ATMEL ATmega16, ATmega16L User Manual

Features

• High-performance, Low-power AVR

• Advanced RISC Architecture

– 131 Powerful Instructions – Most Single-clock Cycle Execution – 32 x 8 General Purpose Working Registers – Fully Static Operation – Up to 16 MIPS Throughput at 16 MHz – On-chip 2-cycle Multiplier

• Nonvolatile Program and Data Memories

– 16K Bytes of In-System Self-Programmable Flash

Endurance: 10,000 Write/Erase Cycles

– Optional Boot Code Section with Independent Lock Bits

In-System Programming by On-chip Boot Program True Read-While-Write Operation

– 512 Bytes EEPROM

Endurance: 100,000 Write/Erase Cycles – 1K Byte Internal SRAM – Programming Lock for Software Security

• JTAG (IEEE std. 1149.1 Compliant) Interface

– Boundary-scan Capabilities According to the JTAG Standard – Extensive On-chip Debug Support – Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface

• Peripheral Features

– Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes – One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture

Mode – Real Time Counter with Separate Oscillator – Four PWM Channels – 8-channel, 10-bit ADC

8 Single-ended Channels 7 Differential Channels in TQFP Package Only

2 Differential Channels with Programmable Gain at 1x, 10x, or 200x – Byte-oriented Two-wire Serial Interface – Programmable Serial USART – Master/Slave SPI Serial Interface – Programmable Watchdog Timer with Separate On-chip Oscillator – On-chip Analog Comparator

• Special Microcontroller Features

– Power-on Reset and Programmable Brown-out Detection – Internal Calibrated RC Oscillator – External and Internal Interrupt Sources – Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby

and Extended Standby

• I/O and Packages

– 32 Programmable I/O Lines – 40-pin PDIP, 44-lead TQFP, and 44-pad MLF

• Operating Voltages

– 2.7 - 5.5V for ATmega16L – 4.5 - 5.5V for ATmega16

• Speed Grades

– 0 - 8 MHz for ATmega16L – 0 - 16 MHz for ATmega16

• Power Consumption @ 1 MHz, 3V, and 25°C for ATmega16L

– Active: 1.1 mA – Idle Mode: 0.35 mA – Power-down Mode: < 1 µA

8-bit Microcontroller

8-bit Microcontroller with 16K Bytes In-System Programmable Flash

ATmega16 ATmega16L

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Pin Configurations Figure 1. Pinout ATmega16

PDIP

(XCK/T0) PB0

(T1) PB1

(INT2/AIN0) PB2

(OC0/AIN1) PB3

(SS) PB4 (MOSI) PB5 (MISO) PB6

(SCK) PB7

RESET

VCC

GND XTAL2 XTAL1

(RXD) PD0

(TXD) PD1 (INT0) PD2 (INT1) PD3

(OC1B) PD4 (OC1A) PD5

(ICP1) PD6

PA0 (ADC0) PA1 (ADC1) PA2 (ADC2) PA3 (ADC3) PA4 (ADC4) PA5 (ADC5) PA6 (ADC6) PA7 (ADC7) AREF GND AVCC PC7 (TOSC2) PC6 (TOSC1) PC5 (TDI) PC4 (TDO) PC3 (TMS) PC2 (TCK) PC1 (SDA) PC0 (SCL) PD7 (OC2)

TQFP/MLF

PB4 (SS)

PB3 (AIN1/OC0)

PB2 (AIN0/INT2)

PB1 (T1)

PB0 (XCK/T0)

GND

VCC

PA0 (ADC0)

PA1 (ADC1)

PA2 (ADC2)

PA3 (ADC3)

NOTE:

(MOSI) PB5 (MISO) PB6

(SCK) PB7

RESET

VCC

GND XTAL2 XTAL1

(RXD) PD0

(TXD) PD1

(INT0) PD2

VCC

GND

PA4 (ADC4) PA5 (ADC5) PA6 (ADC6) PA7 (ADC7) AREF GND AVCC PC7 (TOSC2) PC6 (TOSC1) PC5 (TDI) PC4 (TDO)

Bottom pad should be soldered to ground.

(INT1) PD3

(ICP1) PD6

(OC1B) PD4

(OC1A) PD5

(SCL) PC0

(OC2) PD7

(TCK) PC2

(SDA) PC1

(TMS) PC3

Disclaimer Typical values contained in this datasheet are based on simulations and characteriza-

tion of other AVR microcontrollers manufactured on the same process technology. Min and Max values will be available after the device is characterized.

ATmega16(L)

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ATmega16(L)

Overview The ATmega16 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced

RISC architecture. By executing powerful instructions in a single clock cycle, the ATmega16 achieves throughputs approaching 1 MIPS per MHz allowing the system designer to optimize power consumption versus processing speed.

Block Diagram Figure 2. Block Diagram

VCC

PA0 - PA7 PC0 - PC7

GND

AVCC

AREF

PORTA DRIVERS/BUFFERS

PORTA DIGITAL INTERFACE

MUX &

ADC

PROGRAM

COUNTER

PROGRAM

FLASH

INSTRUCTION

DECODER

CONTROL

LINES

AVR CPU

ADC

INTERFACE

STACK

POINTER

SRAM

GENERAL

PURPOSE

REGISTERS

ALU

STATUS

PORTC DRIVERS/BUFFERS

PORTC DIGITAL INTERFACE

TWI

TIMERS/

COUNTERS

INTERNAL

OSCILLATOR

WATCHDOG

TIMER

MCU CTRL.

& TIMING

INTERRUPT

UNIT

EEPROM

OSCILLATOR

INTERNAL CALIBRATED OSCILLATOR

XTAL1

XTAL2

RESET

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PROGRAMMING

LOGIC

PORTB DIGITAL INTERFACE

PORTB DRIVERS/BUFFERS

SPI

COMP.

INTERFACE

USART

PORTD DIGITAL INTERFACE

PORTD DRIVERS/BUFFERS

PD0 - PD7PB0 - PB7

The AVR core combines a rich instruction set with 32 general purpose working registers. All the 32 registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent registers to be accessed in one single instruction executed in one clock cycle. The resulting architecture is more code efficient while achieving throughputs up to ten times faster than conventional CISC microcontrollers.

The ATmega16 provides the following features: 16K bytes of In-System Programmable Flash Program memory with Read-While-Write capabilities, 512 bytes EEPROM, 1K byte SRAM, 32 general purpose I/O lines, 32 general purpose working registers, a JTAG interface for Boundary-scan, On-chip Debugging support and programming, three flexible Timer/Counters with compare modes, Internal and External Interrupts, a serial programmable USART, a byte oriented Two-wire Serial Interface, an 8-channel, 10-bit ADC with optional differential input stage with programmable gain (TQFP package only), a programmable Watchdog Timer with Internal Oscillator, an SPI serial port, and six software selectable power saving modes. The Idle mode stops the CPU while allowing the USART, Two-wire interface, A/D Converter, SRAM, Timer/Counters, SPI port, and interrupt system to continue functioning. The Power-down mode saves the register contents but freezes the Oscillator, disabling all other chip functions until the next External Interrupt or Hardware Reset. In Power-save mode, the Asynchronous Timer continues to run, allowing the user to maintain a timer base while the rest of the device is sleeping. The ADC Noise Reduction mode stops the CPU and all I/O modules except Asynchronous Timer and ADC, to minimize switching noise during ADC conversions. In Standby mode, the crystal/resonator Oscillator is running while the rest of the device is sleeping. This allows very fast start-up combined with low-power consumption. In Extended Standby mode, both the main Oscillator and the Asynchronous Timer continue to run.

The device is manufactured using Atmel’s high density nonvolatile memory technology. The On-chip ISP Flash allows the program memory to be reprogrammed in-system through an SPI serial interface, by a conventional nonvolatile memory programmer, or by an On-chip Boot program running on the AVR core. The boot program can use any interface to download the application program in the Application Flash memory. Software in the Boot Flash section will continue to run while the Application Flash section is updated, providing true Read-While-Write operation. By combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic chip, the Atmel ATmega16 is a powerful microcontroller that provides a highly-flexible and cost-effective solution to many embedded control applications.

The ATmega16 AVR is supported with a full suite of program and system development tools including: C compilers, macro assemblers, program debugger/simulators, in-circuit emulators, and evaluation kits.

Pin Descriptions

VCC Digital supply voltage.

GND Ground.

Port A (PA7..PA0) Port A serves as the analog inputs to the A/D Converter.

Port A also serves as an 8-bit bi-directional I/O port, if the A/D Converter is not used. Port pins can provide internal pull-up resistors (selected for each bit). The Port A output buffers have symmetrical drive characteristics with both high sink and source capability. When pins PA0 to PA7 are used as inputs and are externally pulled low, they will source current if the internal pull-up resistors are activated. The Port A pins are tri-stated when a reset condition becomes active, even if the clock is not running.

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ATmega16(L)

Port B (PB7..PB0) Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each

bit). The Port B output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port B pins that are externally pulled low will source current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset condition becomes active, even if the clock is not running.

Port B also serves the functions of various special features of the ATmega16 as listed on page 56.

Port C (PC7..PC0) Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each

bit). The Port C output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port C pins that are externally pulled low will source current if the pull-up resistors are activated. The Port C pins are tri-stated when a reset condition becomes active, even if the clock is not running. If the JTAG interface is enabled, the pull-up resistors on pins PC5(TDI), PC3(TMS) and PC2(TCK) will be activated even if a reset occurs.

Port C also serves the functions of the JTAG interface and other special features of the ATmega16 as listed on page 59.

Port D (PD7..PD0) Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each

bit). The Port D output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port D pins that are externally pulled low will source current if the pull-up resistors are activated. The Port D pins are tri-stated when a reset condition becomes active, even if the clock is not running.

Port D also serves the functions of various special features of the ATmega16 as listed on page 61.

RESET

XTAL1 Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.

XTAL2 Output from the inverting Oscillator amplifier.

AVCC AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externally

AREF AREF is the analog reference pin for the A/D Converter.

About Code Examples

Reset Input. A low level on this pin for longer than the minimum pulse length will generate a reset, even if the clock is not running. The minimum pulse length is given in Table 15 on page 36. Shorter pulses are not guaranteed to generate a reset.

connected to V nected to V

This documentation contains simple code examples that briefly show how to use various parts of the device. These code examples assume that the part specific header file is included before compilation. Be aware that not all C Compiler vendors include bit definitions in the header files and interrupt handling in C is compiler dependent. Please confirm with the C Compiler documentation for more details.

, even if the ADC is not used. If the ADC is used, it should be con-

through a low-pass filter.

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AVR CPU Core

Introduction This section discusses the AVR core architecture in general. The main function of the

CPU core is to ensure correct program execution. The CPU must therefore be able to access memories, perform calculations, control peripherals, and handle interrupts.

Architectural Overview Figure 3. Block Diagram of the AVR MCU Architecture

Data Bus 8-bit

Flash

Program

Memory

Instruction

Decoder

Control Lines

Program Counter

Direct Addressing

Indirect Addressing

Status

and Control

32 x 8 General Purpose

Registrers

ALU

Data

SRAM

EEPROM

I/O Lines

Interrupt

Unit

SPI

Unit

Watchdog

Timer

Analog

Comparator

I/O Module1

I/O Module 2

I/O Module n

In order to maximize performance and parallelism, the AVR uses a Harvard architecture – with separate memories and buses for program and data. Instructions in the program memory are executed with a single level pipelining. While one instruction is being executed, the next instruction is pre-fetched from the program memory. This concept enables instructions to be executed in every clock cycle. The program memory is InSystem Reprogrammable Flash memory.

The fast-access Register File contains 32 x 8-bit general purpose working registers with a single clock cycle access time. This allows single-cycle Arithmetic Logic Unit (ALU) operation. In a typical ALU operation, two operands are output from the Register File, the operation is executed, and the result is stored back in the Register File – in one clock cycle.

Six of the 32 registers can be used as three 16-bit indirect address register pointers for Data Space addressing – enabling efficient address calculations. One of the these address pointers can also be used as an address pointer for look up tables in Flash Program memory. These added function registers are the 16-bit X-, Y-, and Z-register, described later in this section.

The ALU supports arithmetic and logic operations between registers or between a constant and a register. Single register operations can also be executed in the ALU. After

ATmega16(L)

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ATmega16(L)

an arithmetic operation, the Status Register is updated to reflect information about the result of the operation.

Program flow is provided by conditional and unconditional jump and call instructions, able to directly address the whole address space. Most AVR instructions have a single 16-bit word format. Every program memory address contains a 16- or 32-bit instruction.

Program Flash memory space is divided in two sections, the Boot program section and the Application Program section. Both sections have dedicated Lock bits for write and read/write protection. The SPM instruction that writes into the Application Flash memory section must reside in the Boot Program section.

During interrupts and subroutine calls, the return address Program Counter (PC) is stored on the Stack. The Stack is effectively allocated in the general data SRAM, and consequently the Stack size is only limited by the total SRAM size and the usage of the SRAM. All user programs must initialize the SP in the reset routine (before subroutines or interrupts are executed). The Stack Pointer SP is read/write accessible in the I/O space. The data SRAM can easily be accessed through the five different addressing modes supported in the AVR architecture.

The memory spaces in the AVR architecture are all linear and regular memory maps.

A flexible interrupt module has its control registers in the I/O space with an additional global interrupt enable bit in the Status Register. All interrupts have a separate interrupt vector in the interrupt vector table. The interrupts have priority in accordance with their interrupt vector position. The lower the interrupt vector address, the higher the priority.

The I/O memory space contains 64 addresses for CPU peripheral functions as Control Registers, SPI, and other I/O functions. The I/O Memory can be accessed directly, or as the Data Space locations following those of the Register File, $20 - $5F.

ALU – Arithmetic Logic Unit

The high-performance AVR ALU operates in direct connection with all the 32 general purpose working registers. Within a single clock cycle, arithmetic operations between general purpose registers or between a register and an immediate are executed. The ALU operations are divided into three main categories – arithmetic, logical, and bit-functions. Some implementations of the architecture also provide a powerful multiplier supporting both signed/unsigned multiplication and fractional format. See the “Instruction Set” section for a detailed description.

Status Register The Status Register contains information about the result of the most recently executed

arithmetic instruction. This information can be used for altering program flow in order to perform conditional operations. Note that the Status Register is updated after all ALU operations, as specified in the Instruction Set Reference. This will in many cases remove the need for using the dedicated compare instructions, resulting in faster and more compact code.

The Status Register is not automatically stored when entering an interrupt routine and restored when returning from an interrupt. This must be handled by software.

The AVR Status Register – SREG – is defined as:

Bit 76543210

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

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• Bit 7 – I: Global Interrupt Enable

The Global Interrupt Enable bit must be set for the interrupts to be enabled. The individual interrupt enable control is then performed in separate control registers. If the Global Interrupt Enable Register is cleared, none of the interrupts are enabled independent of the individual interrupt enable settings. The I-bit is cleared by hardware after an interrupt has occurred, and is set by the RETI instruction to enable subsequent interrupts. The Ibit can also be set and cleared by the application with the SEI and CLI instructions, as described in the instruction set reference.

• Bit 6 – T: Bit Copy Storage

The Bit Copy instructions BLD (Bit LoaD) and BST (Bit STore) use the T-bit as source or destination for the operated bit. A bit from a register in the Register File can be copied into T by the BST instruction, and a bit in T can be copied into a bit in a register in the Register File by the BLD instruction.

• Bit 5 – H: Half Carry Flag

The Half Carry Flag H indicates a Half Carry in some arithmetic operations. Half Carry is useful in BCD arithmetic. See the “Instruction Set Description” for detailed information.

• Bit 4 – S: Sign Bit, S = N

The S-bit is always an exclusive or between the Negative Flag N and the Two’s Complement Overflow Flag V. See the “Instruction Set Description” for detailed information.

• Bit 3 – V: Two’s Complement Overflow Flag

The Two’s Complement Overflow Flag V supports two’s complement arithmetics. See the “Instruction Set Description” for detailed information.

• Bit 2 – N: Negative Flag

The Negative Flag N indicates a negative result in an arithmetic or logic operation. See the “Instruction Set Description” for detailed information.

• Bit 1 – Z: Zero Flag

The Zero Flag Z indicates a zero result in an arithmetic or logic operation. See the “Instruction Set Description” for detailed information.

• Bit 0 – C: Carry Flag

The Carry Flag C indicates a carry in an arithmetic or logic operation. See the “Instruction Set Description” for detailed information.

⊕ V

ATmega16(L)

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ATmega16(L)

General Purpose Register File

The Register File is optimized for the AVR Enhanced RISC instruction set. In order to achieve the required performance and flexibility, the following input/output schemes are supported by the Register File:

• One 8-bit output operand and one 8-bit result input

• Two 8-bit output operands and one 8-bit result input

• Two 8-bit output operands and one 16-bit result input

• One 16-bit output operand and one 16-bit result input

Figure 4 shows the structure of the 32 general purpose working registers in the CPU.

Figure 4. AVR CPU General Purpose Working Registers

7 0 Addr.

R0 $00

R1 $01

R2 $02

…

R13 $0D

General R14 $0E

Purpose R15 $0F

Working R16 $10

Registers R17 $11

…

R26 $1A X-register Low Byte

R27 $1B X-register High Byte

R28 $1C Y-register Low Byte

R29 $1D Y-register High Byte

R30 $1E Z-register Low Byte

R31 $1F Z-register High Byte

Most of the instructions operating on the Register File have direct access to all registers, and most of them are single cycle instructions.

As shown in Figure 4, each register is also assigned a data memory address, mapping them directly into the first 32 locations of the user Data Space. Although not being physically implemented as SRAM locations, this memory organization provides great flexibility in access of the registers, as the X-, Y-, and Z-pointer Registers can be set to index any register in the file.

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The X-register, Y-register and Z-register

The registers R26..R31 have some added functions to their general purpose usage. These registers are 16-bit address pointers for indirect addressing of the Data Space. The three indirect address registers X, Y, and Z are defined as described in Figure 5.

Figure 5. The X-, Y-, and Z-registers

15 XH XL 0

X - register 707 0

R27 ($1B) R26 ($1A)

15 YH YL 0

Y - register 707 0

R29 ($1D) R28 ($1C)

15 ZH ZL 0

Z - register 70 7 0

R31 ($1F) R30 ($1E)

In the different addressing modes these address registers have functions as fixed displacement, automatic increment, and automatic decrement (see the Instruction Set Reference for details).

Stack Pointer The Stack is mainly used for storing temporary data, for storing local variables and for

storing return addresses after interrupts and subroutine calls. The Stack Pointer Register always points to the top of the Stack. Note that the Stack is implemented as growing from higher memory locations to lower memory locations. This implies that a Stack PUSH command decreases the Stack Pointer. If software reads the Program Counter from the Stack after a call or an interrupt, unused bits (15:13) should be masked out.

The Stack Pointer points to the data SRAM Stack area where the Subroutine and Interrupt Stacks are located. This Stack space in the data SRAM must be defined by the program before any subroutine calls are executed or interrupts are enabled. The Stack Pointer must be set to point above $60. The Stack Pointer is decremented by one when data is pushed onto the Stack with the PUSH instruction, and it is decremented by two when the return address is pushed onto the Stack with subroutine call or interrupt. The Stack Pointer is incremented by one when data is popped from the Stack with the POP instruction, and it is incremented by two when data is popped from the Stack with return from subroutine RET or return from interrupt RETI.

The AVR Stack Pointer is implemented as two 8-bit registers in the I/O space. The number of bits actually used is implementation dependent. Note that the data space in some implementations of the AVR architecture is so small that only SPL is needed. In this case, the SPH Register will not be present.

Bit 151413121110 9 8

SP15 SP14 SP13 SP12 SP11 SP10 SP9 SP8 SPH

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 0 0 0 0 0 0 0 0

00000000

ATmega16(L)

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ATmega16(L)

Instruction Execution Timing

This section describes the general access timing concepts for instruction execution. The AVR CPU is driven by the CPU clock clk source for the chip. No internal clock division is used.

Figure 6 shows the parallel instruction fetches and instruction executions enabled by the Harvard architecture and the fast-access Register File concept. This is the basic pipelining concept to obtain up to 1 MIPS per MHz with the corresponding unique results for functions per cost, functions per clocks, and functions per power-unit.

Figure 6. The Parallel Instruction Fetches and Instruction Executions

T1 T2 T3 T4

clk

CPU

1st Instruction Fetch

1st Instruction Execute

2nd Instruction Fetch

2nd Instruction Execute

3rd Instruction Fetch

3rd Instruction Execute

4th Instruction Fetch

Figure 7 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.

, directly generated from the selected clock

CPU

Reset and Interrupt Handling

Figure 7. Single Cycle ALU Operation

T1 T2 T3 T4

clk

CPU

Total Execution Time

ALU Operation Execute

Result Write Back

The AVR provides several different interrupt sources. These interrupts and the separate reset vector each have a separate program vector in the program memory space. All interrupts are assigned individual enable bits which must be written logic one together with the Global Interrupt Enable bit in the Status Register in order to enable the interrupt. Depending on the Program Counter value, interrupts may be automatically disabled when Boot Lock bits BLB02 or BLB12 are programmed. This feature improves software security. See the section “Memory Programming” on page 259 for details.

The lowest addresses in the program memory space are by default defined as the Reset and Interrupt Vectors. The complete list of vectors is shown in “Interrupts” on page 43. The list also determines the priority levels of the different interrupts. The lower the address the higher is the priority level. RESET has the highest priority, and next is INT0

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– the External Interrupt Request 0. The Interrupt Vectors can be moved to the start of the Boot Flash section by setting the IVSEL bit in the General Interrupt Control Register (GICR). Refer to “Interrupts” on page 43 for more information. The Reset Vector can also be moved to the start of the boot Flash section by programming the BOOTRST Fuse, see “Boot Loader Support – Read-While-Write Self-Programming” on page 246.

When an interrupt occurs, the Global Interrupt Enable I-bit is cleared and all interrupts are disabled. The user software can write logic one to the I-bit to enable nested interrupts. All enabled interrupts can then interrupt the current interrupt routine. The I-bit is automatically set when a Return from Interrupt instruction – RETI – is executed.

There are basically two types of interrupts. The first type is triggered by an event that sets the Interrupt Flag. For these interrupts, the Program Counter is vectored to the actual Interrupt Vector in order to execute the interrupt handling routine, and hardware clears the corresponding Interrupt Flag. Interrupt Flags can also be cleared by writing a logic one to the flag bit position(s) to be cleared. If an interrupt condition occurs while the corresponding interrupt enable bit is cleared, the Interrupt Flag will be set and remembered until the interrupt is enabled, or the flag is cleared by software. Similarly, if one or more interrupt conditions occur while the Global Interrupt Enable bit is cleared, the corresponding Interrupt Flag(s) will be set and remembered until the global interrupt enable bit is set, and will then be executed by order of priority.

