33.1 atmega48pa/88pa/168pa speed (mhz) power supply (v) ordering code package (1) operational range 16 (2) 2.7 - 5.5 atmega48pa-15az atmega48pa-15mz ma pn automotive (?40c to 125c) atmega88pa-15az atmega88pa-15mz ma pn atmega168pa-15az atmega168pa-15mz ma pn notes: 1. pb-free packaging complies to the european directive for restriction of hazardous substances (rohs directive).also halide free and fully green. 2. see section 29.3 ?speed grades? on page 270 . package type ma ma, 32 - lead, 7x7mm body size, 1.0mm body thickness 0.8mm lead pitch, thin profile plastic quad flat package (tqfp) pn pn, 32-lead, 5.0x5.0mm body, 0.50mm, quad flat no lead package (qfn) atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 322 34. packaging information 34.1 ma package drawing contact: packagedrawings@atmel.com gpc drawing no. rev. title ma aut c 02/29/12 ma, 32 lds - 0.80mm pitch, 7x7x1.00mm body size thin profile plastic quad flat package (tqfp) d1 d e drawings not scaled e1 c 0 ~ 7 l 32 1. notes: 2. 3. this drawing is for general information only. refer to jedec drawing ms-026, variation aba. dimensions d1 and e1 do not include mold protrusion. allowable protrusion is 0.25mm per side. dimensions d1 and e1 are maximum plastic body size dimensions including mold mismatch. lead coplanarity is 0.10mm maximum. a a2 a1 1 e b common dimensions (unit of measure = mm) min nom note max symbol 0.15 0.05 a1 0.20 0.09 c 0.80 typ. e 32 n 0.45 0.30 b 0.75 0.45 l 7.10 6.90 7.00 d1/e1 9.00 9.25 8.75 d/e 1.00 1.05 0.95 a2 1.20 a 2 top view side view bottom view 323 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 34.2 pn package drawing contact: packagedrawings@atmel.com gpc drawing no. rev. title pn zmf i 01/31/12 pn, 32 leads - 0.50mm pitch, 5x5mm very thin quad flat no lead package (vqfn) sawn d e d2 e2 1 b pin1 id e see options a, b option a pin 1# chamfer (c 0.30) pin 1# notch (c 0.20 r) option b l drawings not scaled n 1. notes: 2. this drawing is for general information only. refer to jedec drawing mo-220, variation vhhd-2, for proper dimensions, tolerance s, datums, etc. dimensions b applies to metallized terminal and is measured between 0.15mm and 0.30mm from the terminal tip. if the terminal has the optical radius on the other end of the terminal, the dimensions should not be measured in that radius a rea. a a3 a1 0.080 c c 1 0.30 dia. typ. laser marking seating plane common dimensions (unit of measure = mm) min nom note max symbol 0.05 0.00 0.80 0.85 a1 0.50 0.30 0.40 l 32 0.50 bsc n e 0.30 2 0.18 0.25 b 3.20 3.00 3.10 d2/e2 5.00 bsc d/e 0.20 ref a3 0.90 a top view side view bottom view atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 324 35. errata 35.1 errata atmega48pa the revision letter in this section refers to the revision of the atmega48pa/88pa/168pa device. 35.1.1 rev. d analog mux can be turned off when setting acme bit 1. analog mux can be turned off when setting acme bit if the acme (analog comparator multiplexer enabled) bit in adcsrb is set while mux3 in admux is '1' (admux[3:0]=1xxx), all mux'es are turn ed off until the acme bit is cleared. problem fix/workaround clear the mux3 bit before setting the acme bit. 35.2 errata atmel atmega88pa the revision letter in this section refers to the revision of the atmel atmega88pa device. 35.2.1 rev. f analog mux can be turned off when setting acme bit 1. analog mux can be turned off when setting acme bit if the acme (analog comparator multiplexer enabled) bit in adcsrb is set while mux3 in admux is '1' (admux[3:0]=1xxx), all mux'es are turn ed off until the acme bit is cleared. problem fix/workaround clear the mux3 bit before setting the acme bit. 35.3 errata atmel atmega168pa the revision letter in this section refers to the revision of the atmel atmega168pa device. 