The second type of interrupts will trigger as long as the interrupt condition is present. These interrupts do not necessarily have Interrupt Flags. If the interrupt condition disappears before the interrupt is enabled, the interrupt will not be triggered.

When the AVR exits from an interrupt, it will always return to the main program and execute one more instruction before any pending interrupt is served.

Note that the Status Register is not automatically stored when entering an interrupt routine, nor restored when returning from an interrupt routine. This must be handled by software.

When using the CLI instruction to disable interrupts, the interrupts will be immediately disabled. No interrupt will be executed after the CLI instruction, even if it occurs simultaneously with the CLI instruction. The following example shows how this can be used to avoid interrupts during the timed EEPROM write sequence.

Assembly Code Example

in r16, SREG ; store SREG value

cli ; disable interrupts during timed sequence

sbi EECR, EEMWE ; start EEPROM write

sbi EECR, EEWE

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<<EEMWE); /* start EEPROM write */

EECR |= (1<<EEWE);

SREG = cSREG; /* restore SREG value (I-bit) */

ATmega16(L)

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ATmega16(L)

When using the SEI instruction to enable interrupts, the instruction following SEI will be executed before any pending interrupts, as shown in this example.

Assembly Code Example

sei ; set global interrupt enable

sleep ; enter sleep, waiting for interrupt

; note: will enter sleep before any pending

; interrupt(s)

C Code Example

_SEI(); /* set global interrupt enable */

_SLEEP(); /* enter sleep, waiting for interrupt */

/* note: will enter sleep before any pending interrupt(s) */

Interrupt Response Time The interrupt execution response for all the enabled AVR interrupts is four clock cycles

minimum. After four clock cycles the program vector address for the actual interrupt handling routine is executed. During this four clock cycle period, the Program Counter is pushed onto the Stack. The vector is normally a jump to the interrupt routine, and this jump takes three clock cycles. If an interrupt occurs during execution of a multi-cycle instruction, this instruction is completed before the interrupt is served. If an interrupt occurs when the MCU is in sleep mode, the interrupt execution response time is increased by four clock cycles. This increase comes in addition to the start-up time from the selected sleep mode.

A return from an interrupt handling routine takes four clock cycles. During these four clock cycles, the Program Counter (two bytes) is popped back from the Stack, the Stack Pointer is incremented by two, and the I-bit in SREG is set.

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AVR ATmega16 Memories

This section describes the different memories in the ATmega16. The AVR architecture has two main memory spaces, the Data Memory and the Program Memory space. In addition, the ATmega16 features an EEPROM Memory for data storage. All three memory spaces are linear and regular.

In-System Reprogrammable Flash Program Memory

The ATmega16 contains 16K bytes On-chip In-System Reprogrammable Flash memory for program storage. Since all AVR instructions are 16 or 32 bits wide, the Flash is organized as 8K x 16. For software security, the Flash Program memory space is divided into two sections, Boot Program section and Application Program section.

The Flash memory has an endurance of at least 10,000 write/erase cycles. The ATmega16 Program Counter (PC) is 13 bits wide, thus addressing the 8K program memory locations. The operation of Boot Program section and associated Boot Lock bits for software protection are described in detail in “Boot Loader Support – ReadWhile-Write Self-Programming” on page 246. “Memory Programming” on page 259 contains a detailed description on Flash data serial downloading using the SPI pins or the JTAG interface.

Constant tables can be allocated within the entire program memory address space (see the LPM – Load Program Memory Instruction Description).

Timing diagrams for instruction fetch and execution are presented in “Instruction Execution Timing” on page 11.

Figure 8. Program Memory Map

$0000

Application Flash Section

Boot Flash Section

$1FFF

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ATmega16(L)

SRAM Data Memory Figure 9 shows how the ATmega16 SRAM Memory is organized.

The lower 1120 Data Memory locations address the Register File, the I/O Memory, and the internal data SRAM. The first 96 locations address the Register File and I/O Memory, and the next 1024 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 locations from the base address given by the Y- or Z-register.

When using register indirect addressing modes with automatic pre-decrement and postincrement, the address registers X, Y, and Z are decremented or incremented.

The 32 general purpose working registers, 64 I/O Registers, and the 1024 bytes of internal data SRAM in the ATmega16 are all accessible through all these addressing modes. The Register File is described in “General Purpose Register File” on page 9.

Figure 9. Data Memory Map

R0 R1 R2

...

Data Address Space

$0000 $0001 $0002

...

R29 R30 R31

I/O Registers

$00 $01 $02

...

$3D $3E $3F

$001D $001E $001F

$0020 $0021 $0022

...

$005D $005E $005F

Internal SRAM

$0060 $0061

...

$045E $045F

2466J–AVR–10/04

Data Memory Access Times This section describes the general access timing concepts for internal memory access.

The internal data SRAM access is performed in two clk

cycles as described in Figure

CPU

10.

Figure 10. On-chip Data SRAM Access Cycles

T1 T2 T3

clk

CPU

Address

Compute Address

Address Valid

Data

Write

Data

Memory Access Instruction

Next Instruction

Read

EEPROM Data Memory The ATmega16 contains 512 bytes of data EEPROM memory. It is organized as a sep-

arate data space, in which single bytes can be read and written. The EEPROM has an endurance of at least 100,000 write/erase cycles. The access between the EEPROM and the CPU is described in the following, specifying the EEPROM Address Registers, the EEPROM Data Register, and the EEPROM Control Register.

For a detailed description of SPI, JTAG, and Parallel data downloading to the EEPROM, see page 273, page 278, and page 262, respectively.

EEPROM Read/Write Access The EEPROM Access Registers are accessible in the I/O space.

The write access time for the EEPROM is given in Table 1. A self-timing function, however, lets the user software detect when the next byte can be written. If the user code contains instructions that write the EEPROM, some precautions must be taken. In heavily filtered power supplies, V causes the device for some period of time to run at a voltage lower than specified as minimum for the clock frequency used. See “Preventing EEPROM Corruption” on page 20 for details on how to avoid problems in these situations.

is likely to rise or fall slowly on Power-up/down. This

In order to prevent unintentional EEPROM writes, a specific write procedure must be followed. Refer to the description of the EEPROM Control Register for details on this.

When the EEPROM is read, the CPU is halted for four clock cycles before the next instruction is executed. When the EEPROM is written, the CPU is halted for two clock cycles before the next instruction is executed.

ATmega16(L)

2466J–AVR–10/04

The EEPROM Address Register – EEARH and EEARL

ATmega16(L)

Bit 151413121110 9 8

–––––––EEAR8EEARH

EEAR7 EEAR6 EEAR5 EEAR4 EEAR3 EEAR2 EEAR1 EEAR0 EEARL

76543210

Read/WriteRRRRRRRR/W

R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value0000000X

XXXXXXXX

• Bits 15..9 – Res: Reserved Bits

These bits are reserved bits in the ATmega16 and will always read as zero.

• Bits 8..0 – EEAR8..0: EEPROM Address

The EEPROM Data Register – EEDR

The EEPROM Control Register – EECR

The EEPROM Address Registers

– EEARH and EEARL – specify the EEPROM address

in the 512 bytes EEPROM space. The EEPROM data bytes are addressed linearly between 0 and 511. The initial value of EEAR is undefined. A proper value must be written before the EEPROM may be accessed.

Bit 76543210

MSB LSB EEDR

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

• Bits 7..0 – EEDR7.0: EEPROM Data

For the EEPROM write operation, the EEDR Register contains the data to be written to the EEPROM in the address given by the EEAR Register. For the EEPROM read operation, the EEDR contains the data read out from the EEPROM at the address given by EEAR.

Bit 76543 2 10

––––EERIEEEMWEEEWEEEREEECR

Read/Write R R R R R/W R/W R/W R/W

Initial Value000000X0

• Bits 7..4 – Res: Reserved Bits

2466J–AVR–10/04

These bits are reserved bits in the ATmega16 and will always read as zero.

• Bit 3 – EERIE: EEPROM Ready Interrupt Enable

Writing EERIE to one enables the EEPROM Ready Interrupt if the I bit in SREG is set. Writing EERIE to zero disables the interrupt. The EEPROM Ready interrupt generates a constant interrupt when EEWE is cleared.

• Bit 2 – EEMWE: EEPROM Master Write Enable

The EEMWE bit determines whether setting EEWE to one causes the EEPROM to be written. When EEMWE is set, setting EEWE within four clock cycles will write data to the EEPROM at the selected address If EEMWE is zero, setting EEWE will have no effect.

When EEMWE has been written to one by software, hardware clears the bit to zero after four clock cycles. See the description of the EEWE bit for an EEPROM write procedure.

• Bit 1 – EEWE: EEPROM Write Enable

The EEPROM Write Enable Signal EEWE is the write strobe to the EEPROM. When address and data are correctly set up, the EEWE bit must be written to one to write the value into the EEPROM. The EEMWE bit must be written to one before a logical one is written to EEWE, otherwise no EEPROM write takes place. The following procedure should be followed when writing the EEPROM (the order of steps 3 and 4 is not essential):

1. Wait until EEWE becomes zero.

2. Wait until SPMEN in SPMCR 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 EEMWE bit while writing a zero to EEWE in EECR.

6. Within four clock cycles after setting EEMWE, write a logical one to EEWE.

The EEPROM can not be programmed during a CPU write to the Flash memory. The software must check that the Flash programming is completed before initiating a new EEPROM write. Step 2 is only relevant if the software contains a Boot Loader allowing the CPU to program the Flash. If the Flash is never being updated by the CPU, step 2 can be omitted. See “Boot Loader Support – Read-While-Write Self-Programming” on page 246 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 EEWE bit is cleared by hardware. The user software can poll this bit and wait for a zero before writing the next byte. When EEWE has been set, the CPU is halted for two cycles before the next instruction is executed.

• Bit 0 – EERE: EEPROM Read Enable

The EEPROM Read Enable Signal – EERE – is the read strobe to the EEPROM. When the correct address is set up in the EEAR Register, the EERE bit must be written to a logic one to trigger the EEPROM read. The EEPROM read access takes one instruction, and the requested data is available immediately. When the EEPROM is read, the CPU is halted for four cycles before the next instruction is executed.

The user should poll the EEWE bit before starting the read operation. If a write operation is in progress, it is neither possible to read the EEPROM, nor to change the EEAR Register.

The calibrated Oscillator is used to time the EEPROM accesses. Table 1 lists the typical programming time for EEPROM access from the CPU.

Table 1 . EEPROM Programming Time

ATmega16(L)

Number of Calibrated RC

Symbol

EEPROM write (from CPU) 8448 8.5 ms

Oscillator Cycles

(1)

Typ Programming Time

2466J–AVR–10/04

ATmega16(L)

Note: 1. Uses 1 MHz clock, independent of CKSEL Fuse setting.

The following code examples show one assembly and one C function for writing to the EEPROM. The examples assume that interrupts are controlled (for example by disabling interrupts globally) so that no interrupts will occur during execution of these functions. The examples also assume that no Flash Boot Loader is present in the software. If such code is present, the EEPROM write function must also wait for any ongoing SPM command to finish.

Assembly Code Example

EEPROM_write:

; Wait for completion of previous write

sbic EECR,EEWE

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 EEMWE

sbi EECR,EEMWE

; Start eeprom write by setting EEWE

sbi EECR,EEWE

ret

C Code Example

void EEPROM_write(unsigned int uiAddress, unsigned char ucData)

{

/* Wait for completion of previous write */

while(EECR & (1<<EEWE))

;

/* Set up address and data registers */

EEAR = uiAddress;

EEDR = ucData;

/* Write logical one to EEMWE */

EECR |= (1<<EEMWE);

/* Start eeprom write by setting EEWE */

EECR |= (1<<EEWE);

}

2466J–AVR–10/04

The next code examples show assembly and C functions for reading the EEPROM. The examples assume that interrupts are controlled so that no interrupts will occur during execution of these functions.

Assembly Code Example

EEPROM_read:

; Wait for completion of previous write

sbic EECR,EEWE

rjmp EEPROM_read

; Set up address (r18:r17) in address register

out EEARH, r18

out EEARL, r17

; Start eeprom read by writing EERE

sbi EECR,EERE

; Read data from data register

in r16,EEDR

ret

C Code Example

unsigned char EEPROM_read(unsigned int uiAddress)

{

/* Wait for completion of previous write */

while(EECR & (1<<EEWE))

;

/* Set up address register */

EEAR = uiAddress;

/* Start eeprom read by writing EERE */

EECR |= (1<<EERE);

/* Return data from data register */

return EEDR;

}

EEPROM Write During Powerdown Sleep Mode

Preventing EEPROM Corruption

ATmega16(L)

When entering Power-down Sleep mode while an EEPROM write operation is active, the EEPROM write operation will continue, and will complete before the Write Access time has passed. However, when the write operation is completed, the Oscillator continues running, and as a consequence, the device does not enter Power-down entirely. It is therefore recommended to verify that the EEPROM write operation is completed before entering Power-down.

During periods of low V

the EEPROM data can be corrupted because the supply volt-

CC,

age is too low for the CPU and the EEPROM to operate properly. These issues are the same as for board level systems using EEPROM, and the same design solutions should be applied.

An EEPROM data corruption can be caused by two situations when the voltage is too low. First, a regular write sequence to the EEPROM requires a minimum voltage to operate correctly. Secondly, the CPU itself can execute instructions incorrectly, if the supply voltage is too low.

2466J–AVR–10/04

ATmega16(L)

EEPROM data corruption can easily be avoided by following this design recommendation:

Keep the AVR RESET active (low) during periods of insufficient power supply voltage. This can be done by enabling the internal Brown-out Detector (BOD). If the detection level of the internal BOD does not match the needed detection level, an external low V operation is in progress, the write operation will be completed provided that the power supply voltage is sufficient.

I/O Memory The I/O space definition of the ATmega16 is shown in “Register Summary” on page 331.

All ATmega16 I/Os and peripherals are placed in the I/O space. The I/O locations are accessed by the IN and OUT instructions, transferring data between the 32 general purpose working registers and the I/O space. I/O Registers within the address range $00 $1F are directly bit-accessible using the SBI and CBI instructions. In these registers, the value of single bits can be checked by using the SBIS and SBIC instructions. Refer to the Instruction Set section for more details. When using the I/O specific commands IN and OUT, the I/O addresses $00 - $3F must be used. When addressing I/O Registers as data space using LD and ST instructions, $20 must be added to these addresses.

For compatibility with future devices, reserved bits should be written to zero if accessed. Reserved I/O memory addresses should never be written.

Reset Protection circuit can be used. If a reset occurs while a write

Some of the Status Flags are cleared by writing a logical one to them. Note that the CBI and SBI instructions will operate on all bits in the I/O Register, writing a one back into any flag read as set, thus clearing the flag. The CBI and SBI instructions work with registers $00 to $1F only.

The I/O and Peripherals Control Registers are explained in later sections.

2466J–AVR–10/04

System Clock and Clock Options

Clock Systems and their Distribution

Figure 11 presents the principal clock systems in the AVR and their distribution. All of the clocks need not be active at a given time. In order to reduce power consumption, the clocks to modules not being used can be halted by using different sleep modes, as described in “Power Management and Sleep Modes” on page 30. The clock systems are detailed Figure 11.

Figure 11. Clock Distribution

Asynchronous Timer/Counter

General I/O

Modules

clk

ADC CPU Core RAM

clk

ADC

clk

I/O

ASY

AVR Clock

Control Unit

Source Clock

Clock

Multiplexer

clk

CPU

clk

FLASH

Reset Logic

Watchdog Timer

Watchdog Clock

Watchdog

Oscillator

Flash and EEPROM

CPU Clock – clk

I/O Clock – clk

I/O

Flash Clock – clk

ATmega16(L)

CPU

FLASH

Timer/Counter

Oscillator

External RC

Oscillator

External Clock

Crystal

Oscillator

Low-frequency

Crystal Oscillator

Calibrated RC

Oscillator

The CPU clock is routed to parts of the system concerned with operation of the AVR core. Examples of such modules are the General Purpose Register File, the Status Register and the data memory holding the Stack Pointer. Halting the CPU clock inhibits the core from performing general operations and calculations.

The I/O clock is used by the majority of the I/O modules, like Timer/Counters, SPI, and USART. The I/O clock is also used by the External Interrupt module, but note that some external interrupts are detected by asynchronous logic, allowing such interrupts to be detected even if the I/O clock is halted. Also note that address recognition in the TWI module is carried out asynchronously when clk

is halted, enabling TWI address recep-

I/O

tion in all sleep modes.

The Flash clock controls operation of the Flash interface. The Flash clock is usually active simultaneously with the CPU clock.

2466J–AVR–10/04

ATmega16(L)

Asynchronous Timer Clock – clk

ASY

The Asynchronous Timer clock allows the Asynchronous Timer/Counter to be clocked directly from an external 32 kHz clock crystal. The dedicated clock domain allows using this Timer/Counter as a real-time counter even when the device is in sleep mode.

ADC Clock – clk

ADC

The ADC is provided with a dedicated clock domain. This allows halting the CPU and I/O clocks in order to reduce noise generated by digital circuitry. This gives more accurate ADC conversion results.

Clock Sources The device has the following clock source options, selectable by Flash Fuse bits as

shown below. The clock from the selected source is input to the AVR clock generator, and routed to the appropriate modules.

Table 2 . Device Clocking Options Select

Device Clocking Option CKSEL3..0

External Crystal/Ceramic Resonator 1111 - 1010

External Low-frequency Crystal 1001

External RC Oscillator 1000 - 0101

Calibrated Internal RC Oscillator 0100 - 0001

External Clock 0000

Note: 1. For all fuses “1” means unprogrammed while “0” means programmed.

The various choices for each clocking option is given in the following sections. When the CPU wakes up from Power-down or Power-save, the selected clock source is used to time the start-up, ensuring stable Oscillator operation before instruction execution starts. When the CPU starts from Reset, there is as an additional delay allowing the power to reach a stable level before commencing normal operation. The Watchdog Oscillator is used for timing this real-time part of the start-up time. The number of WDT Oscillator cycles used for each time-out is shown in Table 3. The frequency of the Watchdog Oscillator is voltage dependent as shown in “ATmega16 Typical Characteristics” on page

299.

(1)

Table 3 . Number of Watchdog Oscillator Cycles

Typ Time-out (VCC = 5.0V) Typ Time-out (VCC = 3.0V) Number of Cycles

4.1 ms 4.3 ms 4K (4,096)

65 ms 69 ms 64K (65,536)

Default Clock Source The device is shipped with CKSEL = “0001” and SUT = “10”. The default clock source

setting is therefore the 1 MHz Internal RC Oscillator with longest startup time. This default setting ensures that all users can make their desired clock source setting using an In-System or Parallel Programmer.

Crystal Oscillator 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 12. Either a quartz crystal or a ceramic resonator may be used. The CKOPT Fuse selects between two different Oscillator amplifier modes. When CKOPT is programmed, the Oscillator output will oscillate will a full rail-to-rail swing on the output. This mode is suitable when operating in a very noisy environment or when the output from XTAL2 drives a second clock buffer. This mode has a wide frequency range. When CKOPT is unprogrammed, the Oscillator has a smaller output swing. This reduces power consumption considerably.

2466J–AVR–10/04

This mode has a limited frequency range and it can not be used to drive other clock buffers.

For resonators, the maximum frequency is 8 MHz with CKOPT unprogrammed and 16 MHz with CKOPT programmed. C1 and C2 should always be equal for both crystals and resonators. The optimal value of the capacitors depends on the crystal or resonator in use, the amount of stray capacitance, and the electromagnetic noise of the environment. Some initial guidelines for choosing capacitors for use with crystals are given in Table 4. For ceramic resonators, the capacitor values given by the manufacturer should be used.

Figure 12. Crystal Oscillator Connections

XTAL2

XTAL1

GND

The Oscillator can operate in three different modes, each optimized for a specific frequency range. The operating mode is selected by the fuses CKSEL3..1 as shown in Table 4.

Table 4 . Crystal Oscillator Operating Modes

Frequency Range

CKOPT CKSEL3..1

1 101

1 110 0.9 - 3.0 12 - 22

1 111 3.0 - 8.0 12 - 22

0 101, 110, 111 1.0 ≤ 12 - 22

Note: 1. This option should not be used with crystals, only with ceramic resonators.

(1)

(MHz)

0.4 - 0.9 –

Recommended Range for Capacitors

C1 and C2 for Use with Crystals (pF)

ATmega16(L)

2466J–AVR–10/04

ATmega16(L)

The CKSEL0 Fuse together with the SUT1..0 Fuses select the start-up times as shown in Table 5.

Table 5 . Start-up Times for the Crystal Oscillator Clock Selection

Start-up Time from

Power-down and

CKSEL0 SUT1..0

0 00 258 CK

0 01 258 CK

010 1K CK

011 1K CK

100 1K CK

Power-save

(1)

(2)

101 16K CK –

1 10 16K CK 4.1 ms

1 11 16K CK 65 ms

Additional Delay

from Reset

(VCC = 5.0V) Recommended Usage

4.1 ms

65 ms

–

4.1 ms

65 ms

Ceramic resonator, fast rising power

Ceramic resonator, slowly rising power

Ceramic resonator, BOD enabled

Ceramic resonator, fast rising power

Ceramic resonator, slowly rising power

Crystal Oscillator, BOD enabled

Crystal Oscillator, fast rising power

Crystal Oscillator, slowly rising power

Notes: 1. These options should only be used when not operating close to the maximum fre-

quency of the device, and only if frequency stability at start-up is not important for the application. These options are not suitable for crystals.

2. These options are intended for use with ceramic resonators and will ensure frequency stability at start-up. They can also be used with crystals when not operating close to the maximum frequency of the device, and if frequency stability at start-up is not important for the application.

2466J–AVR–10/04

Low-frequency Crystal Oscillator

To use a 32.768 kHz watch crystal as the clock source for the device, the Low-frequency Crystal Oscillator must be selected by setting the CKSEL Fuses to “1001”. The crystal should be connected as shown in Figure 12. By programming the CKOPT Fuse, the user can enable internal capacitors on XTAL1 and XTAL2, thereby removing the need for external capacitors. The internal capacitors have a nominal value of 36 pF.

When this Oscillator is selected, start-up times are determined by the SUT Fuses as shown in Table 6.

Table 6 . Start-up Times for the Low-frequency Crystal Oscillator Clock Selection

Start-up Time from

Power-down and

SUT1..0

00 1K CK

01 1K CK

10 32K CK 65 ms Stable frequency at start-up

11 Reserved

Note: 1. These options should only be used if frequency stability at start-up is not important

Power-save

(1)

for the application.

Additional Delay

from Reset

(VCC = 5.0V) Recommended Usage

4.1 ms Fast rising power or BOD enabled

65 ms Slowly rising power

External RC Oscillator For timing insensitive applications, the external RC configuration shown in Figure 13

can be used. The frequency is roughly estimated by the equation f = 1/(3RC). C should be at least 22 pF. By programming the CKOPT Fuse, the user can enable an internal 36 pF capacitor between XTAL1 and GND, thereby removing the need for an external capacitor. For more information on Oscillator operation and details on how to choose R and C, refer to the External RC Oscillator application note.

Figure 13. External RC Configuration

XTAL2

XTAL1

GND

The Oscillator can operate in four different modes, each optimized for a specific frequency range. The operating mode is selected by the fuses CKSEL3..0 as shown in Table 7.

Table 7 . External RC Oscillator Operating Modes

CKSEL3..0 Frequency Range (MHz)

0101 0.1 ≤ 0.9

ATmega16(L)

2466J–AVR–10/04

ATmega16(L)

Table 7 . External RC Oscillator Operating Modes

CKSEL3..0 Frequency Range (MHz)

0110 0.9 - 3.0

0111 3.0 - 8.0

1000 8.0 - 12.0

When this Oscillator is selected, start-up times are determined by the SUT Fuses as shown in Table 8.

Table 8 . Start-up Times for the External RC Oscillator Clock Selection

Calibrated Internal RC Oscillator

Start-up Time from

Power-down and

SUT1..0

00 18 CK – BOD enabled

01 18 CK 4.1 ms Fast rising power

10 18 CK 65 ms Slowly rising power

11 6 CK

Note: 1. This option should not be used when operating close to the maximum frequency of

Power-save

(1)

the device.

Additional Delay

from Reset

(VCC = 5.0V) Recommended Usage

4.1 ms Fast rising power or BOD enabled

The Calibrated Internal RC Oscillator provides a fixed 1.0, 2.0, 4.0, or 8.0 MHz clock. All frequencies are nominal values at 5V and 25°C. This clock may be selected as the system clock by programming the CKSEL Fuses as shown in Table 9. If selected, it will operate with no external components. The CKOPT Fuse should always be unprogrammed when using this clock option. During Reset, hardware loads the calibration byte into the OSCCAL Register and thereby automatically calibrates the RC Oscillator. At 5V, 25°C and 1.0 MHz Oscillator frequency selected, this calibration gives a frequency within ± 3% of the nominal frequency. Using calibration methods as described in application notes available at www.atmel.com/avr it is possible to achieve ±1% accuracy at any given V

and Temperature. When this Oscillator is used as the Chip Clock, the

Watchdog Oscillator will still be used for the Watchdog Timer and for the reset time-out. For more information on the pre-programmed calibration value, see the section “Calibration Byte” on page 261.

2466J–AVR–10/04

Table 9 . Internal Calibrated RC Oscillator Operating Modes

CKSEL3..0 Nominal Frequency (MHz)

(1)

0001

0010 2.0

0011 4.0

0100 8.0

Note: 1. The device is shipped with this option selected.

1.0

When this Oscillator is selected, start-up times are determined by the SUT Fuses as shown in Table 10. XTAL1 and XTAL2 should be left unconnected (NC).

Table 10. Start-up Times for the Internal Calibrated RC Oscillator Clock Selection

Oscillator Calibration Register – OSCCAL

Start-up Time from

Power-down and

SUT1..0

00 6 CK – BOD enabled

01 6 CK 4.1 ms Fast rising power

(1)

11 Reserved

Note: 1. The device is shipped with this option selected.

Bit 76543210

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value Device Specific Calibration Value

Power-save

6 CK 65 ms Slowly rising power

CAL7 CAL6 CAL5 CAL4 CAL3 CAL2 CAL1 CAL0 OSCCAL

Additional Delay

from Reset

(VCC = 5.0V) Recommended Usage

• Bits 7..0 – CAL7..0: Oscillator Calibration Value

Writing the calibration byte to this address will trim the Internal Oscillator to remove process variations from the Oscillator frequency. This is done automatically during Chip Reset. When OSCCAL is zero, the lowest available frequency is chosen. Writing nonzero values to this register will increase the frequency of the Internal Oscillator. Writing $FF to the register gives the highest available frequency. The calibrated Oscillator is used to time EEPROM and Flash access. If EEPROM or Flash is written, do not calibrate to more than 10% above the nominal frequency. Otherwise, the EEPROM or Flash write may fail. Note that the Oscillator is intended for calibration to 1.0, 2.0, 4.0, or

8.0 MHz. Tuning to other values is not guaranteed, as indicated in Table 11.

ATmega16(L)

Table 11. Internal RC Oscillator Frequency Range.

Min Frequency in Percentage of

OSCCAL Value

$00 50 100

$7F 75 150

$FF 100 200

Nominal Frequency (%)

Max Frequency in Percentage of

Nominal Frequency (%)

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ATmega16(L)

External Clock To drive the device from an external clock source, XTAL1 should be driven as shown in

Figure 14. To run the device on an external clock, the CKSEL Fuses must be programmed to “0000”. By programming the CKOPT Fuse, the user can enable an internal 36 pF capacitor between XTAL1 and GND.

Figure 14. External Clock Drive Configuration

EXTERNAL

CLOCK

SIGNAL

When this clock source is selected, start-up times are determined by the SUT Fuses as shown in Table 12.

Table 12. Start-up Times for the External Clock Selection

Start-up Time from

Power-down and

SUT1..0

00 6 CK – BOD enabled

01 6 CK 4.1 ms Fast rising power

10 6 CK 65 ms Slowly rising power

11 Reserved

Power-save

Additional Delay

from Reset

(VCC = 5.0V) Recommended Usage

When applying an external clock, it is required to avoid sudden changes in the applied clock frequency to ensure stable operation of the MCU. A variation in frequency of more than 2% from one clock cycle to the next can lead to unpredictable behavior. It is required to ensure that the MCU is kept in reset during such changes in the clock frequency.

Timer/Counter Oscillator For AVR microcontrollers with Timer/Counter Oscillator pins (TOSC1 and TOSC2), the

crystal is connected directly between the pins. No external capacitors are needed. The Oscillator is optimized for use with a 32.768 kHz watch crystal. Applying an external clock source to TOSC1 is not recommended.

2466J–AVR–10/04

Power Management and Sleep Modes

Sleep modes enable the application to shut down unused modules in the MCU, thereby saving power. The AVR provides various sleep modes allowing the user to tailor the power consumption to the application’s requirements.

To enter any of the six sleep modes, the SE bit in MCUCR must be written to logic one and a SLEEP instruction must be executed. The SM2, SM1, and SM0 bits in the MCUCR Register select which sleep mode (Idle, ADC Noise Reduction, Power-down, Power-save, Standby, or Extended Standby) will be activated by the SLEEP instruction. See Table 13 for a summary. If an enabled interrupt occurs while the MCU is in a sleep mode, the MCU wakes up. The MCU is then halted for four cycles in addition to the start-up time, it executes the interrupt routine, and resumes execution from the instruction following SLEEP. The contents of the Register File and SRAM are unaltered when the device wakes up from sleep. If a Reset occurs during sleep mode, the MCU wakes up and executes from the Reset Vector.

Figure 11 on page 22 presents the different clock systems in the ATmega16, and their distribution. The figure is helpful in selecting an appropriate sleep mode.

MCU Control Register – MCUCR

The MCU Control Register contains control bits for power management.

Bit 76543210

SM2 SE SM1 SM0

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

ISC11 ISC10 ISC01 ISC00 MCUCR

• Bits 7, 5, 4 – SM2..0: Sleep Mode Select Bits 2, 1, and 0

These bits select between the six available sleep modes as shown in Table 13.

Table 13. Sleep Mode Select

SM2 SM1 SM0 Sleep Mode

000Idle

0 0 1 ADC Noise Reduction

010Power-down

011Power-save

100Reserved

101Reserved

110Standby

1 1 1 Extended Standby

Note: 1. Standby mode and Extended Standby mode are only available with external crystals

or resonators.

(1)

• Bit 6 – 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 programmers purpose, it is recommended to write the Sleep Enable (SE) bit to one just before the execution of the SLEEP instruction and to clear it immediately after waking up.

ATmega16(L)

2466J–AVR–10/04

ATmega16(L)

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 SPI, USART, Analog Comparator, ADC, Twowire Serial Interface, Timer/Counters, Watchdog, and the interrupt system to continue operating. This sleep mode basically halts clk clocks to run.

Idle mode enables the MCU to wake up from external triggered interrupts as well as internal ones like the Timer Overflow and USART Transmit Complete interrupts. If wake-up from the Analog Comparator interrupt is not required, the Analog Comparator can be powered down by setting the ACD bit in the Analog Comparator Control and Status Register – ACSR. This will reduce power consumption in Idle mode. If the ADC is enabled, a conversion starts automatically when this mode is entered.

CPU

and clk

, while allowing the other

FLASH

ADC Noise Reduction Mode

When the SM2..0 bits are written to 001, the SLEEP instruction makes the MCU enter ADC Noise Reduction mode, stopping the CPU but allowing the ADC, the External Interrupts, the Two-wire Serial Interface address watch, Timer/Counter2 and the Watchdog to continue operating (if enabled). This sleep mode basically halts clk

, while allowing the other clocks to run.

FLASH

This improves the noise environment for the ADC, enabling higher resolution measurements. If the ADC is enabled, a conversion starts automatically when this mode is entered. Apart form the ADC Conversion Complete interrupt, only an External Reset, a Watchdog Reset, a Brown-out Reset, a Two-wire Serial Interface Address Match Interrupt, a Timer/Counter2 interrupt, an SPM/EEPROM ready interrupt, an External level interrupt on INT0 or INT1, or an external interrupt on INT2 can wake up the MCU from ADC Noise Reduction mode.

I/O

, clk

, and clk-

CPU

Power-down Mode When the SM2..0 bits are written to 010, the SLEEP instruction makes the MCU enter

Power-down mode. In this mode, the External Oscillator is stopped, while the External interrupts, the Two-wire Serial Interface address watch, and the Watchdog continue operating (if enabled). Only an External Reset, a Watchdog Reset, a Brown-out Reset, a Two-wire Serial Interface address match interrupt, an External level interrupt on INT0 or INT1, or an External interrupt on INT2 can wake up the MCU. This sleep mode basically halts all generated clocks, allowing operation of asynchronous modules only.

Note that if a level triggered interrupt is used for wake-up from Power-down mode, the changed level must be held for some time to wake up the MCU. Refer to “External Interrupts” on page 66 for details.

When waking up from Power-down mode, there is a delay from the wake-up condition occurs until the wake-up becomes effective. This allows the clock to restart and become stable after having been stopped. The wake-up period is defined by the same CKSEL Fuses that define the reset time-out period, as described in “Clock Sources” on page 23.

Power-save Mode When the SM2..0 bits are written to 011, the SLEEP instruction makes the MCU enter

Power-save mode. This mode is identical to Power-down, with one exception:

If Timer/Counter2 is clocked asynchronously, i.e., the AS2 bit in ASSR is set, Timer/Counter2 will run during sleep. The device can wake up from either Timer Overflow or Output Compare event from Timer/Counter2 if the corresponding Timer/Counter2 interrupt enable bits are set in TIMSK, and the Global Interrupt Enable bit in SREG is set.

If the Asynchronous Timer is NOT clocked asynchronously, Power-down mode is recommended instead of Power-save mode because the contents of the registers in the

2466J–AVR–10/04

Asynchronous Timer should be considered undefined after wake-up in Power-save mode if AS2 is 0.

This sleep mode basically halts all clocks except clk

, allowing operation only of asyn-

ASY

chronous modules, including Timer/Counter2 if clocked asynchronously.

Standby Mode When the SM2..0 bits are 110 and an external crystal/resonator clock option is selected,

the SLEEP instruction makes the MCU enter Standby mode. This mode is identical to Power-down with the exception that the Oscillator is kept running. From Standby mode, the device wakes up in six clock cycles.

Extended Standby Mode When the SM2..0 bits are 111 and an external crystal/resonator clock option is selected,

the SLEEP instruction makes the MCU enter Extended Standby mode. This mode is identical to Power-save mode with the exception that the Oscillator is kept running. From Extended Standby mode, the device wakes up in six clock cycles..

Table 14. Active Clock Domains and Wake Up Sources in the Different Sleep Modes

Active Clock domains Oscillators Wake-up Sources

SPM /

EEPROM

Ready ADC

Other

I/O

Sleep Mode clk

CPU

clk

FLASH

clkIOclk

ADC

clk

Main Clock

Source Enabled

ASY

Timer Osc.

Enabled

Idle X X X X X

ADC Noise Redu-

XX X X

ction

INT2 INT1 INT0

(2)

XXXXXX

(3)

TWI

Address

Match

Timer

XXXX

Power Down

Power Save

Standby

Extended Standby

(1)

(2)

Notes: 1. External Crystal or resonator selected as clock source.

2. If AS

2 bit in ASSR is set.

3. Only INT2 or level interrupt INT1 and INT0.

(3)

(2)

(3)

(2)

ATmega16(L)

2466J–AVR–10/04

ATmega16(L)

Minimizing Power Consumption

Analog to Digital Converter If enabled, the ADC will be enabled in all sleep modes. To save power, the ADC should

Analog Comparator When entering Idle mode, the Analog Comparator should be disabled if not used. When

Brown-out Detector If the Brown-out Detector is not needed in the application, this module should be turned

There are several issues to consider when trying to minimize the power consumption in an AVR controlled system. In general, sleep modes should be used as much as possible, and the sleep mode should be selected so that as few as possible of the device’s functions are operating. All functions not needed should be disabled. In particular, the following modules may need special consideration when trying to achieve the lowest possible power consumption.

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 “Analog to Digital Converter” on page 202 for details on ADC operation.

entering ADC Noise Reduction mode, the Analog Comparator should be disabled. In the other sleep modes, the Analog Comparator is automatically disabled. However, if the Analog Comparator is set up to use the Internal Voltage Reference as input, the Analog Comparator should be disabled in all sleep modes. Otherwise, the Internal Voltage Reference will be enabled, independent of sleep mode. Refer to “Analog Comparator” on page 199 for details on how to configure the Analog Comparator.

off. If the Brown-out Detector is enabled by the BODEN Fuse, it will be enabled in all sleep modes, and hence, always consume power. In the deeper sleep modes, this will contribute significantly to the total current consumption. Refer to “Brown-out Detection” on page 38 for details on how to configure the Brown-out Detector.

Internal Voltage Reference The Internal Voltage Reference will be enabled when needed by the Brown-out Detec-

tor, the Analog Comparator or the ADC. If these modules are disabled as described in the sections above, the internal voltage reference will be disabled and it will not be consuming power. When turned on again, the user must allow the reference to start up before the output is used. If the reference is kept on in sleep mode, the output can be used immediately. Refer to “Internal Voltage Reference” on page 40 for details on the start-up time.

Watchdog Timer If the Watchdog Timer is not needed in the application, this module should be turned off.

If the Watchdog Timer is enabled, it will be enabled in all sleep modes, and hence, always consume power. In the deeper sleep modes, this will contribute significantly to the total current consumption. Refer to “Watchdog Timer” on page 40 for details on how to configure the Watchdog Timer.

Port Pins When entering a sleep mode, all port pins should be configured to use minimum power.

The most important thing is then to ensure that no pins drive resistive loads. In sleep modes where the both the I/O clock (clk input buffers of the device will be disabled. This ensures that no power is consumed by the input logic when not needed. In some cases, the input logic is needed for detecting wake-up conditions, and it will then be enabled. Refer to the section “Digital Input Enable and Sleep Modes” on page 52 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

/2, the input buffer will use excessive power.

) and the ADC clock (clk

I/O

) are stopped, the

ADC

2466J–AVR–10/04

JTAG Interface and On-chip Debug System

If the On-chip debug system is enabled by the OCDEN Fuse and the chip enter Power down or Power save sleep mode, the main clock source remains enabled. In these sleep modes, this will contribute significantly to the total current consumption. There are three alternative ways to avoid this:

• Disable OCDEN Fuse.

• Disable JTAGEN Fuse.

• Write one to the JTD bit in MCUCSR.

The TDO pin is left floating when the JTAG interface is enabled while the JTAG TAP controller is not shifting data. If the hardware connected to the TDO pin does not pull up the logic level, power consumption will increase. Note that the TDI pin for the next device in the scan chain contains a pull-up that avoids this problem. Writing the JTD bit in the MCUCSR register to one or leaving the JTAG fuse unprogrammed disables the JTAG interface.

ATmega16(L)

2466J–AVR–10/04

ATmega16(L)

System Control and Reset

Resetting the AVR During Reset, all I/O Registers are set to their initial values, and the program starts exe-

cution from the Reset Vector. The instruction placed at the Reset Vector must be a JMP – absolute jump – instruction to the reset handling routine. If the program never enables an interrupt source, the Interrupt Vectors are not used, and regular program code can be placed at these locations. This is also the case if the Reset Vector is in the Application section while the Interrupt Vectors are in the Boot section or vice versa. The circuit diagram in Figure 15 shows the reset logic. Table 15 defines the electrical parameters of the reset circuitry.

The I/O ports of the AVR are immediately reset to their initial state when a reset source goes active. This does not require any clock source to be running.

After all reset sources have gone inactive, a delay counter is invoked, stretching the Internal Reset. This allows the power to reach a stable level before normal operation starts. The time-out period of the delay counter is defined by the user through the CKSEL Fuses. The different selections for the delay period are presented in “Clock Sources” on page 23.

Reset Sources The ATmega16 has five sources of reset:

• Power-on Reset. The MCU is reset when the supply voltage is below the Power-on Reset threshold (V

• External Reset. The MCU is reset when a low level is present on the RESET longer than the minimum pulse length.

• Watchdog Reset. The MCU is reset when the Watchdog Timer period expires and the Watchdog is enabled.

• Brown-out Reset. The MCU is reset when the supply voltage V Brown-out Reset threshold (V

• JTAG AVR Reset. The MCU is reset as long as there is a logic one in the Reset Register, one of the scan chains of the JTAG system. Refer to the section “IEEE

1149.1 (JTAG) Boundary-scan” on page 226 for details.

POT

) and the Brown-out Detector is enabled.

BOT

is below the

pin for

2466J–AVR–10/04

Figure 15. Reset Logic

Power-on

Reset Circuit

DATA BU S

MCU Control and Status

JTRF

BORF

PORF

WDRF

EXTRF

BODEN

BODLEVEL

Pull-up Resistor

SPIKE

FILTER

JTAG Reset

Brown-out

Reset Circuit

Watchdog

Timer

Watchdog

Oscillator

Clock

Generator

CKSEL[3:0]

SUT[1:0]

Delay Counters

INTERNAL RESET

COUNTER RESET

TIMEOUT

Table 15. Reset Characteristics

Symbol Parameter Condition Min Typ Max Units

POT

Power-on Reset Threshold Voltage (rising)

Power-on Reset Threshold Voltage (falling)

(1)

1.4 2.3 V

1.3 2.3 V

ATmega16(L)

RST

BOT

BOD

HYST

RESET Pin Threshold Voltage

Minimum pulse width on RESET

Brown-out Reset Threshold Voltage

(2)

Minimum low voltage period for Brown-out Detection

Brown-out Detector hysteresis

0.1 V

0.9V

1.5 µs

BODLEVEL = 1 2.5 2.7 3.2

BODLEVEL = 0 3.6 4.0 4.5

BODLEVEL = 1 2 µs

BODLEVEL = 0 2 µs

50 mV

Notes: 1. The Power-on Reset will not work unless the supply voltage has been below V

(falling).

2. V

may be below nominal minimum operating voltage for some devices. For

BOT

devices where this is the case, the device is tested down to V

= V

during the

BOT

production test. This guarantees that a Brown-out Reset will occur before V

drops to a voltage where correct operation of the microcontroller is no longer guaranteed. The test is performed using BODLEVEL = 1 for ATmega16L and BODLEVEL = 0 for ATmega16. BODLEVEL = 1 is not applicable for ATmega16.

2466J–AVR–10/04

POT

ATmega16(L)

Power-on Reset A Power-on Reset (POR) pulse is generated by an On-chip detection circuit. The detec-

tion level is defined in Table 15. The POR is activated whenever V detection level. The POR circuit can be used to trigger the Start-up Reset, as well as to detect a failure in supply voltage.

A Power-on Reset (POR) circuit ensures that the device is reset from Power-on. Reaching the Power-on Reset threshold voltage invokes the delay counter, which determines how long the device is kept in RESET after V again, without any delay, when V

decreases below the detection level.

rise. The RESET signal is activated

is below the

Figure 16. MCU Start-up, RESET

RESET

TIME-OUT

INTERNAL

RESET

POT

RST

TOUT

Figure 17. MCU Start-up, RESET

RESET

TIME-OUT

POT

Tied to VCC.

Extended Externally

RST

TOUT

2466J–AVR–10/04

INTERNAL

RESET

External Reset An External Reset is generated by a low level on the RESET pin. Reset pulses longer

than the minimum pulse width (see Table 15) will generate a reset, even if the clock is not running. Shorter pulses are not guaranteed to generate a reset. When the applied signal reaches the Reset Threshold Voltage – V counter starts the MCU after the Time-out period t

– on its positive edge, the delay

RST

has expired.

TOUT

Figure 18. External Reset During Operation

Brown-out Detection ATmega16 has an On-chip Brown-out Detection (BOD) circuit for monitoring the V

level during operation by comparing it to a fixed trigger level. The trigger level for the BOD can be selected by the fuse BODLEVEL to be 2.7V (BODLEVEL unprogrammed), or 4.0V (BODLEVEL programmed). 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.

The BOD circuit can be enabled/disabled by the fuse BODEN. When the BOD is enabled (BODEN programmed), and V (V

in Figure 19), the Brown-out Reset is immediately activated. When VCC increases

BOT-

above the trigger level (V Time-out period t

has expired.

TOUT

in Figure 19), the delay counter starts the MCU after the

BOT+

The BOD circuit will only detect a drop in V for longer than t

given in Table 15.

BOD

decreases to a value below the trigger level

if the voltage stays below the trigger level

Figure 19. Brown-out Reset During Operation

RESET

TIME-OUT

BOT-

BOT+

TOUT

INTERNAL

RESET

ATmega16(L)

2466J–AVR–10/04

ATmega16(L)

Watchdog Reset When the Watchdog times out, it will generate a short reset pulse of one CK cycle dura-

tion. On the falling edge of this pulse, the delay timer starts counting the Time-out period t

. Refer to page 40 for details on operation of the Watchdog Timer.

TOUT

Figure 20. Watchdog Reset During Operation

MCU Control and Status Register – MCUCSR

The MCU Control and Status Register provides information on which reset source caused an MCU Reset.