35.3.1 rev e analog mux can be turned off when setting acme bit 1. analog mux can be turned off when setting acme bit if the acme (analog comparator multiplexer enabled) bit in adcsrb is set while mux3 in admux is '1' (admux[3:0]=1xxx), all mux'es are turn ed off until the acme bit is cleared. problem fix/workaround clear the mux3 bit before setting the acme bit. 325 atmega48pa/88pa/ 168pa [datasheet] 9223f?avr?04/14 36. revision history please note that the following page numbers re ferred to in this section re fer to the specific revision mentioned, not to this document. revision no. history 9223f-avr-04/14 ? put datasheet in the latest templage 9223e-avr-02/13 ? table 28-8 ?device id? on page 297 updated 9223d-avr-05/12 ? set datasheet from ?preliminary? to ?standard? 9223c-avr-02/12 ? features on page 1 updated ? figure 25-1 ?the debugwire setup? on page 267 updated ? section 28.8 ?serial downloading? on page 309 updated ? section 29.2 ?dc characteristi cs? on pages 315 to 316 updated ? section 29.3 ?speed grades? on page 316 updated ? section 29.4 ?clock characte ristics? on page 317 updated ? section 29.5 ?system and reset char acteristics? on page 318 updated ? section 29.8 ?adc characteri stics? on page 322 updated ? section 30.1.5 ?i/o pin output voltage versus sink current (v cc = 1.8v)? on pages 329 to 330 updated ? section 30.2.6 ?pin driver streng th? on pages 340 to 341 updated ? section 30.3.6 ?pin driver streng th? on pages 350 to 351 updated ? section 33 ?ordering information? on page 365 updated 9223b-avr-09/11 ? adc characteristics updated ? temperature sensor updated 9223a-avr-08/11 ? creation of the automotive version starting from industrial version based on the atmel atmega48pa/88pa/168pa datasheet 8271c- avr-08/10. temperature and voltage ranges reflecting autom otive requirements. x x xx x x atmel corporation 1600 technology drive, san jose, ca 95110 usa t: (+1)(408) 441.0311 f: (+1)(408) 436.4200 | www.atmel.com ? 2014 atmel corporation. / rev.: rev.: 9223f?avr?04/14 atmel ? , atmel logo and combinations thereof, enabling unlimited possibilities ? , avr ? , avr studio ? , and others are registered trademarks or trademarks of atmel corporation or its subsidiaries. other terms and product names may be trademarks of others. disclaimer: the information in this document is provided in c onnection 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 the atmel terms and condit ions of sales located on the atmel website, atmel assumes no liability wh atsoever and disclaims any express, implied or statutory warranty relating to its p roducts 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, pu nitive, special or incidental damages (including, without limi tation, damages for loss and 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 r epresentations or warranties with respect to the accuracy or c ompleteness of the contents of this document and reserves the right to make changes to specificatio ns and products descriptions at any time without notice. atmel d oes not make any commitment to update the information contained herein. unless specifically provided otherwise, atme l products are not suitable for, and shall not be used in, automo tive applications. atmel products are not intended, authorized, or warranted for use as components in applications intended to support or sustain life. safety-critical, military, and automotive applications disclaim er: atmel products are not designed for and will not be used in connection with any applications where the failure of such products would reasonably be expected to re sult in significant personal inju ry or death (?safety-critical a pplications?) without an atmel officer's specific written consent. safety-critical applications incl ude, without limitation, life support devices and systems, equipment or systems for t he operation of nuclear facilities and weapons systems. atmel products are not designed nor intended for use in military or aerospace applications or environments unless specifically designated by atmel as military-grade. atmel products are not designed nor intended for use in automot ive applications unless spec ifically designated by atmel as automotive-grade. |
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