Bit 76543210

JTD ISC2 – JTRF WDRF BORF EXTRF PORF MCUCSR

Read/Write R/W R/W R R/W R/W R/W R/W R/W

Initial Value 0 0 0 See Bit Description

• Bit 4 – JTRF: JTAG Reset Flag

This bit is set if a reset is being caused by a logic one in the JTAG Reset Register selected by the JTAG instruction AVR_RESET. This bit is reset by a Power-on Reset, or by writing a logic zero to the flag.

• Bit 3 – WDRF: Watchdog Reset Flag

This bit is set if a Watchdog Reset occurs. The bit is reset by a Power-on Reset, or by writing a logic zero to the flag.

• Bit 2 – BORF: Brown-out Reset Flag

This bit is set if a Brown-out Reset occurs. The bit is reset by a Power-on Reset, or by writing a logic zero to the flag.

• Bit 1 – EXTRF: External Reset Flag

This bit is set if an External Reset occurs. The bit is reset by a Power-on Reset, or by writing a logic zero to the flag.

2466J–AVR–10/04

• Bit 0 – PORF: Power-on Reset Flag

This bit is set if a Power-on Reset occurs. The bit is reset only by writing a logic zero to the flag.

To make use of the Reset Flags to identify a reset condition, the user should read and then reset the MCUCSR as early as possible in the program. If the register is cleared before another reset occurs, the source of the reset can be found by examining the Reset Flags.

Internal Voltage Reference

ATmega16 features an internal bandgap reference. This reference is used for Brownout Detection, and it can be used as an input to the Analog Comparator or the ADC. The

2.56V reference to the ADC is generated from the internal bandgap reference.

Voltage Reference Enable Signals and Start-up Time

The voltage reference has a start-up time that may influence the way it should be used. The start-up time is given in Table 16. 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 BODEN Fuse).

2. When the bandgap reference is connected to the Analog Comparator (by setting the ACBG bit in ACSR).

3. When the ADC is enabled.

Thus, when the BOD is not enabled, after setting the ACBG bit or enabling the ADC, the user must always allow the reference to start up before the output from the Analog Comparator or ADC is used. To reduce power consumption in Power-down mode, the user can avoid the three conditions above to ensure that the reference is turned off before entering Power-down mode.

Table 16. Internal Voltage Reference Characteristics

Symbol Parameter Min Typ Max Units

Bandgap reference voltage 1.15 1.23 1.4 V

Bandgap reference start-up time 40 70 µs

Bandgap reference current consumption 10 µA

Watchdog Timer The Watchdog Timer is clocked from a separate On-chip Oscillator which runs at 1

MHz. This is the typical value at V other V

levels. By controlling the Watchdog Timer prescaler, the Watchdog Reset

interval can be adjusted as shown in Table 17 on page 41. The WDR – Watchdog Reset – instruction resets the Watchdog Timer. The Watchdog Timer is also reset when it is disabled and when a Chip Reset occurs. Eight different clock cycle periods can be selected to determine the reset period. If the reset period expires without another Watchdog Reset, the ATmega16 resets and executes from the Reset Vector. For timing details on the Watchdog Reset, refer to page 39.

= 5V. See characterization data for typical values at

To prevent unintentional disabling of the Watchdog, a special turn-off sequence must be followed when the Watchdog is disabled. Refer to the description of the Watchdog Timer Control Register for details.

Figure 21. Watchdog Timer

WATCHDOG

OSCILLATOR

ATmega16(L)

2466J–AVR–10/04

Watchdog Timer Control Register – WDTCR

ATmega16(L)

Bit 765 43210

– – – WDTOE WDE WDP2 WDP1 WDP0 WDTCR

Read/Write R R R R/W R/W R/W R/W R/W

Initial Value 0 0 0 0 0 0 0 0

• Bits 7..5 – Res: Reserved Bits

These bits are reserved bits in the ATmega16 and will always read as zero.

• Bit 4 – WDTOE: Watchdog Turn-off Enable

This bit must be set when the WDE bit is written to logic zero. Otherwise, the Watchdog will not be disabled. Once written to one, hardware will clear this bit after four clock cycles. Refer to the description of the WDE bit for a Watchdog disable procedure.

• Bit 3 – WDE: Watchdog Enable

When the WDE is written to logic one, the Watchdog Timer is enabled, and if the WDE is written to logic zero, the Watchdog Timer function is disabled. WDE can only be cleared if the WDTOE bit has logic level one. To disable an enabled Watchdog Timer, the following procedure must be followed:

1. In the same operation, write a logic one to WDTOE and WDE. A logic one must be written to WDE even though it is set to one before the disable operation starts.

2. Within the next four clock cycles, write a logic 0 to WDE. This disables the Watchdog.

• Bits 2..0 – WDP2, WDP1, WDP0: Watchdog Timer Prescaler 2, 1, and 0

The WDP2, WDP1, and WDP0 bits determine the Watchdog Timer prescaling when the Watchdog Timer is enabled. The different prescaling values and their corresponding Timeout Periods are shown in Table 17.

Table 17. Watchdog Timer Prescale Select

Number of WDT

WDP2 WDP1 WDP0

0 0 0 16K (16,384) 17.1 ms 16.3 ms

0 0 1 32K (32,768) 34.3 ms 32.5 ms

0 1 0 64K (65,536) 68.5 ms 65 ms

0 1 1 128K (131,072) 0.14 s 0.13 s

1 0 0 256K (262,144) 0.27 s 0.26 s

1 0 1 512K (524,288) 0.55 s 0.52 s

1 1 0 1,024K (1,048,576) 1.1 s 1.0 s

1 1 1 2,048K (2,097,152) 2.2 s 2.1 s

Oscillator Cycles

Typical Time-out

at VCC = 3.0V

Typical Time-out

at VCC = 5.0V

2466J–AVR–10/04

The following code example shows one assembly and one C function for turning off the WDT. The example assumes that interrupts are controlled (for example by disabling interrupts globally) so that no interrupts will occur during execution of these functions.

Assembly Code Example

WDT_off:

; Reset WDT

WDR

; Write logical one to WDTOE and WDE

in r16, WDTCR

ori r16, (1<<WDTOE)|(1<<WDE)

out WDTCR, r16

; Turn off WDT

ldi r16, (0<<WDE)

out WDTCR, r16

ret

C Code Example

void WDT_off(void)

{

/* Reset WDT*/

_WDR();

/* Write logical one to WDTOE and WDE */

WDTCR |= (1<<WDTOE) | (1<<WDE);

/* Turn off WDT */

WDTCR = 0x00;

}

ATmega16(L)

2466J–AVR–10/04

ATmega16(L)

Interrupts This section describes the specifics of the interrupt handling as performed in

ATmega16. For a general explanation of the AVR interrupt handling, refer to “Reset and Interrupt Handling” on page 11.

Interrupt Vectors in ATmega16

Table 18. Reset and Interrupt Vectors

Program

Vector No.

1$000

2 $002 INT0 External Interrupt Request 0

3 $004 INT1 External Interrupt Request 1

4 $006 TIMER2 COMP Timer/Counter2 Compare Match

5 $008 TIMER2 OVF Timer/Counter2 Overflow

6 $00A TIMER1 CAPT Timer/Counter1 Capture Event

7 $00C TIMER1 COMPA Timer/Counter1 Compare Match A

8 $00E TIMER1 COMPB Timer/Counter1 Compare Match B

9 $010 TIMER1 OVF Timer/Counter1 Overflow

10 $012 TIMER0 OVF Timer/Counter0 Overflow

11 $014 SPI, STC Serial Transfer Complete

12 $016 USART, RXC USART, Rx Complete

13 $018 USART, UDRE USART Data Register Empty

14 $01A USART, TXC USART, Tx Complete

15 $01C ADC ADC Conversion Complete

Address

(2)

(1)

Source Interrupt Definition

RESET External Pin, Power-on Reset, Brown-out

Reset, Watchdog Reset, and JTAG AVR Reset

2466J–AVR–10/04

16 $01E EE_RDY EEPROM Ready

17 $020 ANA_COMP Analog Comparator

18 $022 TWI Two-wire Serial Interface

19 $024 INT2 External Interrupt Request 2

20 $026 TIMER0 COMP Timer/Counter0 Compare Match

21 $028 SPM_RDY Store Program Memory Ready

Notes: 1. When the BOOTRST Fuse is programmed, the device will jump to the Boot Loader

address at reset, see “Boot Loader Support – Read-While-Write Self-Programming” on page 246.

2. When the IVSEL bit in GICR is set, interrupt vectors will be moved to the start of the Boot Flash section. The address of each Interrupt Vector will then be the address in this table added to the start address of the Boot Flash section.

Table 19 shows Reset and Interrupt Vectors placement for the various combinations of BOOTRST and IVSEL settings. If the program never enables an interrupt source, the Interrupt Vectors are not used, and regular program code can be placed at these locations. This is also the case if the Reset Vector is in the Application section while the Interrupt Vectors are in the Boot section or vice versa.

Table 19. Reset and Interrupt Vectors Placement

(1)

BOOTRST IVSEL Reset address Interrupt Vectors Start Address

1 0 $0000 $0002

1 1 $0000 Boot Reset Address + $0002

0 0 Boot Reset Address $0002

0 1 Boot Reset Address Boot Reset Address + $0002

Note: 1. The Boot Reset Address is shown in Table 100 on page 257. For the BOOTRST

Fuse “1” means unprogrammed while “0” means programmed.

The most typical and general program setup for the Reset and Interrupt Vector Addresses in ATmega16 is:

Address Labels Code Comments

$000 jmp RESET ; Reset Handler

$002 jmp EXT_INT0 ; IRQ0 Handler

$004 jmp EXT_INT1 ; IRQ1 Handler

$006 jmp TIM2_COMP ; Timer2 Compare Handler

$008 jmp TIM2_OVF ; Timer2 Overflow Handler

$00A jmp TIM1_CAPT ; Timer1 Capture Handler

$00C jmp TIM1_COMPA ; Timer1 CompareA Handler

$00E jmp TIM1_COMPB ; Timer1 CompareB Handler

$010 jmp TIM1_OVF ; Timer1 Overflow Handler

$012 jmp TIM0_OVF ; Timer0 Overflow Handler

$014 jmp SPI_STC ; SPI Transfer Complete Handler

$016 jmp USART_RXC ; USART RX Complete Handler

$018 jmp USART_UDRE ; UDR Empty Handler

$01A jmp USART_TXC ; USART TX Complete Handler

$01C jmp ADC ; ADC Conversion Complete Handler

$01E jmp EE_RDY ; EEPROM Ready Handler

$020 jmp ANA_COMP ; Analog Comparator Handler

$022 jmp TWSI ; Two-wire Serial Interface Handler

$024 jmp EXT_INT2 ; IRQ2 Handler

$026 jmp TIM0_COMP ; Timer0 Compare Handler

$028 jmp SPM_RDY ; Store Program Memory Ready Handler

;

$02A RESET: ldi r16,high(RAMEND) ; Main program start

$02B out SPH,r16 ; Set Stack Pointer to top of RAM

$02C ldi r16,low(RAMEND)

$02D out SPL,r16

$02E sei ; Enable interrupts

$02F <instr> xxx

... ... ...

ATmega16(L)

2466J–AVR–10/04

ATmega16(L)

When the BOOTRST Fuse is unprogrammed, the Boot section size set to 2K bytes and the IVSEL bit in the GICR Register is set before any interrupts are enabled, the most typical and general program setup for the Reset and Interrupt Vector Addresses is:

Address Labels Code Comments

$000 RESET: ldi r16,high(RAMEND) ; Main program start

$001 out SPH,r16 ; Set Stack Pointer to top of RAM

$002 ldi r16,low(RAMEND)

$003 out SPL,r16

$004 sei ; Enable interrupts

$005 <instr> xxx

;

.org $1C02

$1C02 jmp EXT_INT0 ; IRQ0 Handler

$1C04 jmp EXT_INT1 ; IRQ1 Handler

... .... .. ;

$1C28 jmp SPM_RDY ; Store Program Memory Ready Handler

When the BOOTRST Fuse is programmed and the Boot section size set to 2K bytes, the most typical and general program setup for the Reset and Interrupt Vector Addresses is:

Address Labels Code Comments

.org $002

$002 jmp EXT_INT0 ; IRQ0 Handler

$004 jmp EXT_INT1 ; IRQ1 Handler

... .... .. ;

$028 jmp SPM_RDY ; Store Program Memory Ready Handler

;

.org $1C00 $1C00 RESET: ldi r16,high(RAMEND) ; Main program start

$1C01 out SPH,r16 ; Set Stack Pointer to top of RAM

$1C02 ldi r16,low(RAMEND)

$1C03 out SPL,r16

$1C04 sei ; Enable interrupts

$1C05 <instr> xxx

2466J–AVR–10/04

When the BOOTRST Fuse is programmed, the Boot section size set to 2K bytes and the IVSEL bit in the GICR Register is set before any interrupts are enabled, the most typical and general program setup for the Reset and Interrupt Vector Addresses is:

Address Labels Code Comments

.org $1C00 $1C00 jmp RESET ; Reset handler $1C02 jmp EXT_INT0 ; IRQ0 Handler

$1C04 jmp EXT_INT1 ; IRQ1 Handler

... .... .. ;

$1C28 jmp SPM_RDY ; Store Program Memory Ready Handler

;

$1C2A RESET: ldi r16,high(RAMEND) ; Main program start

$1C2B out SPH,r16 ; Set Stack Pointer to top of RAM

$1C2C ldi r16,low(RAMEND)

$1C2D out SPL,r16

$1C2E sei ; Enable interrupts

$1C2F <instr> xxx

Moving Interrupts Between Application and Boot Space

General Interrupt Control Register – GICR

The General Interrupt Control Register controls the placement of the Interrupt Vector table.

Bit 76543210

INT1 INT0 INT2 – – – IVSEL IVCE GICR

Read/Write R/W R/W R/W R R R R/W R/W

Initial Value 0 0 0 0 0 0 0 0

• Bit 1 – IVSEL: Interrupt Vector Select

When the IVSEL bit is cleared (zero), the Interrupt Vectors are placed at the start of the Flash memory. When this bit is set (one), the interrupt vectors are moved to the beginning of the Boot Loader section of the Flash. The actual address of the start of the Boot Flash section is determined by the BOOTSZ Fuses. Refer to the section “Boot Loader Support – Read-While-Write Self-Programming” on page 246 for details. To avoid unintentional changes of Interrupt Vector tables, a special write procedure must be followed to change the IVSEL bit:

1. Write the Interrupt Vector Change Enable (IVCE) bit to one.

2. Within four cycles, write the desired value to IVSEL while writing a zero to IVCE.

Interrupts will automatically be disabled while this sequence is executed. Interrupts are disabled in the cycle IVCE is set, and they remain disabled until after the instruction following the write to IVSEL. If IVSEL is not written, interrupts remain disabled for four cycles. The I-bit in the Status Register is unaffected by the automatic disabling.

Note: If Interrupt Vectors are placed in the Boot Loader section and Boot Lock bit BLB02 is pro-

grammed, interrupts are disabled while executing from the Application section. If Interrupt Vectors are placed in the Application section and Boot Lock bit BLB12 is programed, interrupts are disabled while executing from the Boot Loader section. Refer to the section “Boot Loader Support – Read-While-Write Self-Programming” on page 246 for details on Boot Lock bits.

• Bit 0 – IVCE: Interrupt Vector Change Enable

The IVCE bit must be written to logic one to enable change of the IVSEL bit. IVCE is cleared by hardware four cycles after it is written or when IVSEL is written. Setting the IVCE bit will disable interrupts, as explained in the IVSEL description above. See Code Example below

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Assembly Code Example

Move_interrupts:

; Enable change of interrupt vectors

ldi r16, (1<<IVCE)

out GICR, r16

; Move interrupts to boot Flash section

ldi r16, (1<<IVSEL)

out GICR, r16

ret

C Code Example

void Move_interrupts(void)

{

/* Enable change of interrupt vectors */

GICR = (1<<IVCE);

/* Move interrupts to boot Flash section */

GICR = (1<<IVSEL);

}

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I/O Ports

Introduction All AVR ports have true Read-Modify-Write functionality when used as general digital

I/O ports. This means that the direction of one port pin can be changed without unintentionally changing the direction of any other pin with the SBI and CBI instructions. The same applies when changing drive value (if configured as output) or enabling/disabling of pull-up resistors (if configured as input). Each output buffer has symmetrical drive characteristics with both high sink and source capability. The pin driver is strong enough to drive LED displays directly. All port pins have individually selectable pull-up resistors with a supply-voltage invariant resistance. All I/O pins have protection diodes to both V

and Ground as indicated in Figure 22. Refer to “Electrical Characteristics” on page

291 for a complete list of parameters.

Figure 22. I/O Pin Equivalent Schematic

Pxn

"General Digital I/O" for

All registers and bit references in this section are written in general form. A lower case “x” represents the numbering letter for the port, and a lower case “n” represents the bit number. However, when using the register or bit defines in a program, the precise form must be used. i.e., PORTB3 for bit no. 3 in Port B, here documented generally as PORTxn. The physical I/O Registers and bit locations are listed in “Register Description for I/O Ports” on page 64.

Three I/O memory address locations are allocated for each port, one each for the Data Register – PORTx, Data Direction Register – DDRx, and the Port Input Pins – PINx. The Port Input Pins I/O location is read only, while the Data Register and the Data Direction Register are read/write. In addition, the Pull-up Disable – PUD bit in SFIOR disables the pull-up function for all pins in all ports when set.

Using the I/O port as General Digital I/O is described in “Ports as General Digital I/O” on page 49. Most port pins are multiplexed with alternate functions for the peripheral features on the device. How each alternate function interferes with the port pin is described in “Alternate Port Functions” on page 53. Refer to the individual module sections for a full description of the alternate functions.

Logic

See Figure 23

Details

Note that enabling the alternate function of some of the port pins does not affect the use of the other pins in the port as general digital I/O.

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Ports as General Digital I/O

The ports are bi-directional I/O ports with optional internal pull-ups. Figure 23 shows a functional description of one I/O-port pin, here generically called Pxn.

Figure 23. General Digital I/O

Pxn

(1)

SLEEP

SYNCHRONIZER

DLQ

PINxn

PUD

DDxn

CLR

RESET

PORTxn

CLR

RESET

WDx

RDx

WPx

RRx

RPx

DATA B US

clk

I/O

PUD: PULLUP DISABLE SLEEP: SLEEP CONTROL clk

: I/O CLOCK

I/O

Note: 1. WPx, WDx, RRx, RPx, and RDx are common to all pins within the same port. clk

WDx: WRITE DDRx RDx: READ DDRx WPx: WRITE PORTx RRx: READ PORTx REGISTER RPx: READ PORTx PIN

I/O

SLEEP, and PUD are common to all ports.

Configuring the Pin Each port pin consists of three register bits: DDxn, PORTxn, and PINxn. As shown in

“Register Description for I/O Ports” on page 64, the DDxn bits are accessed at the DDRx I/O address, the PORTxn bits at the PORTx I/O address, and the PINxn bits at the PINx I/O address.

The DDxn bit in the DDRx Register selects the direction of this pin. If DDxn is written logic one, Pxn is configured as an output pin. If DDxn is written logic zero, Pxn is configured as an input pin.

If PORTxn is written logic one when the pin is configured as an input pin, the pull-up resistor is activated. To switch the pull-up resistor off, PORTxn has to be written logic zero or the pin has to be configured as an output pin. The port pins are tri-stated when a reset condition becomes active, even if no clocks are running.

If PORTxn is written logic one when the pin is configured as an output pin, the port pin is driven high (one). If PORTxn is written logic zero when the pin is configured as an output pin, the port pin is driven low (zero).

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When switching between tri-state ({DDxn, PORTxn} = 0b00) and output high ({DDxn, PORTxn} = 0b11), an intermediate state with either pull-up enabled ({DDxn, PORTxn} = 0b01) or output low ({DDxn, PORTxn} = 0b10) must occur. Normally, the pull-up

enabled state is fully acceptable, as a high-impedant environment will not notice the difference between a strong high driver and a pull-up. If this is not the case, the PUD bit in the SFIOR Register can be set to disable all pull-ups in all ports.

Switching between input with pull-up and output low generates the same problem. The user must use either the tri-state ({DDxn, PORTxn} = 0b00) or the output high state ({DDxn, PORTxn} = 0b11) as an intermediate step.

Table 20 summarizes the control signals for the pin value.

Table 20. Port Pin Configurations

PUD

DDxn PORTxn

0 0 X Input No Tri-state (Hi-Z)

0 1 0 Input Yes

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)

(in SFIOR) I/O Pull-up Comment

Pxn will source current if ext. pulled low.

Reading the Pin Value Independent of the setting of Data Direction bit DDxn, the port pin can be read through

the PINxn Register bit. As shown in Figure 23, the PINxn Register bit and the preceding latch constitute a synchronizer. This is needed to avoid metastability if the physical pin changes value near the edge of the internal clock, but it also introduces a delay. Figure 24 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 24. Synchronization when Reading an Externally Applied Pin Value

SYSTEM CLK

INSTRUCTIONS

SYNC LATCH

PINxn

r17

pd, max

0x00

XXXXXX

pd, min

in r17, PINx

0xFF

Consider the clock period starting shortly after the first falling edge of the system clock. The latch is closed when the clock is low, and goes transparent when the clock is high, as indicated by the shaded region of the “SYNC LATCH” signal. The signal value is latched when the system clock goes low. It is clocked into the PINxn Register at the

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succeeding positive clock edge. As indicated by the two arrows t

pd,max

and t

pd,min

, a single signal transition on the pin will be delayed between ½ and 1½ system clock period depending upon the time of assertion.

When reading back a software assigned pin value, a nop instruction must be inserted as indicated in Figure 25. The out instruction sets the “SYNC LATCH” signal at the positive edge of the clock. In this case, the delay t

through the synchronizer is one system

clock period.

Figure 25. Synchronization when Reading a Software Assigned Pin Value

SYSTEM CLK

r16

INSTRUCTIONS

SYNC LATCH

PINxn

r17

out PORTx, r16

0xFF

nop in r17, PINx

0x00

0xFF

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The following code example shows how to set port B pins 0 and 1 high, 2 and 3 low, and define the port pins from 4 to 7 as input with pull-ups assigned to port pins 6 and 7. The resulting pin values are read back again, but as previously discussed, a nop instruction is included to be able to read back the value recently assigned to some of the pins.

Assembly Code Example

...

; Define pull-ups and set outputs high

; Define directions for port pins

ldi r16,(1<<PB7)|(1<<PB6)|(1<<PB1)|(1<<PB0)

ldi r17,(1<<DDB3)|(1<<DDB2)|(1<<DDB1)|(1<<DDB0)

out PORTB,r16

out DDRB,r17

; Insert nop for synchronization

nop

; Read port pins

in r16,PINB

...

C Code Example

unsigned char i;

...

/* Define pull-ups and set outputs high */

/* Define directions for port pins */

PORTB = (1<<PB7)|(1<<PB6)|(1<<PB1)|(1<<PB0);

DDRB = (1<<DDB3)|(1<<DDB2)|(1<<DDB1)|(1<<DDB0);

/* Insert nop for synchronization*/

_NOP();

/* Read port pins */

i = PINB;

...

(1)

Digital Input Enable and Sleep Modes

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Note: 1. For the assembly program, two temporary registers are used to minimize the time

from pull-ups are set on pins 0, 1, 6, and 7, until the direction bits are correctly set, defining bit 2 and 3 as low and redefining bits 0 and 1 as strong high drivers.

As shown in Figure 23, the digital input signal can be clamped to ground at the input of the schmitt-trigger. The signal denoted SLEEP in the figure, is set by the MCU Sleep Controller in Power-down mode, Power-save mode, Standby mode, and Extended Standby mode to avoid high power consumption if some input signals are left floating, or have an analog signal level close to V

/2.

SLEEP is overridden for port pins enabled as External Interrupt pins. If the External Interrupt Request is not enabled, SLEEP is active also for these pins. SLEEP is also overridden by various other alternate functions as described in “Alternate Port Functions” on page 53.

If a logic high level (“one”) is present on an Asynchronous External Interrupt pin configured as “Interrupt on Rising Edge, Falling Edge, or Any Logic Change on Pin” while the External Interrupt is not enabled, the corresponding External Interrupt Flag will be set when resuming from the above mentioned sleep modes, as the clamping in these sleep modes produces the requested logic change.

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Unconnected pins If some pins are unused, it is recommended to ensure that these pins have a defined

level. Even though most of the digital inputs are disabled in the deep sleep modes as described above, floating inputs should be avoided to reduce current consumption in all other modes where the digital inputs are enabled (Reset, Active mode and Idle mode).

The simplest method to ensure a defined level of an unused pin, is to enable the internal pull-up. In this case, the pull-up will be disabled during reset. If low power consumption during reset is important, it is recommended to use an external pull-up or pull-down. Connecting unused pins directly to V cause excessive currents if the pin is accidentally configured as an output.

Alternate Port Functions Most port pins have alternate functions in addition to being General Digital I/Os. Figure

26 shows how the port pin control signals from the simplified Figure 23 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.

or GND is not recommended, since this may

Figure 26. Alternate Port Functions

Pxn

(1)

PUOExn

PUOVxn

DDOExn

DDOVxn

PVOExn

PVOVxn

DIEOExn

DIEOVxn

SLEEP

SYNCHRONIZER

SET

DLQ

PINxn

CLR

PUD

DDxn

CLR

RESET

PORTxn

CLR

RESET

CLR

WDx

RDx

WPx

RRx

RPx

clk

DATA B U S

I/O

2466J–AVR–10/04

DIxn

AIOxn

PUOExn: Pxn PULL-UP OVERRIDE ENABLE PUOVxn: Pxn PULL-UP OVERRIDE VALUE DDOExn: Pxn DATA DIRECTION OVERRIDE ENABLE DDOVxn: Pxn DATA DIRECTION OVERRIDE VALUE PVOExn: Pxn PORT VALUE OVERRIDE ENABLE PVOVxn: Pxn PORT VALUE OVERRIDE VALUE DIEOExn: Pxn DIGITAL INPUT-ENABLE OVERRIDE ENABLE DIEOVxn: Pxn DIGITAL INPUT-ENABLE OVERRIDE VALUE SLEEP: SLEEP CONTROL

PUD: PULLUP DISABLE WDx: WRITE DDRx RDx: READ DDRx RRx: READ PORTx REGISTER WPx: WRITE PORTx RPx: READ PORTx PIN

: I/O CLOCK

clk

I/O

DIxn: DIGITAL INPUT PIN n ON PORTx AIOxn: ANALOG INPUT/OUTPUT PIN n ON PORTx

Note: 1. WPx, WDx, RRx, RPx, and RDx are common to all pins within the same port. clk

SLEEP, and PUD are common to all ports. All other signals are unique for each pin.

I/O

Table 21 summarizes the function of the overriding signals. The pin and port indexes from Figure 26 are not shown in the succeeding tables. The overriding signals are generated internally in the modules having the alternate function.

Table 21. Generic Description of Overriding Signals for Alternate Functions

Signal Name Full Name Description

PUOE Pull-up Override

Enable

PUOV Pull-up Override

Valu e

DDOE Data Direction

Override Enable

DDOV Data Direction

Override Value

PVOE Port Value Override

Enable

PVOV Port Value Override

Valu e

DIEOE Digital Input Enable

Override Enable

DIEOV Digital Input Enable

Override Value

DI Digital Input This is the Digital Input to alternate functions. In the

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.

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.

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.

If DDOE is set, the Output Driver is enabled/disabled when DDOV is set/cleared, regardless of the setting of the DDxn Register bit.

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.

If PVOE is set, the port value is set to PVOV, regardless of the setting of the PORTxn Register bit.

If this bit is set, the Digital Input Enable is controlled by the DIEOV signal. If this signal is cleared, the Digital Input Enable is determined by MCU-state (Normal Mode, sleep modes).

If DIEOE is set, the Digital Input is enabled/disabled when DIEOV is set/cleared, regardless of the MCU state (Normal Mode, sleep modes).

figure, the signal is connected to the output of the schmitt trigger but before the synchronizer. Unless the Digital Input is used as a clock source, the module with the alternate function will use its own synchronizer.

AIO Analog Input/ output This is the Analog Input/output to/from alternate

functions. The signal is connected directly to the pad, and can be used bi-directionally.

The following subsections shortly describe the alternate functions for each port, and relate the overriding signals to the alternate function. Refer to the alternate function description for further details.

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Special Function I/O Register – SFIOR

Alternate Functions of Port A Port A has an alternate function as analog input for the ADC as shown in Table 22. If

Bit 7 6 5 4 3 2 1 0

ADTS2 ADTS1 ADTS0 – ACME PUD PSR2 PSR10 SFIOR

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

• Bit 2 – PUD: Pull-up disable

When this bit is written to one, the pull-ups in the I/O ports are disabled even if the DDxn and PORTxn Registers are configured to enable the pull-ups ({DDxn, PORTxn} = 0b01). See “Configuring the Pin” on page 49 for more details about this feature.

some Port A pins are configured as outputs, it is essential that these do not switch when a conversion is in progress. This might corrupt the result of the conversion.

Table 22. Port A Pins Alternate Functions

Port Pin Alternate Function

PA7 ADC7 (ADC input channel 7)

PA6 ADC6 (ADC input channel 6)

PA5 ADC5 (ADC input channel 5)

PA4 ADC4 (ADC input channel 4)

PA3 ADC3 (ADC input channel 3)

PA2 ADC2 (ADC input channel 2)

PA1 ADC1 (ADC input channel 1)

PA0 ADC0 (ADC input channel 0)

Table 23 and Table 24 relate the alternate functions of Port A to the overriding signals shown in Figure 26 on page 53.

Table 23. Overriding Signals for Alternate Functions in PA7..PA4

Signal Name PA7/ADC7 PA6/ADC6 PA5/ADC5 PA4/ADC4

PUOE 0000

PUOV 0000

DDOE 0 0 0 0

DDOV 0 0 0 0

PVOE 0000

PVOV 0000

DIEOE 0000

DIEOV 0000

DI ––––

AIO ADC7 INPUT ADC6 INPUT ADC5 INPUT ADC4 INPUT

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Table 24. Overriding Signals for Alternate Functions in PA3..PA0

Signal Name PA3/ADC3 PA2/ADC2 PA1/ADC1 PA0/ADC0

PUOE 0000

PUOV 0000

DDOE 0 0 0 0

DDOV 0 0 0 0

PVOE 0000

PVOV 0000

DIEOE 0000

DIEOV 0000

DI ––––

AIO ADC3 INPUT ADC2 INPUT ADC1 INPUT ADC0 INPUT

Alternate Functions of Port B The Port B pins with alternate functions are shown in Table 25.

Table 25. Port B Pins Alternate Functions

Port Pin Alternate Functions

PB7 SCK (SPI Bus Serial Clock)

PB6 MISO (SPI Bus Master Input/Slave Output)

PB5 MOSI (SPI Bus Master Output/Slave Input)

PB4 SS

(SPI Slave Select Input)

PB3

PB2

PB1 T1 (Timer/Counter1 External Counter Input)

PB0

AIN1 (Analog Comparator Negative Input) OC0 (Timer/Counter0 Output Compare Match Output)

AIN0 (Analog Comparator Positive Input) INT2 (External Interrupt 2 Input)

T0 (Timer/Counter0 External Counter Input) XCK (USART External Clock Input/Output)

The alternate pin configuration is as follows:

• SCK – Port B, Bit 7

SCK: Master Clock output, Slave Clock input pin for SPI channel. When the SPI is enabled as a Slave, this pin is configured as an input regardless of the setting of DDB7. When the SPI is enabled as a Master, the data direction of this pin is controlled by DDB7. When the pin is forced by the SPI to be an input, the pull-up can still be controlled by the PORTB7 bit.

• MISO – Port B, Bit 6

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 DDB6. When the SPI is enabled as a Slave, the data direction of this pin is controlled by

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DDB6. When the pin is forced by the SPI to be an input, the pull-up can still be controlled by the PORTB6 bit.

• MOSI – Port B, Bit 5

MOSI: SPI Master Data output, Slave Data input for SPI channel. When the SPI is enabled as a Slave, this pin is configured as an input regardless of the setting of DDB5. When the SPI is enabled as a Master, the data direction of this pin is controlled by DDB5. When the pin is forced by the SPI to be an input, the pull-up can still be controlled by the PORTB5 bit.

•SS

– Port B, Bit 4

: Slave Select input. When the SPI is enabled as a Slave, this pin is configured as an input regardless of the setting of DDB4. As a Slave, the SPI is activated when this pin is driven low. When the SPI is enabled as a Master, the data direction of this pin is controlled by DDB4. When the pin is forced by the SPI to be an input, the pull-up can still be controlled by the PORTB4 bit.

• AIN1/OC0 – Port B, Bit 3

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.

OC0, Output Compare Match output: The PB3 pin can serve as an external output for the Timer/Counter0 Compare Match. The PB3 pin has to be configured as an output (DDB3 set (one)) to serve this function. The OC0 pin is also the output pin for the PWM mode timer function.

• AIN0/INT2 – Port B, Bit 2

AIN0, Analog Comparator Positive input. Configure the port pin as input with the internal pull-up switched off to avoid the digital port function from interfering with the function of the Analog Comparator.

INT2, External Interrupt Source 2: The PB2 pin can serve as an external interrupt source to the MCU.

• T1 – Port B, Bit 1

T1, Timer/Counter1 Counter Source.

• T0/XCK – Port B, Bit 0

T0, Timer/Counter0 Counter Source.

XCK, USART External Clock. The Data Direction Register (DDB0) controls whether the clock is output (DDB0 set) or input (DDB0 cleared). The XCK pin is active only when the USART operates in Synchronous mode.

Table 26 and Table 27 relate the alternate functions of Port B to the overriding signals shown in Figure 26 on page 53. SPI MSTR INPUT and SPI SLAVE OUTPUT constitute the MISO signal, while MOSI is divided into SPI MSTR OUTPUT and SPI SLAVE INPUT.

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Table 26. Overriding Signals for Alternate Functions in PB7..PB4

Signal Name PB7/SCK PB6/MISO PB5/MOSI PB4/SS

PUOE SPE • MSTR SPE • MSTR SPE • MSTR SPE • MSTR

PUOV PORTB7 • PUD PORTB6 • PUD PORTB5 • PUD PORTB4 • PUD

DDOE SPE • MSTR SPE • MSTR SPE • MSTR SPE • MSTR

DDOV 0 0 0 0

PVOE SPE • MSTR SPE • MSTR

PVOV SCK OUTPUT SPI SLAVE OUTPUT SPI MSTR OUTPUT 0

DIEOE 0 0 0 0

DIEOV 0 0 0 0

DI SCK INPUT SPI MSTR INPUT SPI SLAVE INPUT SPI SS

AIO – – – –

SPE • MSTR 0

Table 27. Overriding Signals for Alternate Functions in PB3..PB0

Signal Name PB3/OC0/AIN1 PB2/INT2/AIN0 PB1/T1 PB0/T0/XCK

PUOE 0 0 0 0

PUOV 0 0 0 0

DDOE 0 0 0 0

DDOV 0 0 0 0

PVOE OC0 ENABLE 0 0 UMSEL

PVOV OC0 0 0 XCK OUTPUT

DIEOE 0 INT2 ENABLE 0 0

DIEOV 0 1 0 0

DI – INT2 INPUT T1 INPUT XCK INPUT/T0 INPUT

AIO AIN1 INPUT AIN0 INPUT – –

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Alternate Functions of Port C The Port C pins with alternate functions are shown in Table 28. If the JTAG interface is

enabled, the pull-up resistors on pins PC5(TDI), PC3(TMS) and PC2(TCK) will be activated even if a reset occurs.

Table 28. Port C Pins Alternate Functions

Port Pin Alternate Function

PC7 TOSC2 (Timer Oscillator Pin 2)

PC6 TOSC1 (Timer Oscillator Pin 1)

PC5 TDI (JTAG Test Data In)

PC4 TDO (JTAG Test Data Out)

PC3 TMS (JTAG Test Mode Select)

PC 2 TC K (J TAG Tes t Cl ock )

PC1 SDA (Two-wire Serial Bus Data Input/Output Line)

PC0 SCL (Two-wire Serial Bus Clock Line)

The alternate pin configuration is as follows:

• TOSC2 – Port C, Bit 7

TOSC2, Timer Oscillator pin 2: When the AS2 bit in ASSR is set (one) to enable asynchronous clocking of Timer/Counter2, pin PC7 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 can not be used as an I/O pin.

• TOSC1 – Port C, Bit 6

TOSC1, Timer Oscillator pin 1: When the AS2 bit in ASSR is set (one) to enable asynchronous clocking of Timer/Counter2, pin PC6 is disconnected from the port, and becomes the input of the inverting Oscillator amplifier. In this mode, a Crystal Oscillator is connected to this pin, and the pin can not be used as an I/O pin.

• TDI – Port C, Bit 5

TDI, JTAG Test Data In: Serial input data to be shifted in to the Instruction Register or Data Register (scan chains). When the JTAG interface is enabled, this pin can not be used as an I/O pin.

• TDO – Port C, Bit 4

TDO, JTAG Test Data Out: Serial output data from Instruction Register or Data Register. When the JTAG interface is enabled, this pin can not be used as an I/O pin.

The TD0 pin is tri-stated unless TAP states that shifts out data are entered.

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• TMS – Port C, Bit 3

TMS, JTAG Test Mode Select: This pin is used for navigating through the TAP-controller state machine. When the JTAG interface is enabled, this pin can not be used as an I/O pin.

• TCK – Port C, Bit 2

TCK, JTAG Test Clock: JTAG operation is synchronous to TCK. When the JTAG interface is enabled, this pin can not be used as an I/O pin.

• SDA – Port C, Bit 1

SDA, Two-wire Serial Interface Data: When the TWEN bit in TWCR is set (one) to enable the Two-wire Serial Interface, pin PC1 is disconnected from the port and becomes the Serial Data I/O pin for the Two-wire Serial Interface. In this mode, there is a spike filter on the pin to suppress spikes shorter than 50 ns on the input signal, and the pin is driven by an open drain driver with slew-rate limitation. When this pin is used by the Two-wire Serial Interface, the pull-up can still be controlled by the PORTC1 bit.

• SCL – Port C, Bit 0

SCL, Two-wire Serial Interface Clock: When the TWEN bit in TWCR is set (one) to enable the Two-wire Serial Interface, pin PC0 is disconnected from the port and becomes the Serial Clock I/O pin for the Two-wire Serial Interface. In this mode, there is a spike filter on the pin to suppress spikes shorter than 50 ns on the input signal, and the pin is driven by an open drain driver with slew-rate limitation. When this pin is used by the Two-wire Serial Interface, the pull-up can still be controlled by the PORTC0 bit.

Table 29 and Table 30 relate the alternate functions of Port C to the overriding signals shown in Figure 26 on page 53.

Table 29. Overriding Signals for Alternate Functions in PC7..PC4

Signal Name PC7/TOSC2 PC6/TOSC1 PC5/TDI PC4/TDO

PUOE AS2 AS2 JTAGEN JTAGEN

PUOV 0 0 1 0

DDOE AS2 AS2 JTAGEN JTAGEN

DDOV 0 0 0 SHIFT_IR + SHIFT_DR

PVOE 0 0 0 JTAGEN

PVOV 0 0 0 TDO

DIEOE AS2 AS2 JTAGEN JTAGEN

DIEOV 0 0 0 0

DI – – – –

AIO T/C2 OSC OUTPUT T/C2 OSC INPUT TDI –

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Table 30. Overriding Signals for Alternate Functions in PC3..PC0

Signal Name PC3/TMS PC2/TCK PC1/SDA PC0/SCL

PUOE JTAGEN JTAGEN TWEN TWEN

PUOV 1 1 PORTC1 • PUD PORTC0 • PUD

D DO E J TAG E N J TAG E N T W EN TW E N

DDOV 0 0 SDA_OUT SCL_OUT

PVOE 0 0 TWEN TWEN

PVOV 0 0 0 0

D IE OE J TAG E N J TAG E N 0 0

DIEOV 0 0 0 0

DI – – – –

AIO TMS TCK SDA INPUT SCL INPUT

Note: 1. When enabled, the Two-wire Serial Interface enables slew-rate controls on the output

pins PC0 and PC1. This is not shown in the figure. In addition, spike filters are connected between the AIO outputs shown in the port figure and the digital logic of the TWI module.

Alternate Functions of Port D The Port D pins with alternate functions are shown in Table 31.

(1)

Table 31. Port D Pins Alternate Functions

Port Pin Alternate Function

PD7 OC2 (Timer/Counter2 Output Compare Match Output)

PD6 ICP1 (Timer/Counter1 Input Capture Pin)

PD5 OC1A (Timer/Counter1 Output Compare A Match Output)

PD4 OC1B (Timer/Counter1 Output Compare B Match Output)

PD3 INT1 (External Interrupt 1 Input)

PD2 INT0 (External Interrupt 0 Input)

PD1 TXD (USART Output Pin)

PD0 RXD (USART Input Pin)

The alternate pin configuration is as follows:

• OC2 – Port D, Bit 7

OC2, Timer/Counter2 Output Compare Match output: The PD7 pin can serve as an external output for the Timer/Counter2 Output Compare. The pin has to be configured as an output (DDD7 set (one)) to serve this function. The OC2 pin is also the output pin for the PWM mode timer function.

• ICP1 – Port D, Bit 6

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ICP1 – Input Capture Pin: The PD6 pin can act as an Input Capture pin for Timer/Counter1.

• OC1A – Port D, Bit 5

OC1A, Output Compare Match A output: The PD5 pin can serve as an external output for the Timer/Counter1 Output Compare A. The pin has to be configured as an output (DDD5 set (one)) to serve this function. The OC1A pin is also the output pin for the PWM mode timer function.

• OC1B – Port D, Bit 4

OC1B, Output Compare Match B output: The PD4 pin can serve as an external output for the Timer/Counter1 Output Compare B. The pin has to be configured as an output (DDD4 set (one)) to serve this function. The OC1B pin is also the output pin for the PWM mode timer function.

• INT1 – Port D, Bit 3

INT1, External Interrupt Source 1: The PD3 pin can serve as an external interrupt source.

• INT0 – Port D, Bit 2

INT0, External Interrupt Source 0: The PD2 pin can serve as an external interrupt source.

•TXD – 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.

• RXD – 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 the USART forces this pin to be an input, the pull-up can still be controlled by the PORTD0 bit.

Table 32 and Table 33 relate the alternate functions of Port D to the overriding signals shown in Figure 26 on page 53.

Table 32. Overriding Signals for Alternate Functions PD7..PD4

Signal Name PD7/OC2 PD6/ICP1 PD5/OC1A PD4/OC1B

PUOE 0 0 0 0

PUOV 0 0 0 0

DDOE 0 0 0 0

DDOV 0 0 0 0

PVOE OC2 ENABLE 0 OC1A ENABLE OC1B ENABLE

PVOV OC2 0 OC1A OC1B

DIEOE 0 0 0 0

DIEOV 0 0 0 0

DI – ICP1 INPUT – –

AIO – – – –

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ATmega16(L)

Table 33. Overriding Signals for Alternate Functions in PD3..PD0

Signal Name PD3/INT1 PD2/INT0 PD1/TXD PD0/RXD

PUOE 0 0 TXEN RXEN

PUOV 0 0 0 PORTD0 • PUD

DDOE 0 0 TXEN RXEN

DDOV 0 0 1 0

PVOE 0 0 TXEN 0

PVOV 0 0 TXD 0

DIEOE INT1 ENABLE INT0 ENABLE 0 0

DIEOV1100

DI INT1 INPUT INT0 INPUT – RXD

AIO––––

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Register Description for I/O Ports

Port A Data Register – PORTA

Port A Data Direction Register – DDRA

Port A Input Pins Address – PINA

Port B Data Register – PORTB

Bit 76543210

PORTA7 PORTA6 PORTA5 PORTA4 PORTA3 PORTA2 PORTA1 PORTA0 PORTA

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

Bit 76543210

DDA7 DDA6 DDA5 DDA4 DDA3 DDA2 DDA1 DDA0 DDRA

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

Bit 76543210

PINA7 PINA6 PINA5 PINA4 PINA3 PINA2 PINA1 PINA0 PINA

Read/WriteRRRRRRRR

Initial Value N/A N/A N/A N/A N/A N/A N/A N/A

Bit 76543210

PORTB7 PORTB6 PORTB5 PORTB4 PORTB3 PORTB2 PORTB1 PORTB0 PORTB

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

Port B Data Direction Register – DDRB

Port B Input Pins Address – PINB

Bit 76543210

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 Value00000000

Bit 76543210

PINB7 PINB6 PINB5 PINB4 PINB3 PINB2 PINB1 PINB0 PINB

Read/WriteRRRRRRRR

Initial Value N/A N/A N/A N/A N/A N/A N/A N/A

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Port C Data Register – PORTC

Port C Data Direction Register – DDRC

Port C Input Pins Address – PINC

Port D Data Register – PORTD

ATmega16(L)

Bit 76543210

PORTC7 PORTC6 PORTC5 PORTC4 PORTC3 PORTC2 PORTC1 PORTC0 PORTC

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

Bit 76543210

DDC7 DDC6 DDC5 DDC4 DDC3 DDC2 DDC1 DDC0 DDRC

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

Bit 76543210

PINC7 PINC6 PINC5 PINC4 PINC3 PINC2 PINC1 PINC0 PINC

Read/WriteRRRRRRRR

Initial Value N/A N/A N/A N/A N/A N/A N/A N/A

Bit 76543210

PORTD7 PORTD6 PORTD5 PORTD4 PORTD3 PORTD2 PORTD1 PORTD0 PORTD

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

Port D Data Direction Register – DDRD

Port D Input Pins Address – PIND

Bit 76543210

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

PIND7 PIND6 PIND5 PIND4 PIND3 PIND2 PIND1 PIND0 PIND

Read/WriteRRRRRRRR

Initial Value N/A N/A N/A N/A N/A N/A N/A N/A

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External Interrupts The External Interrupts are triggered by the INT0, INT1, and INT2 pins. Observe that, if

enabled, the interrupts will trigger even if the INT0..2 pins are configured as outputs. This feature provides a way of generating a software interrupt. The external interrupts can be triggered by a falling or rising edge or a low level (INT2 is only an edge triggered interrupt). This is set up as indicated in the specification for the MCU Control Register – MCUCR – and MCU Control and Status Register – MCUCSR. When the external interrupt is enabled and is configured as level triggered (only INT0/INT1), the interrupt will trigger as long as the pin is held low. Note that recognition of falling or rising edge interrupts on INT0 and INT1 requires the presence of an I/O clock, described in “Clock Systems and their Distribution” on page 22. Low level interrupts on INT0/INT1 and the edge interrupt on INT2 are detected asynchronously. This implies that these interrupts can be used for waking the part also from sleep modes other than Idle mode. The I/O clock is halted in all sleep modes except Idle mode.

Note that if a level triggered interrupt is used for wake-up from Power-down mode, the changed level must be held for some time to wake up the MCU. This makes the MCU less sensitive to noise. The changed level is sampled twice by the Watchdog Oscillator clock. The period of the Watchdog Oscillator is 1 µs (nominal) at 5.0V and 25°C. The frequency of the Watchdog Oscillator is voltage dependent as shown in “Electrical Characteristics” on page 291. The MCU will wake up if the input has the required level during this sampling or if it is held until the end of the start-up time. The start-up time is defined by the SUT Fuses as described in “System Clock and Clock Options” on page 22. If the level is sampled twice by the Watchdog Oscillator clock but disappears before the end of the start-up time, the MCU will still wake up, but no interrupt will be generated. The required level must be held long enough for the MCU to complete the wake up to trigger the level interrupt.

MCU Control Register – MCUCR

The MCU Control Register contains control bits for interrupt sense control and general MCU functions.

Bit 76543210

SM2 SE SM1 SM0 ISC11 ISC10 ISC01 ISC00 MCUCR

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

• 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-bit and the corresponding interrupt mask in the GICR are set. The level and edges on the external INT1 pin that activate the interrupt are defined in Table 34. The value on the INT1 pin is sampled before detecting edges. If edge or toggle interrupt is selected, pulses that last longer than one clock period will generate an interrupt. Shorter pulses are not guaranteed to generate an interrupt. If low level interrupt is selected, the low level must be held until the completion of the currently executing instruction to generate an interrupt.

Table 34. Interrupt 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.

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MCU Control and Status Register – MCUCSR

ATmega16(L)

• 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 corresponding interrupt mask are set. The level and edges on the external INT0 pin that activate the interrupt are defined in Table 35. The value on the INT0 pin is sampled before detecting edges. If edge or toggle interrupt is selected, pulses that last longer than one clock period will generate an interrupt. Shorter pulses are not guaranteed to generate an interrupt. If low level interrupt is selected, the low level must be held until the completion of the currently executing instruction to generate an interrupt.

Table 35. 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.

Bit 76543210

JTD ISC2 – JTRF WDRF BORF EXTRF PORF MCUCSR

Read/Write R/W R/W R R/W R/W R/W R/W R/W

Initial Value 0 0 0 See Bit Description

General Interrupt Control Register – GICR

• Bit 6 – ISC2: Interrupt Sense Control 2

The Asynchronous External Interrupt 2 is activated by the external pin INT2 if the SREG I-bit and the corresponding interrupt mask in GICR are set. If ISC2 is written to zero, a falling edge on INT2 activates the interrupt. If ISC2 is written to one, a rising edge on INT2 activates the interrupt. Edges on INT2 are registered asynchronously. Pulses on INT2 wider than the minimum pulse width given in Table 36 will generate an interrupt. Shorter pulses are not guaranteed to generate an interrupt. When changing the ISC2 bit, an interrupt can occur. Therefore, it is recommended to first disable INT2 by clearing its Interrupt Enable bit in the GICR Register. Then, the ISC2 bit can be changed. Finally, the INT2 Interrupt Flag should be cleared by writing a logical one to its Interrupt Flag bit (INTF2) in the GIFR Register before the interrupt is re-enabled.

Table 36. Asynchronous External Interrupt Characteristics

Symbol Parameter Condition Min Typ Max Units

INT

Bit 76543210

Read/Write R/W R/W R/W R R R R/W R/W

Initial Value 0 0 0 0 0 0 0 0

Minimum pulse width for asynchronous external interrupt

INT1 INT0 INT2

– – – IVSEL IVCE GICR

50 ns

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• Bit 7 – INT1: External Interrupt Request 1 Enable

When the INT1 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), the external pin interrupt is enabled. The Interrupt Sense Control1 bits 1/0 (ISC11 and

General Interrupt Flag Register – GIFR

ISC10) in the MCU General Control Register (MCUCR) 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 cause an interrupt request even if INT1 is configured as an output. The corresponding interrupt of External Interrupt Request 1 is executed from the INT1 interrupt Vector.

• Bit 6 – INT0: External Interrupt Request 0 Enable

When the INT0 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), the external pin interrupt is enabled. The Interrupt Sense Control0 bits 1/0 (ISC01 and ISC00) in the MCU General Control Register (MCUCR) define whether the External Interrupt is activated on rising and/or falling edge of the INT0 pin or level sensed. Activity on the pin will cause an interrupt request even if INT0 is configured as an output. The corresponding interrupt of External Interrupt Request 0 is executed from the INT0 interrupt vector.

• Bit 5 – INT2: External Interrupt Request 2 Enable

When the INT2 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), the external pin interrupt is enabled. The Interrupt Sense Control2 bit (ISC2) in the MCU Control and Status Register (MCUCSR) defines whether the External Interrupt is activated on rising or falling edge of the INT2 pin. Activity on the pin will cause an interrupt request even if INT2 is configured as an output. The corresponding interrupt of External Interrupt Request 2 is executed from the INT2 Interrupt Vector.

Bit 76543210

INTF1 INTF0 INTF2

Read/Write R/W R/W R/W R R R R R

Initial Value 0 0 0 0 0 0 0 0

– – – – –GIFR

• Bit 7 – INTF1: External Interrupt Flag 1

When an edge or logic change on the INT1 pin triggers an interrupt request, INTF1 becomes set (one). If the I-bit in SREG and the INT1 bit in GICR are set (one), the MCU will jump to the corresponding Interrupt Vector. The flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing a logical one to it. This flag is always cleared when INT1 is configured as a level interrupt.

• Bit 6 – INTF0: External Interrupt Flag 0

When an edge or logic change on the INT0 pin triggers an interrupt request, INTF0 becomes set (one). If the I-bit in SREG and the INT0 bit in GICR are set (one), the MCU will jump to the corresponding interrupt vector. The flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing a logical one to it. This flag is always cleared when INT0 is configured as a level interrupt.

• Bit 5 – INTF2: External Interrupt Flag 2

When an event on the INT2 pin triggers an interrupt request, INTF2 becomes set (one). If the I-bit in SREG and the INT2 bit in GICR 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. Note that when entering some sleep modes with the INT2 interrupt disabled, the input buffer on this pin will be disabled. This may cause a logic change in internal signals which will set the INTF2 Flag. See “Digital Input Enable and Sleep Modes” on page 52 for more information.

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ATmega16(L)

8-bit Timer/Counter0 with PWM

Timer/Counter0 is a general purpose, single channel, 8-bit Timer/Counter module. The main features are:

Single Channel Counter

•

• Clear Timer on Compare Match (Auto Reload)

• Glitch-free, Phase Correct Pulse Width Modulator (PWM)

• Frequency Generator

• External Event Counter

• 10-bit Clock Prescaler

• Overflow and Compare Match Interrupt Sources (TOV0 and OCF0)

Overview A simplified block diagram of the 8-bit Timer/Counter is shown in Figure 27. For the

actual placement of I/O pins, refer to “Pinout ATmega16” on page 2. CPU accessible I/O Registers, including I/O bits and I/O pins, are shown in bold. The device-specific I/O Register and bit locations are listed in the “8-bit Timer/Counter Register Description” on page 81.

Figure 27. 8-bit Timer/Counter Block Diagram

TCCRn

count

clear

direction

BOTTOM

Control Logic

TOP

clk

Clock Select

Edge

Detector

TOVn

(Int.Req.)

Wavefo rm

Generation

( From Prescaler )

OCn

(Int.Req.)

OCn

Timer/Counter

TCNTn

= 0

0xFF

DATA BU S

OCRn

Registers The Timer/Counter (TCNT0) and Output Compare Register (OCR0) are 8-bit registers.

Interrupt request (abbreviated to Int.Req. in the figure) signals are all visible in the Timer Interrupt Flag Register (TIFR). All interrupts are individually masked with the Timer Interrupt Mask Register (TIMSK). TIFR and TIMSK are not shown in the figure since these registers are shared by other timer units.

The Timer/Counter can be clocked internally, via the prescaler, or by an external clock source on the T0 pin. The Clock Select logic block controls which clock source and edge the Timer/Counter uses to increment (or decrement) its value. The Timer/Counter is inactive when no clock source is selected. The output from the Clock Select logic is referred to as the timer clock (clk

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The double buffered Output Compare Register (OCR0) is compared with the Timer/Counter value at all times. The result of the compare can be used by the waveform generator to generate a PWM or variable frequency output on the Output Compare Pin (OC0). See “Output Compare Unit” on page 71. for details. The compare match event will also set the Compare Flag (OCF0) which can be used to generate an output compare interrupt request.

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 0. However, when using the register or bit defines in a program, the precise form must be used i.e., TCNT0 for accessing Timer/Counter0 counter value and so on.

The definitions in Table 37 are also used extensively throughout the document. Table 37. Definitions

BOTTOM The counter reaches the BOTTOM when it becomes 0x00.

MAX The counter reaches its MAXimum when it becomes 0xFF (decimal 255).

TOP The counter reaches the TOP when it becomes equal to the highest

value in the count sequence. The TOP value can be assigned to be the fixed value 0xFF (MAX) or the value stored in the OCR0 Register. The assignment is dependent on the mode of operation.

Timer/Counter Clock Sources

The Timer/Counter can be clocked by an internal or an external clock source. The clock source is selected by the clock select logic which is controlled by the clock select (CS02:0) bits located in the Timer/Counter Control Register (TCCR0). For details on clock sources and prescaler, see “Timer/Counter0 and Timer/Counter1 Prescalers” on page 85.

Counter Unit The main part of the 8-bit Timer/Counter is the programmable bi-directional counter unit.

Figure 28 shows a block diagram of the counter and its surroundings.

Figure 28. Counter Unit Block Diagram

TOVn

TOP

(Int. Req.)

clk

Clock Select

Edge

Detector

( From Prescaler )

DATA B U S

count

TCNTn Control Logic

clear

direction

BOTTOM

Signal description (internal signals):

count Increment or decrement TCNT0 by 1.

ATmega16(L)

direction Select between increment and decrement.

clear Clear TCNT0 (set all bits to zero).

clk

Timer/Counter clock, referred to as clkT0 in the following.

TOP Signalize that TCNT0 has reached maximum value.

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ATmega16(L)

BOTTOM Signalize that TCNT0 has reached minimum value (zero).

Depending of the mode of operation used, the counter is cleared, incremented, or decremented at each timer clock (clk 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 priority over) all counter clear or count operations.

The counting sequence is determined by the setting of the WGM01 and WGM00 bits located in the Timer/Counter Control Register (TCCR0). There are close connections between how the counter behaves (counts) and how waveforms are generated on the Output Compare output OC0. For more details about advanced counting sequences and waveform generation, see “Modes of Operation” on page 74.

The Timer/Counter Overflow (TOV0) Flag is set according to the mode of operation selected by the WGM01:0 bits. TOV0 can be used for generating a CPU interrupt.

Output Compare Unit The 8-bit comparator continuously compares TCNT0 with the Output Compare Register

(OCR0). Whenever TCNT0 equals OCR0, the comparator signals a match. A match will set the Output Compare Flag (OCF0) at the next timer clock cycle. If enabled (OCIE0 = 1 and Global Interrupt Flag in SREG is set), the Output Compare Flag generates an output compare interrupt. The OCF0 Flag is automatically cleared when the interrupt is executed. Alternatively, the OCF0 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 WGM01:0 bits and Compare Output mode (COM01:0) bits. The max and bottom signals are used by the waveform generator for handling the special cases of the extreme values in some modes of operation (See “Modes of Operation” on page 74.).

). clkT0 can be generated from an external or internal

is present or not. A CPU write overrides (has

Figure 29 shows a block diagram of the output compare unit.

Figure 29. Output Compare Unit, Block Diagram

DATA BU S

OCRn

TCNTn

= (8-bit Comparator )

top

bottom

FOCn

Waveform Generator

OCFn (Int.Req.)

OCn

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WGMn1:0

COMn1:0

The OCR0 Register is double buffered when using any of the Pulse Width Modulation (PWM) modes. For the normal and Clear Timer on Compare (CTC) modes of operation, the double buffering is disabled. The double buffering synchronizes the update of the OCR0 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 OCR0 Register access may seem complex, but this is not case. When the double buffering is enabled, the CPU has access to the OCR0 Buffer Register, and if double buffering is disabled the CPU will access the OCR0 directly.

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 (FOC0) bit. Forcing compare match will not set the OCF0 Flag or reload/clear the timer, but the OC0 pin will be updated as if a real compare match had occurred (the COM01:0 bits settings define whether the OC0 pin is set, cleared or toggled).

Compare Match Blocking by TCNT0 Write

Using the Output Compare Unit

Compare Match Output Unit

All CPU write operations to the TCNT0 Register will block any compare match that occur in the next timer clock cycle, even when the timer is stopped. This feature allows OCR0 to be initialized to the same value as TCNT0 without triggering an interrupt when the Timer/Counter clock is enabled.

Since writing TCNT0 in any mode of operation will block all compare matches for one timer clock cycle, there are risks involved when changing TCNT0 when using the output compare channel, independently of whether the Timer/Counter is running or not. If the value written to TCNT0 equals the OCR0 value, the compare match will be missed, resulting in incorrect waveform generation. Similarly, do not write the TCNT0 value equal to BOTTOM when the counter is downcounting.

The setup of the OC0 should be performed before setting the Data Direction Register for the port pin to output. The easiest way of setting the OC0 value is to use the Force Output Compare (FOC0) strobe bits in Normal mode. The OC0 Register keeps its value even when changing between waveform generation modes.

Be aware that the COM01:0 bits are not double buffered together with the compare value. Changing the COM01:0 bits will take effect immediately.

The Compare Output mode (COM01:0) bits have two functions. The Waveform Generator uses the COM01:0 bits for defining the Output Compare (OC0) state at the next compare match. Also, the COM01:0 bits control the OC0 pin output source. Figure 30 shows a simplified schematic of the logic affected by the COM01:0 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 COM01:0 bits are shown. When referring to the OC0 state, the reference is for the internal OC0 Register, not the OC0 pin. If a System Reset occur, the OC0 Register is reset to “0”.

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Figure 30. Compare Match Output Unit, Schematic

ATmega16(L)

COMn1

COMn0 FOCn

clk

I/O

Waveform Generator

OCn

PORT

DATA BU S

DDR

OCn

The general I/O port function is overridden by the Output Compare (OC0) from the Waveform Generator if either of the COM01:0 bits are set. However, the OC0 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 OC0 pin (DDR_OC0) must be set as output before the OC0 value is visible on the pin. The port override function is independent of the Waveform Generation mode.

The design of the output compare pin logic allows initialization of the OC0 state before the output is enabled. Note that some COM01:0 bit settings are reserved for certain modes of operation. See “8-bit Timer/Counter Register Description” on page 81.

Compare Output Mode and Waveform Generation

The Waveform Generator uses the COM01:0 bits differently in normal, CTC, and PWM modes. For all modes, setting the COM01:0 = 0 tells the waveform generator that no action on the OC0 Register is to be performed on the next compare match. For compare output actions in the non-PWM modes refer to Table 39 on page 82. For fast PWM mode, refer to Table 40 on page 82, and for phase correct PWM refer to Table 41 on page 82.

A change of the COM01:0 bits state will have effect at the first compare match after the bits are written. For non-PWM modes, the action can be forced to have immediate effect by using the FOC0 strobe bits.

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Modes of Operation The mode of operation, i.e., the behavior of the Timer/Counter and the Output Compare

pins, is defined by the combination of the Waveform Generation mode (WGM01:0) and Compare Output mode (COM01:0) bits. The Compare Output mode bits do not affect the counting sequence, while the Waveform Generation mode bits do. The COM01:0 bits control whether the PWM output generated should be inverted or not (inverted or non-inverted PWM). For non-PWM modes the COM01:0 bits control whether the output should be set, cleared, or toggled at a compare match (See “Compare Match Output Unit” on page 72.).

For detailed timing information refer to Figure 34, Figure 35, Figure 36 and Figure 37 in “Timer/Counter Timing Diagrams” on page 79.

Normal Mode The simplest mode of operation is the normal mode (WGM01:0 = 0). In this mode the

counting direction is always up (incrementing), and no counter clear is performed. The counter simply overruns when it passes its maximum 8-bit value (TOP = 0xFF) and then restarts from the bottom (0x00). In normal operation the Timer/Counter Overflow Flag (

TOV0) will be set in the same timer clock cycle as the TCNT0 becomes zero. The TOV0

Flag in this case behaves like a ninth bit, except that it is only set, not cleared. However, combined with the timer overflow interrupt that automatically clears the 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.

TOV0 Flag, the

Clear Timer on Compare Match (CTC) Mode

In Clear Timer on Compare or CTC mode (WGM01:0 = 2), the OCR0 Register is used to manipulate the counter resolution. In CTC mode the counter is cleared to zero when the counter value (TCNT0) matches the OCR0. The OCR0 defines the top value for the counter, hence also its resolution. This mode allows greater control of the compare match output frequency. It also simplifies the operation of counting external events.

The timing diagram for the CTC mode is shown in Figure 31. The counter value (TCNT0) increases until a compare match occurs between TCNT0 and OCR0, and then counter (TCNT0) is cleared.

Figure 31. CTC Mode, Timing Diagram

OCn Interrupt Flag Set

TCNTn

OCn (Toggle)

Period

1 4

2 3

(COMn1:0 = 1)

An interrupt can be generated each time the counter value reaches the TOP value by using the OCF0 Flag. If the interrupt is enabled, the interrupt handler routine can be used for updating the TOP value. However, changing TOP to a value close to BOTTOM

ATmega16(L)

2466J–AVR–10/04

ATmega16(L)

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 OCR0 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 OC0 output can be set to toggle its logical level on each compare match by setting the Compare Output mode bits to toggle mode (COM01:0 = 1). The OC0 value will not be visible on the port pin unless the data direction for the pin is set to output. The waveform generated will have a maximum frequency of f defined by the following equation:

The N variable represents the prescale factor (1, 8, 64, 256, or 1024).

As for the Normal mode of operation, the TOV0 Flag is set in the same timer clock cycle that the counter counts from MAX to 0x00.

Fast PWM Mode The fast Pulse Width Modulation or fast PWM mode (WGM01:0 = 3) provides a high fre-

quency PWM waveform generation option. The fast PWM differs from the other PWM option by its single-slope operation. The counter counts from BOTTOM to MAX then restarts from BOTTOM. In non-inverting Compare Output mode, the Output Compare (OC0) is cleared on the compare match between TCNT0 and OCR0, and set at BOTTOM. In inverting Compare Output mode, the output is set on compare match and cleared at BOTTOM. Due to the single-slope operation, the operating frequency of the fast PWM mode can be twice as high as the phase correct PWM mode that use dualslope operation. This high frequency makes the fast PWM mode well suited for power regulation, rectification, and DAC applications. High frequency allows physically small sized external components (coils, capacitors), and therefore reduces total system cost.

OC0

= f

/2 when OCR0 is set to zero (0x00). The waveform frequency is

clk_I/O

OCn

clk_I/O

-----------------------------------------------=

2 N 1 OCRn+()⋅⋅

In fast PWM mode, the counter is incremented until the counter value matches the MAX value. The counter is then cleared at the following timer clock cycle. The timing diagram for the fast PWM mode is shown in Figure 32. The TCNT0 value is in the timing diagram shown as a histogram for illustrating the single-slope operation. The diagram includes non-inverted and inverted PWM outputs. The small horizontal line marks on the TCNT0 slopes represent compare matches between OCR0 and TCNT0.

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Figure 32. Fast PWM Mode, Timing Diagram

TCNTn

OCRn Interrupt Flag Set

OCRn Update and TOVn Interrupt Flag Set

OCn

Period

2 3

4 5 6 7

(COMn1:0 = 2)

(COMn1:0 = 3)

The Timer/Counter Overflow Flag (TOV0) is set each time the counter reaches MAX. If the interrupt is enabled, the interrupt handler routine can be used for updating the compare value.

In fast PWM mode, the compare unit allows generation of PWM waveforms on the OC0 pin. Setting the COM01:0 bits to 2 will produce a non-inverted PWM and an inverted PWM output can be generated by setting the COM01:0 to 3 (See Table 40 on page 82). The actual OC0 value will only be visible on the port pin if the data direction for the port pin is set as output. The PWM waveform is generated by setting (or clearing) the OC0 Register at the compare match between OCR0 and TCNT0, and clearing (or setting) the OC0 Register at the timer clock cycle the counter is cleared (changes from MAX to BOTTOM).

The PWM frequency for the output can be calculated by the following equation:

clk_I/O

OCnPWM

------------------=

N 256⋅

The N variable represents the prescale factor (1, 8, 64, 256, or 1024).

The extreme values for the OCR0 Register represents special cases when generating a PWM waveform output in the fast PWM mode. If the OCR0 is set equal to BOTTOM, the output will be a narrow spike for each MAX+1 timer clock cycle. Setting the OCR0 equal to MAX will result in a constantly high or low output (depending on the polarity of the output set by the COM01:0 bits.)

ATmega16(L)

A frequency (with 50% duty cycle) waveform output in fast PWM mode can be achieved by setting OC0 to toggle its logical level on each compare match (COM01:0 = 1). The waveform generated will have a maximum frequency of f

OC0

= f

/2 when OCR0 is

clk_I/O

set to zero. This feature is similar to the OC0 toggle in CTC mode, except the double buffer feature of the output compare unit is enabled in the fast PWM mode.

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Phase Correct PWM Mode The phase correct PWM mode (WGM01:0 = 1) provides a high resolution phase correct

PWM waveform generation option. The phase correct PWM mode is based on a dualslope operation. The counter counts repeatedly from BOTTOM to MAX and then from MAX to BOTTOM. In non-inverting Compare Output mode, the Output Compare (OC0) is cleared on the compare match between TCNT0 and OCR0 while upcounting, and set on the compare match while downcounting. In inverting Output Compare mode, the operation is inverted. The dual-slope operation has lower maximum operation frequency than single slope operation. However, due to the symmetric feature of the dual-slope PWM modes, these modes are preferred for motor control applications.

The PWM resolution for the phase correct PWM mode is fixed to eight bits. In phase correct PWM mode the counter is incremented until the counter value matches MAX. When the counter reaches MAX, it changes the count direction. The TCNT0 value will be equal to MAX for one timer clock cycle. The timing diagram for the phase correct PWM mode is shown on Figure 33. The TCNT0 value is in the timing diagram shown as a histogram for illustrating the dual-slope operation. The diagram includes non-inverted and inverted PWM outputs. The small horizontal line marks on the TCNT0 slopes represent compare matches between OCR0 and TCNT0.

Figure 33. Phase Correct PWM Mode, Timing Diagram

OCn Interrupt Flag Set

OCRn Update

TOVn Interrupt Flag Set

TCNTn

OCn

Period

1 2 3

(COMn1:0 = 2)

(COMn1:0 = 3)

The Timer/Counter Overflow Flag (TOV0) is set each time the counter reaches BOTTOM. The Interrupt Flag can be used to generate an interrupt each time the counter reaches the BOTTOM value.

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In phase correct PWM mode, the compare unit allows generation of PWM waveforms on the OC0 pin. Setting the COM01:0 bits to 2 will produce a non-inverted PWM. An inverted PWM output can be generated by setting the COM01:0 to 3 (see Table 41 on page 82). The actual OC0 value will only be visible on the port pin if the data direction for the port pin is set as output. The PWM waveform is generated by clearing (or setting) the OC0 Register at the compare match between OCR0 and TCNT0 when the counter increments, and setting (or clearing) the OC0 Register at compare match between

OCR0 and TCNT0 when the counter decrements. The PWM frequency for the output when using phase correct PWM can be calculated by the following equation:

OCnPCPWM

The N variable represents the prescale factor (1, 8, 64, 256, or 1024).

The extreme values for the OCR0 Register represent special cases when generating a PWM waveform output in the phase correct PWM mode. If the OCR0 is set equal to BOTTOM, the output will be continuously low and if set equal to MAX the output will be continuously high for non-inverted PWM mode. For inverted PWM the output will have the opposite logic values.

At the very start of Period 2 in Figure 33 OCn has a transition from high to low even though there is no Compare Match. The point of this transition is to guarantee symmetry around BOTTOM. There are two cases that give a transition without Compare Match:

• OCR0A changes its value from MAX, like in Figure 33. When the OCR0A value is

MAX the OCn pin value is the same as the result of a down-counting Compare Match. To ensure symmetry around BOTTOM the OCn value at MAX must be correspond to the result of an up-counting Compare Match.

• The Timer starts counting from a value higher than the one in OCR0A, and for that

reason misses the Compare Match and hence the OCn change that would have happened on the way up.

clk_I/O

------------------=

N 510⋅

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Timer/Counter Timing Diagrams

The Timer/Counter is a synchronous design and the timer clock (clkT0) is therefore shown as a clock enable signal in the following figures. The figures include information on when Interrupt Flags are set. Figure 34 contains timing data for basic Timer/Counter operation. The figure shows the count sequence close to the MAX value in all modes other than phase correct PWM mode.

Figure 34. Timer/Counter Timing Diagram, no Prescaling

clk

I/O

clk

(clk

/1)

I/O

TCNTn

MAX - 1 MAX BOTTOM BOTTOM + 1

TOVn

Figure 35 shows the same timing data, but with the prescaler enabled.

Figure 35. Timer/Counter Timing Diagram, with Prescaler (f

clk_I/O

/8)

clk

I/O

clk

(clk

/8)

I/O

TCNTn

MAX - 1 MAX BOTTOM BOTTOM + 1

TOVn

Figure 36 shows the setting of OCF0 in all modes except CTC mode.

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Figure 36. Timer/Counter Timing Diagram, Setting of OCF0, with Prescaler (f

clk

I/O

clk

(clk

/8)

I/O

clk_I/O

/8)

TCNTn

OCRn

OCRn - 1 OCRn OCRn + 1 OCRn + 2

OCRn Value

OCFn

Figure 37 shows the setting of OCF0 and the clearing of TCNT0 in CTC mode.

Figure 37. Timer/Counter Timing Diagram, Clear Timer on Compare Match Mode, with Prescaler (f

clk

I/O

clk

(clk

/8)

I/O

TCNTn

(CTC)

clk_I/O

/8)

TOP - 1 TOP BOTTOM BOTTOM + 1

ATmega16(L)

OCRn

OCFn

TOP

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8-bit Timer/Counter Register Description

Timer/Counter Control Register – TCCR0

ATmega16(L)

Bit 7 6 5 4 3 2 1 0

FOC0 WGM00 COM01 COM00 WGM01 CS02 CS01 CS00 TCCR0

Read/Write W R/W R/W R/W R/W R/W R/W R/W

Initial Value 0 0 0 0 0 0 0 0

• Bit 7 – FOC0: Force Output Compare

The FOC0 bit is only active when the WGM00 bit specifies a non-PWM mode. However, for ensuring compatibility with future devices, this bit must be set to zero when TCCR0 is written when operating in PWM mode. When writing a logical one to the FOC0 bit, an immediate compare match is forced on the Waveform Generation unit. The OC0 output is changed according to its COM01:0 bits setting. Note that the FOC0 bit is implemented as a strobe. Therefore it is the value present in the COM01:0 bits that determines the effect of the forced compare.

A FOC0 strobe will not generate any interrupt, nor will it clear the timer in CTC mode using OCR0 as TOP.

The FOC0 bit is always read as zero.

• Bit 6, 3 – WGM01:0: Waveform Generation Mode

These bits control the counting sequence of the counter, the source for the maximum (TOP) counter value, and what type of Waveform Generation to be used. Modes of operation supported by the Timer/Counter unit are: Normal mode, Clear Timer on Compare Match (CTC) mode, and two types of Pulse Width Modulation (PWM) modes. See Table 38 and “Modes of Operation” on page 74.

Table 38. Waveform Generation Mode Bit Description

WGM01

Mode

Note: 1. The CTC0 and PWM0 bit definition names are now obsolete. Use the WGM01:0 def-

(CTC0)

0 0 0 Normal 0xFF Immediate MAX

1 0 1 PWM, Phase Correct 0xFF TOP BOTTOM

2 1 0 CTC OCR0 Immediate MAX

3 1 1 Fast PWM 0xFF TOP MAX

initions. However, the functionality and location of these bits are compatible with previous versions of the timer.

WGM00 (PWM0)

Timer/Counter Mode of Operation TOP

(1)

Update of OCR0

TOV0 Flag Set-on

• Bit 5:4 – COM01:0: Compare Match Output Mode

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These bits control the Output Compare pin (OC0) behavior. If one or both of the COM01:0 bits are set, the OC0 output overrides the normal port functionality of the I/O pin it is connected to. However, note that the Data Direction Register (DDR) bit corresponding to the OC0 pin must be set in order to enable the output driver.

When OC0 is connected to the pin, the function of the COM01:0 bits depends on the WGM01:0 bit setting. Table 39 shows the COM01:0 bit functionality when the WGM01:0 bits are set to a normal or CTC mode (non-PWM).

Table 39. Compare Output Mode, non-PWM Mode

COM01 COM00 Description

0 0 Normal port operation, OC0 disconnected.

0 1 Toggle OC0 on compare match

1 0 Clear OC0 on compare match

1 1 Set OC0 on compare match

Table 40 shows the COM01:0 bit functionality when the WGM01:0 bits are set to fast PWM mode.

Table 40. Compare Output Mode, Fast PWM Mode

COM01 COM00 Description

0 0 Normal port operation, OC0 disconnected.

01Reserved

1 0 Clear OC0 on compare match, set OC0 at TOP

1 1 Set OC0 on compare match, clear OC0 at TOP

Note: 1. A special case occurs when OCR0 equals TOP and COM01 is set. In this case, the

compare match is ignored, but the set or clear is done at TOP. See “Fast PWM Mode” on page 75 for more details.

(1)

Table 41 shows the COM01:0 bit functionality when the WGM01:0 bits are set to phase correct PWM mode.

Table 41. Compare Output Mode, Phase Correct PWM Mode

COM01 COM00 Description

0 0 Normal port operation, OC0 disconnected.

01Reserved

1 0 Clear OC0 on compare match when up-counting. Set OC0 on compare

match when downcounting.

1 1 Set OC0 on compare match when up-counting. Clear OC0 on compare

match when downcounting.

Note: 1. A special case occurs when OCR0 equals TOP and COM01 is set. In this case, the

compare match is ignored, but the set or clear is done at TOP. See “Phase Correct PWM Mode” on page 77 for more details.

(1)

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ATmega16(L)

• Bit 2:0 – CS02:0: Clock Select

The three Clock Select bits select the clock source to be used by the Timer/Counter.

Table 42. Clock Select Bit Description

CS02 CS01 CS00 Description

0 0 0 No clock source (Timer/Counter stopped).

Timer/Counter Register – TCNT0

001clk

010

011

100

101

/(No prescaling)

I/O

clk

/8 (From prescaler)

I/O

clk

/64 (From prescaler)

I/O

clk

/256 (From prescaler)

I/O

clk

/1024 (From prescaler)

I/O

1 1 0 External clock source on T0 pin. Clock on falling edge.

1 1 1 External clock source on T0 pin. Clock on rising edge.

If external pin modes are used for the Timer/Counter0, transitions on the T0 pin will clock the counter even if the pin is configured as an output. This feature allows software control of the counting.

Bit 76543210

TCNT0[7:0] TCNT0

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

The Timer/Counter Register gives direct access, both for read and write operations, to the Timer/Counter unit 8-bit counter. Writing to the TCNT0 Register blocks (removes) the compare match on the following timer clock. Modifying the counter (TCNT0) while the counter is running, introduces a risk of missing a compare match between TCNT0 and the OCR0 Register.

Output Compare Register – OCR0

Timer/Counter Interrupt Mask Register – TIMSK

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Bit 76543210

OCR0[7:0] OCR0

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

The Output Compare Register contains an 8-bit value that is continuously compared with the counter value (TCNT0). A match can be used to generate an output compare interrupt, or to generate a waveform output on the OC0 pin.

Bit 765 4 3210

OCIE2 TOIE2 TICIE1 OCIE1A OCIE1B TOIE1 OCIE0 TO IE0 T IMSK

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 1 – OCIE0: Timer/Counter0 Output Compare Match Interrupt Enable

When the OCIE0 bit is written to one, and the I-bit in the Status Register is set (one), the Timer/Counter0 Compare Match interrupt is enabled. The corresponding interrupt is

Timer/Counter Interrupt Flag Register – TIFR

executed if a compare match in Timer/Counter0 occurs, i.e., when the OCF0 bit is set in the Timer/Counter Interrupt Flag Register – TIFR.

• Bit 0 – TOIE0: Timer/Counter0 Overflow Interrupt Enable

When the TOIE0 bit is written to one, and the I-bit in the Status Register is set (one), the Timer/Counter0 Overflow interrupt is enabled. The corresponding interrupt is executed if an overflow in Timer/Counter0 occurs, i.e., when the TOV0 bit is set in the Timer/Counter Interrupt Flag Register – TIFR.

Bit 76543210

OCF2 TOV2 ICF1 OCF1A OCF1B TOV1 OCF0 TOV0 TIFR

Read/Write R/W R/W R/W R/W R/W R/W R/W R/W

Initial Value00000000

• Bit 1 – OCF0: Output Compare Flag 0

The OCF0 bit is set (one) when a compare match occurs between the Timer/Counter0 and the data in OCR0 – Output Compare Register0. OCF0 is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, OCF0 is cleared by writing a logic one to the flag. When the I-bit in SREG, OCIE0 (Timer/Counter0 Compare Match Interrupt Enable), and OCF0 are set (one), the Timer/Counter0 Compare Match Interrupt is executed.

• Bit 0 – TOV0: Timer/Counter0 Overflow Flag

The bit TOV0 is set (one) when an overflow occurs in Timer/Counter0. TOV0 is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, TOV0 is cleared by writing a logic one to the flag. When the SREG I-bit, TOIE0 (Timer/Counter0 Overflow Interrupt Enable), and TOV0 are set (one), the Timer/Counter0 Overflow interrupt is executed. In phase correct PWM mode, this bit is set when Timer/Counter0 changes counting direction at $00.

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Timer/Counter0 and Timer/Counter1

Timer/Counter1 and Timer/Counter0 share the same prescaler module, but the Timer/Counters can have different prescaler settings. The description below applies to both Timer/Counter1 and Timer/Counter0.

Prescalers

Internal Clock Source The Timer/Counter can be clocked directly by the system clock (by setting the CSn2:0 =

1). This provides the fastest operation, with a maximum Timer/Counter clock frequency equal to system clock frequency (f caler 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

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 affected by the Timer/Counter’s clock select, the state of the prescaler will have implications for situations where a prescaled clock is used. One example of prescaling artifacts occurs when the timer is enabled and clocked by the prescaler (6 > CSn2:0 > 1). The number of system clock cycles from when the timer is enabled to the first count occurs can be from 1 to N+1 system clock cycles, where N equals the prescaler divisor (8, 64, 256, or 1024).

It is possible to use the Prescaler Reset for synchronizing the Timer/Counter to program execution. However, care must be taken if the other Timer/Counter that shares the same prescaler also uses prescaling. A prescaler reset will affect the prescaler period for all Timer/Counters it is connected to.

). Alternatively, one of four taps from the pres-

CLK_I/O

/1024.

CLK_I/O

External Clock Source An external clock source applied to the T1/T0 pin can be used as Timer/Counter clock

(clk

/clkT0). The T1/T0 pin is sampled once every system clock cycle by the pin syn-

chronization logic. The synchronized (sampled) signal is then passed through the edge detector. Figure 38 shows a functional equivalent block diagram of the T1/T0 synchronization and edge detector logic. The registers are clocked at the positive edge of the internal system clock (

clk

). The latch is transparent in the high period of the internal

I/O

system clock.

The edge detector generates one clk

/clk

pulse for each positive (CSn2:0 = 7) or neg-

ative (CSn2:0 = 6) edge it detects.

Figure 38. T1/T0 Pin Sampling

Tn_sync

(To Clock Select Logic)

clk

DQDQ

I/O

Edge DetectorSynchronization

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.

2466J–AVR–10/04

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

/2) given a 50/50% duty cycle. Since

clk_I/O

the edge detector uses sampling, the maximum frequency of an external clock it can detect is half the sampling frequency (Nyquist sampling theorem). However, due to variation of the system clock frequency and duty cycle caused by Oscillator source (crystal, resonator, and capacitors) tolerances, it is recommended that maximum frequency of an external clock source is less than f

clk_I/O

/2.5.

An external clock source can not be prescaled.

Special Function IO Register – SFIOR

Figure 39. Prescaler for Timer/Counter0 and Timer/Counter1

clk

PSR10

I/O

Synchronization

clk

Clear

(1)

clk

Note: 1. The synchronization logic on the input pins (T1/T0) is shown in Figure 38.

Bit 7 6 5 4 3 2 1 0

ADTS2 ADTS1 ADTS0 – ACME PUD PSR2 PSR10 SFIOR

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

• Bit 0 – PSR10: Prescaler Reset Timer/Counter1 and Timer/Counter0

When this bit is written to one, the Timer/Counter1 and Timer/Counter0 prescaler will be reset. The bit will be cleared by hardware after the operation is performed. Writing a zero to this bit will have no effect. Note that Timer/Counter1 and Timer/Counter0 share the same prescaler and a reset of this prescaler will affect both timers. This bit will always be read as zero.

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16-bit Timer/Counter1

The 16-bit Timer/Counter unit allows accurate program execution timing (event management), wave generation, and signal timing measurement. The main features are:

True 16-bit Design (i.e., Allows 16-bit PWM)

•

• Two Independent Output Compare Units

• Double Buffered Output Compare Registers

• One Input Capture Unit

• Input Capture Noise Canceler

• Clear Timer on Compare Match (Auto Reload)

• Glitch-free, Phase Correct Pulse Width Modulator (PWM)

• Variable PWM Period

• Frequency Generator

• External Event Counter

• Four Independent Interrupt Sources (TOV1, OCF1A, OCF1B, and ICF1)

Overview Most register and bit references in this section are written in general form. A lower case

“n” replaces the Timer/Counter number, and a lower case “x” replaces the output compare unit channel. However, when using the register or bit defines in a program, the precise form must be used (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 40. For the actual placement of I/O pins, refer to Figure 1 on page 2. CPU accessible I/O Registers, including I/O bits and I/O pins, are shown in bold. The device specific I/O Register and bit locations are listed in the “16-bit Timer/Counter Register Description” on page 109.

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Figure 40. 16-bit Timer/Counter Block Diagram

(1)

Count

Clear

Direction

Timer/Counter

TCNTn

Control Logic

TOP BOTTOM

clk

OCRnA

Fixed

TOP

Values

DATA BU S

OCRnB

ICRn

ICFn (Int.Req.)

Edge

Detector

TOVn

(Int.Req.)

Clock Select

Edge

Detector

( From Prescaler )

OCnA

(Int.Req.)

Wavefo rm

Generation

OCnB

(Int.Req.)

Wavefo rm

Generation

Noise

Canceler

OCnA

OCnB

( From Analog

Comparator Ouput )

ICPn

TCCRnA TCCRnB

Note: 1. Refer to Figure 1 on page 2, Table 25 on page 56, and Table 31 on page 61 for

Timer/Counter1 pin placement and description.

Registers The Timer/Counter (TCNT1), Output Compare Registers (OCR1A/B), and Input Capture

accessing the 16-bit registers. These procedures are described in the section “Accessing 16-bit Registers” on page 90. The Timer/Counter Control Registers (TCCR1A/B) are 8-bit registers and have no CPU access restrictions. Interrupt requests (abbreviated to Int.Req. in the figure) signals are all visible in the Timer Interrupt Flag Register (TIFR). All interrupts are individually masked with the Timer Interrupt Mask Register (TIMSK). TIFR and TIMSK are not shown in the figure since these registers are shared by other timer units.

The Timer/Counter can be clocked internally, via the prescaler, or by an external clock source on the T1 pin. The Clock Select logic block controls which clock source and edge the Timer/Counter uses to increment (or decrement) its value. The Timer/Counter is inactive when no clock source is selected. The output from the clock select logic is referred to as the timer clock (clk

The double buffered Output Compare Registers (OCR1A/B) are compared with the Timer/Counter value at all time. The result of the compare can be used by the Waveform Generator to generate a PWM or variable frequency output on the Output Compare pin

ATmega16(L)

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ATmega16(L)

(OC1A/B). See “Output Compare Units” on page 96. The compare match event will also set the Compare Match Flag (OCF1A/B) which can be used to generate an output compare interrupt request.

The Input Capture Register can capture the Timer/Counter value at a given external (edge triggered) event on either the Input Capture Pin (ICP1) or on the Analog Comparator pins (See “Analog Comparator” on page 199.) The Input Capture unit includes a digital filtering unit (Noise Canceler) for reducing the chance of capturing noise spikes.

The TOP value, or maximum Timer/Counter value, can in some modes of operation be defined by either the OCR1A Register, the ICR1 Register, or by a set of fixed values. When using OCR1A as TOP value in a PWM mode, the OCR1A Register can not be used for generating a PWM output. However, the TOP value will in this case be double buffered allowing the TOP value to be changed in run time. If a fixed TOP value is required, the ICR1 Register can be used as an alternative, freeing the OCR1A to be used as PWM output.

Definitions The following definitions are used extensively throughout the document:

Table 43. Definitions

BOTTOM The counter reaches the BOTTOM when it becomes 0x0000. MAX The counter reaches its MAXimum when it becomes 0xFFFF (decimal 655 35).

The counter reaches the TOP when it becomes equal to the highest value in the

TOP

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.

Compatibility The 16-bit Timer/Counter has been updated and improved from previous versions of the

16-bit AVR Timer/Counter. This 16-bit Timer/Counter is fully compatible with the earlier version regarding:

• All 16-bit Timer/Counter related I/O Register address locations, including Timer

Interrupt Registers.

• Bit locations inside all 16-bit Timer/Counter Registers, including Timer Interrupt

Registers.

• Interrupt Vectors.

The following control bits have changed name, but have same functionality and register location:

• PWM10 is changed to WGM10.

• PWM11 is changed to WGM11.

• CTC1 is changed to WGM12.

The following bits are added to the 16-bit Timer/Counter Control Registers:

• FOC1A and FOC1B are added to TCCR1A.

• WGM13 is added to TCCR1B.

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The 16-bit Timer/Counter has improvements that will affect the compatibility in some special cases.

Accessing 16-bit Registers

The TCNT1, OCR1A/B, and ICR1 are 16-bit registers that can be accessed by the AVR CPU via the 8-bit data bus. The 16-bit register must be byte accessed using two read or write operations. Each 16-bit timer has a single 8-bit register for temporary storing of the High byte of the 16-bit access. The same temporary register is shared between all 16-bit registers within each 16-bit timer. Accessing the Low byte triggers the 16-bit read or write operation. When the Low byte of a 16-bit register is written by the CPU, the High byte stored in the temporary register, and the Low byte written are both copied into the 16-bit register in the same clock cycle. When the Low byte of a 16-bit register is read by the CPU, the High byte of the 16-bit register is copied into the temporary register in the same clock cycle as the Low byte is read.

Not all 16-bit accesses uses the temporary register for the High byte. Reading the OCR1A/B 16-bit registers does not involve using the temporary register.

To do a 16-bit write, the High byte must be written before the Low byte. For a 16-bit read, the Low byte must be read before the High byte.

The following code examples show how to access the 16-bit Timer Registers assuming that no interrupts updates the temporary register. The same principle can be used directly for accessing the OCR1A/B and ICR1 Registers. Note that when using “C”, the compiler handles the 16-bit access.

Assembly Code Example

...

; Set TCNT1 to 0x01FF

ldi r17,0x01

ldi r16,0xFF

out TCNT1H,r17

out TCNT1L,r16

; Read TCNT1 into r17:r16

in r16,TCNT1L

in r17,TCNT1H

...

C Code Example

unsigned int i;

...

/* Set TCNT1 to 0x01FF */ TCNT1 = 0x1FF;

/* Read TCNT1 into i */

i = TCNT1;

...

(1)

Note: 1. The example code assumes that the part specific header file is included.

The assembly code example returns the TCNT1 value in the r17:r16 register pair.

It is important to notice that accessing 16-bit registers are atomic operations. If an interrupt occurs between the two instructions accessing the 16-bit register, and the interrupt code updates the temporary register by accessing the same or any other of the 16-bit Timer Registers, then the result of the access outside the interrupt will be corrupted. Therefore, when both the main code and the interrupt code update the temporary register, the main code must disable the interrupts during the 16-bit access.

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The following code examples show how to do an atomic read of the TCNT1 Register contents. Reading any of the OCR1A/B or ICR1 Registers can be done by using the same principle.

Assembly Code Example

TIM16_ReadTCNT1:

; Save global interrupt flag

in r18,SREG

; Disable interrupts

cli

; Read TCNT1 into r17:r16

in r16,TCNT1L

in r17,TCNT1H

; Restore global interrupt flag

out SREG,r18

ret

C Code Example

unsigned int TIM16_ReadTCNT1( void )

{

unsigned char sreg;

unsigned int i;

/* Save global interrupt flag */

sreg = SREG;

/* Disable interrupts */

_CLI();

/* Read TCNT1 into i */

i = TCNT1;

/* Restore global interrupt flag */

SREG = sreg;

return i;

}

(1)

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Note: 1. The example code assumes that the part specific header file is included.

The assembly code example returns the TCNT1 value in the r17:r16 register pair.

The following code examples show how to do an atomic write of the TCNT1 Register contents. Writing any of the OCR1A/B or ICR1 Registers can be done by using the same principle.

Assembly Code Example

TIM16_WriteTCNT1:

; Save global interrupt flag

in r18,SREG

; Disable interrupts

cli

; Set TCNT1 to r17:r16

out TCNT1H,r17

out TCNT1L,r16

; Restore global interrupt flag

out SREG,r18

ret

C Code Example

void TIM16_WriteTCNT1 ( unsigned int i )

{

unsigned char sreg;

unsigned int i;

/* Save global interrupt flag */

sreg = SREG;

/* Disable interrupts */

_CLI();

/* Set TCNT1 to i */

TCNT1 = i;

/* Restore global interrupt flag */

SREG = sreg;

}

(1)

Reusing the Temporary High Byte Register

Timer/Counter Clock Sources

ATmega16(L)

Note: 1. The example code assumes that the part specific header file is included.

The assembly code example requires that the r17:r16 register pair contains the value to be written to TCNT1.

If writing to more than one 16-bit register where the High byte is the same for all registers written, then the High byte only needs to be written once. However, note that the same rule of atomic operation described previously also applies in this case.

The Timer/Counter can be clocked by an internal or an external clock source. The clock source is selected by the Clock Select logic which is controlled by the Clock Select (CS12:0) bits located in the Timer/Counter Control Register B (TCCR1B). For details on clock sources and prescaler, see “Timer/Counter0 and Timer/Counter1 Prescalers” on page 85.

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Counter Unit The main part of the 16-bit Timer/Counter is the programmable 16-bit bi-directional

counter unit. Figure 41 shows a block diagram of the counter and its surroundings.

Figure 41. Counter Unit Block Diagram

DATA BUS

TEMP (8-bit)

TCNTnH (8-bit) TCNTnL (8-bit)

TCNTn (16-bit Counter)

(8-bit)

Count

Clear

Direction

Control Logic

TOP BOTTOM

TOVn

(Int.Req.)

clk

Clock Select

Edge

Detector

( From Prescaler )

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

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 8 bits. The TCNT1H Register can only be indirectly accessed by the CPU. When the CPU does an access to the TCNT1H I/O location, the CPU accesses the High byte temporary register (TEMP). The temporary register is updated with the TCNT1H value when the TCNT1L is read, and TCNT1H is updated with the temporary register value when TCNT1L is written. This allows the CPU to read or write the entire 16-bit counter value within one clock cycle via the 8-bit data bus. It is important to notice that there are special cases of writing to the TCNT1 Register when the counter is counting that will give unpredictable results. The special cases are described in the sections where they are of importance.

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Depending on the mode of operation used, the counter is cleared, incremented, or decremented at each timer clock (clk

). The clk

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 stopped. However, the TCNT1 value can be accessed by the CPU, independent of whether clk

is present or not. A CPU write over-

rides (has priority over) all counter clear or count operations.

The counting sequence is determined by the setting of the Waveform Generation Mode bits (WGM13:0) located in the Timer/Counter Control Registers A and B (TCCR1A and TCCR1B). There are close connections between how the counter behaves (counts) and how waveforms are generated on the Output Compare outputs OC1x. For more details about advanced counting sequences and waveform generation, see “Modes of Operation” on page 99.

The Timer/Counter Overflow (TOV1) Flag is set according to the mode of operation selected by the WGM13:0 bits. TOV1 can be used for generating a CPU interrupt.

Input Capture Unit The Timer/Counter incorporates an Input Capture unit that can capture external events

and give them a time-stamp indicating time of occurrence. The external signal indicating an event, or multiple events, can be applied via the ICP1 pin or alternatively, via the Analog Comparator unit. The time-stamps can then be used to calculate frequency, duty-cycle, and other features of the signal applied. Alternatively the time-stamps can be used for creating a log of the events.

The Input Capture unit is illustrated by the block diagram shown in Figure 42. The elements of the block diagram that are not directly a part of the Input Capture unit are gray shaded. The small “n” in register and bit names indicates the Timer/Counter number.

Figure 42. Input Capture Unit Block Diagram

ICPn

WRITE

TEMP (8-bit)

ICRnH (8-bit)

ICRn (16-bit Register)

ACO*

Analog

Comparator

DATA BUS

ICRnL (8-bit)

ACIC* ICNC ICES

Canceler

Noise

(8-bit)

TCNTnH (8-bit) TCNTnL (8-bit)

TCNTn (16-bit Counter)

Edge

Detector

ICFn (Int.Req.)

When a change of the logic level (an event) occurs on the Input Capture pin (ICP1), alternatively on the Analog Comparator output (ACO), and this change confirms to the setting of the edge detector, a capture will be triggered. When a capture is triggered, the 16-bit value of the counter (TCNT1) is written to the Input Capture Register (ICR1). The Input Capture Flag (ICF1) is set at the same system clock as the TCNT1 value is copied into ICR1 Register. If enabled (TICIE1 = 1), the Input Capture Flag generates an Input Capture Interrupt. The ICF1 Flag is automatically cleared when the interrupt is executed. Alternatively the ICF1 Flag can be cleared by software by writing a logical one to its I/O bit location.

Reading the 16-bit value in the Input Capture Register (ICR1) is done by first reading the Low byte (ICR1L) and then the High byte (ICR1H). When the Low byte is read the High byte is copied into the High byte temporary register (TEMP). When the CPU reads the ICR1H I/O location it will access the TEMP Register.

The ICR1 Register can only be written when using a Waveform Generation mode that utilizes the ICR1 Register for defining the counter’s TOP value. In these cases the Waveform Generation mode (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.

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For more information on how to access the 16-bit registers refer to “Accessing 16-bit Registers” on page 90.

Input Capture Pin Source The main trigger source for the Input Capture unit is the Input Capture pin (ICP1).

Timer/Counter1 can alternatively use the Analog Comparator output as trigger source for the Input Capture unit. The Analog Comparator is selected as trigger source by setting the Analog Comparator Input Capture (ACIC) bit in the Analog Comparator Control and Status Register (ACSR). Be aware that changing trigger source can trigger a capture. The Input Capture Flag must therefore be cleared after the change.

Both the Input Capture pin (ICP1) and the Analog Comparator output (ACO) inputs are sampled using the same technique as for the T1 pin (Figure 38 on page 85). The edge detector is also identical. However, when the noise canceler is enabled, additional logic is inserted before the edge detector, which increases the delay by four system clock cycles. Note that the input of the noise canceler and edge detector is always enabled unless the Timer/Counter is set in a waveform generation mode that uses ICR1 to define TOP.

An Input Capture can be triggered by software by controlling the port of the ICP1 pin.

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 canceler uses the system clock and is therefore not affected by the prescaler.

Using the Input Capture Unit The main challenge when using the Input Capture unit is to assign enough processor

capacity for handling the incoming events. The time between two events is critical. If the processor has not read the captured value in the ICR1 Register before the next event occurs, the ICR1 will be overwritten with a new value. In this case the result of the capture will be incorrect.

When using the Input Capture Interrupt, the ICR1 Register should be read as early in the interrupt handler routine as possible. Even though the Input Capture Interrupt has relatively high priority, the maximum interrupt response time is dependent on the maximum number of clock cycles it takes to handle any of the other interrupt requests.

Using the Input Capture unit in any mode of operation when the TOP value (resolution) is actively changed during operation, is not recommended.

Measurement of an external signal’s duty cycle requires that the trigger edge is changed after each capture. Changing the edge sensing must be done as early as possible after the ICR1 Register has been read. After a change of the edge, the Input Capture Flag (ICF1) must be cleared by software (writing a logical one to the I/O bit location). For measuring frequency only, the clearing of the ICF1 Flag is not required (if an interrupt handler is used).

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Output Compare Units The 16-bit comparator continuously compares TCNT1 with the Output Compare Regis-

ter (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

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 handling the special cases of the extreme values in some modes of operation (See “Modes of Operation” on page 99.)

A special feature of output compare unit A allows it to define the Timer/Counter TOP value (i.e., counter resolution). In addition to the counter resolution, the TOP value defines the period time for waveforms generated by the Waveform Generator.

Figure 43 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/Counter1), and the “x”

indicates output compare unit (A/B). The elements of the block diagram that are not directly a part of the output compare unit are gray shaded.

Figure 43. Output Compare Unit, Block Diagram

DATA BUS

TEMP (8-bit)

(8-bit)

. If enabled (OCIE1x =

OCRnxH Buf. (8-bit)

OCRnx Buffer (16-bit Register)

OCRnxH (8-bit) OCRnxL (8-bit)

OCRnx (16-bit Register)

TOP

BOTTOM

OCRnxL Buf. (8-bit)

Waveform Generator

TCNTnH (8-bit) TCNTnL (8-bit)

TCNTn (16-bit Counter)

(16-bit Comparator )

OCFnx (Int.Req.)

OCnx

COMnx1:0WGMn3:0

The OCR1x Register is double buffered when using any of the twelve Pulse Width Modulation (PWM) modes. For the normal and Clear Timer on Compare (CTC) modes of

operation, the double buffering is disabled. The double buffering synchronizes the update of the OCR1x Compare Register to either TOP or BOTTOM of the counting sequence. The synchronization prevents the occurrence of odd-length, non-symmetrical PWM pulses, thereby making the output glitch-free.

The OCR1x Register access may seem complex, but this is not case. When the double buffering is enabled, the CPU has access to the OCR1x Buffer Register, and if double buffering is disabled the CPU will access the OCR1x directly. The content of the OCR1x

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(Buffer or Compare) Register is only changed by a write operation (the Timer/Counter does not update this register automatically as the TCNT1 and ICR1 Register). Therefore OCR1x is not read via the High byte temporary register (TEMP). However, it is a good practice to read the Low byte first as when accessing other 16-bit registers. Writing the OCR1x Registers must be done via the TEMP Register since the compare of all 16 bits is done continuously. The High byte (OCR1xH) has to be written first. When the High byte I/O location is written by the CPU, the TEMP Register will be updated by the value written. Then when the Low byte (OCR1xL) is written to the lower eight bits, the High byte will be copied into the upper 8-bits of either the OCR1x buffer or OCR1x Compare Register in the same system clock cycle.

For more information of how to access the 16-bit registers refer to “Accessing 16-bit Registers” on page 90.

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 (FOC1x) bit. Forcing compare match will not set the OCF1x Flag or reload/clear the timer, but the OC1x pin will be updated as if a real compare match had occurred (the COM1x1:0 bits settings define whether the OC1x pin is set, cleared or toggled).

Compare Match Blocking by TCNT1 Write

Using the Output Compare Unit

All CPU writes to the TCNT1 Register will block any compare match that occurs in the next timer clock cycle, even when the timer is stopped. This feature allows OCR1x to be initialized to the same value as TCNT1 without triggering an interrupt when the Timer/Counter clock is enabled.

Since writing TCNT1 in any mode of operation will block all compare matches for one timer clock cycle, there are risks involved when changing TCNT1 when using any of the output compare channels, independent of whether the Timer/Counter is running or not. If the value written to TCNT1 equals the OCR1x value, the compare match will be missed, resulting in incorrect waveform generation. Do not write the TCNT1 equal to TOP in PWM modes with variable TOP values. The compare match for the TOP will be ignored and the counter will continue to 0xFFFF. Similarly, do not write the TCNT1 value equal to BOTTOM when the counter is downcounting.

The setup of the OC1x should be performed before setting the Data Direction Register for the port pin to output. The easiest way of setting the OC1x value is to use the force output compare (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 compare value. Changing the COM1x1:0 bits will take effect immediately.

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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 44 shows a simplified schematic of the logic affected by the COM1x1:0 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 COM1x1:0 bits are shown. When referring to the OC1x state, the reference is for the internal OC1x Register, not the OC1x pin. If a System Reset occur, the OC1x Register is reset to “0”.

Figure 44. Compare Match Output Unit, Schematic

COMnx1

COMnx0 FOCnx

clk

I/O

Waveform

Generator

OCnx

PORT

DATA B U S

DDR

OCnx

The general I/O port function is overridden by the Output Compare (OC1x) from the Waveform Generator if either of the COM1x1:0 bits are set. However, the OC1x pin direction (input or output) is still controlled by the Data Direction Register (DDR) for the port pin. The Data Direction Register bit for the OC1x pin (DDR_OC1x) must be set as output before the OC1x value is visible on the pin. The port override function is generally independent of the Waveform Generation mode, but there are some exceptions. Refer to Table 44, Table 45 and Table 46 for details.

Compare Output Mode and Waveform Generation

ATmega16(L)

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 “16-bit Timer/Counter Register Description” on page 109.

The COM1x1:0 bits have no effect on the Input Capture unit.

The Waveform Generator uses the COM1x1:0 bits differently 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 44 on page 109. For fast PWM mode refer to Table 45 on page 110, and for phase correct and phase and frequency correct PWM refer to Table 46 on page 110.

A change of the COM1x1:0 bits state will have effect at the first compare match after the bits are written. For non-PWM modes, the action can be forced to have immediate effect by using the FOC1x strobe bits.

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Modes of Operation The mode of operation, i.e., the behavior of the Timer/Counter and the output compare

pins, is defined by the combination of the Waveform Generation mode (WGM13:0) and Compare Output mode (COM1x1:0) bits. The Compare Output mode bits do not affect

the counting sequence, while the 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-PWM modes the COM1x1:0 bits control whether the output should be set, cleared or toggle at a compare match (See “Compare Match Output Unit” on page 98.)

For detailed timing information refer to “Timer/Counter Timing Diagrams” on page 106.

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 counter simply overruns when it passes its maximum 16-bit value (MAX = 0xFFFF) and then restarts from the BOTTOM (0x0000). In normal operation the Timer/Counter Over- flow Flag (TOV1) will be set in the same timer clock cycle as the TCNT1 becomes zero. The TOV1 Flag in this case behaves like a 17th bit, except that it is only set, not cleared. However, combined with the timer overflow interrupt that automatically clears the TOV1 Flag, the timer resolution can be increased by software. There are no special cases to consider in the Normal mode, a new counter value can be written anytime.

The Input Capture unit is easy to use in Normal mode. However, observe that the maximum interval between the external events must not exceed the resolution of the counter. If the interval between events are too long, the timer overflow interrupt or the prescaler must be used to extend the resolution for the capture unit.

Clear Timer on Compare Match (CTC) Mode

The output compare units can be used to generate interrupts at some given time. Using the output compare to generate waveforms in Normal mode is not recommended, since this will occupy too much of the CPU time.

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 counter 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 45. The counter value (TCNT1) increases until a compare match occurs with either OCR1A or ICR1, and then counter (TCNT1) is cleared.

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Figure 45. CTC Mode, Timing Diagram

TCNTn

OCnA Interrupt Flag Set or ICFn Interrupt Flag Set (Interrupt on TOP)

OCnA (Toggle)

Period

1 4

2 3

(COMnA1:0 = 1)

An interrupt can be generated at each time the counter value reaches the TOP value by either using the OCF1A or ICF1 Flag according to the register used to define the TOP value. If the interrupt is enabled, the interrupt handler routine can be used for updating the TOP value. However, changing the TOP to a value close to BOTTOM when the counter is running with none or a low prescaler value must be done with care since the CTC mode does not have the double buffering feature. If the new value written to OCR1A or ICR1 is lower than the current value of TCNT1, the counter will miss the compare match. The counter will then have to count to its maximum value (0xFFFF) and wrap around starting at 0x0000 before the compare match can occur. In many cases this feature is not desirable. An alternative will then be to use the fast PWM mode using OCR1A for defining TOP (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 toggle its logical level on each compare match by setting the compare output mode bits to toggle mode (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

/2 when OCR1A is set to zero (0x0000). The

clk_I/O

waveform frequency is defined by the following equation:

OCnA

---------------------------------------------------=

2 N 1 OCRnA+()⋅⋅

clk_I/O

The N variable represents the prescaler factor (1, 8, 64, 256, or 1024).

As for the Normal mode of operation, the TOV1 Flag is set in the same timer clock cycle that the counter counts from MAX to 0x0000.

Fast PWM Mode The fast Pulse Width Modulation or fast PWM mode (WGM13:0 = 5,6,7,14, or 15) pro-

vides 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 set on the compare match between TCNT1 and OCR1x, and cleared at TOP. In inverting Compare Output mode output is cleared on compare match and set at TOP. Due to the single-slope operation, the operating frequency of the fast PWM mode can be twice as high as the phase correct and phase and frequency correct PWM modes that use dual-slope operation. This high frequency makes the fast PWM mode well suited for power regulation, rectification, and DAC applications. High frequency allows physically small sized external components (coils, capacitors), hence reduces total system cost.

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ATMEL ATmega16, ATmega16L User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Features

Pin Configurations Figure 1. Pinout ATmega16

Disclaimer Typical values contained in this datasheet are based on simulations and characteriza-

Overview The ATmega16 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced

Block Diagram Figure 2. Block Diagram

Pin Descriptions

Port A (PA7..PA0) Port A serves as the analog inputs to the A/D Converter.

Port B (PB7..PB0) Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each

Port C (PC7..PC0) Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each

Port D (PD7..PD0) Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each

RESET

XTAL1 Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.

XTAL2 Output from the inverting Oscillator amplifier.

AVCC AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externally

AREF AREF is the analog reference pin for the A/D Converter.

About Code Examples

AVR CPU Core

Introduction This section discusses the AVR core architecture in general. The main function of the

Architectural Overview Figure 3. Block Diagram of the AVR MCU Architecture

Status Register The Status Register contains information about the result of the most recently executed

General Purpose Register File

The X-register, Y-register and Z-register

Stack Pointer The Stack is mainly used for storing temporary data, for storing local variables and for

Instruction Execution Timing

Reset and Interrupt Handling

Interrupt Response Time The interrupt execution response for all the enabled AVR interrupts is four clock cycles

AVR ATmega16 Memories

In-System Reprogrammable Flash Program Memory

SRAM Data Memory Figure 9 shows how the ATmega16 SRAM Memory is organized.

Data Memory Access Times This section describes the general access timing concepts for internal memory access.

EEPROM Data Memory The ATmega16 contains 512 bytes of data EEPROM memory. It is organized as a sep-

EEPROM Read/Write Access The EEPROM Access Registers are accessible in the I/O space.

Preventing EEPROM Corruption

I/O Memory The I/O space definition of the ATmega16 is shown in “Register Summary” on page 331.

System Clock and Clock Options

Clock Systems and their Distribution

Clock Sources The device has the following clock source options, selectable by Flash Fuse bits as

Default Clock Source The device is shipped with CKSEL = “0001” and SUT = “10”. The default clock source

Crystal Oscillator XTAL1 and XTAL2 are input and output, respectively, of an inverting amplifier which can

Low-frequency Crystal Oscillator

External RC Oscillator For timing insensitive applications, the external RC configuration shown in Figure 13

Calibrated Internal RC Oscillator

External Clock To drive the device from an external clock source, XTAL1 should be driven as shown in

Timer/Counter Oscillator For AVR microcontrollers with Timer/Counter Oscillator pins (TOSC1 and TOSC2), the

Power Management and Sleep Modes

Idle Mode When the SM2..0 bits are written to 000, the SLEEP instruction makes the MCU enter

ADC Noise Reduction Mode

Power-down Mode When the SM2..0 bits are written to 010, the SLEEP instruction makes the MCU enter

Power-save Mode When the SM2..0 bits are written to 011, the SLEEP instruction makes the MCU enter

Standby Mode When the SM2..0 bits are 110 and an external crystal/resonator clock option is selected,

Extended Standby Mode When the SM2..0 bits are 111 and an external crystal/resonator clock option is selected,

Minimizing Power Consumption

Analog to Digital Converter If enabled, the ADC will be enabled in all sleep modes. To save power, the ADC should

Analog Comparator When entering Idle mode, the Analog Comparator should be disabled if not used. When

Brown-out Detector If the Brown-out Detector is not needed in the application, this module should be turned

Internal Voltage Reference The Internal Voltage Reference will be enabled when needed by the Brown-out Detec-

Watchdog Timer If the Watchdog Timer is not needed in the application, this module should be turned off.

Port Pins When entering a sleep mode, all port pins should be configured to use minimum power.

JTAG Interface and On-chip Debug System

System Control and Reset

Resetting the AVR During Reset, all I/O Registers are set to their initial values, and the program starts exe-

Reset Sources The ATmega16 has five sources of reset:

Power-on Reset A Power-on Reset (POR) pulse is generated by an On-chip detection circuit. The detec-

External Reset An External Reset is generated by a low level on the RESET pin. Reset pulses longer

Brown-out Detection ATmega16 has an On-chip Brown-out Detection (BOD) circuit for monitoring the V

Watchdog Reset When the Watchdog times out, it will generate a short reset pulse of one CK cycle dura-

Internal Voltage Reference

Voltage Reference Enable Signals and Start-up Time

Figure 21. Watchdog Timer

Interrupts This section describes the specifics of the interrupt handling as performed in

Interrupt Vectors in ATmega16

Moving Interrupts Between Application and Boot Space

I/O Ports

Introduction All AVR ports have true Read-Modify-Write functionality when used as general digital

Ports as General Digital I/O

Configuring the Pin Each port pin consists of three register bits: DDxn, PORTxn, and PINxn. As shown in