ATMEL ATmega48P, ATmega48PV, ATmega88P, ATmega88PV, ATmega168P User Manual

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Features

• High Performance, Low Power AVR

• Advanced RISC Architecture

– 131 Powe rful Instructions – Most Single Clock Cy cle Execution – 32 x 8 General Purpose Working Registers – Fully Static Operation – Up to 20 MIPS Throughput at 20 MHz – On-chip 2-cycle Multiplier

• High Endurance Non-volatile Memory Segments

– 4/8/16/32K Bytes of In-System Self-Programmable Flash progam memory

(ATmega48P/88P/168P/328P) – 256/512/512/1K Bytes EEPROM (ATmega48P/88P/168P/328P) – 512/1K/1K/2K Bytes Internal SRAM (ATmega48P/88P/168P/328P) – Write/Erase Cycles: 10,000 Flash/100,000 EEPROM – Data retention: 20 years at 85°C/100 years at 25°C – Optional Boot Code Section with Independent Lock Bits

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

– Programming Lock for Software Security

• Peripheral Features

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

Mode – Real Time Counter with Separate Oscillator – Six PWM Channels – 8-channel 10-bit ADC in TQFP and QFN/MLF package

Temperature Measurement

– 6-channel 10-bit ADC in PDIP Package

Temperature Measurement – Programmable Serial USART – Master/Slave SPI Serial Interface – Byte-oriented 2-wire Serial Interface (Philips I – Programmable Watchdog Timer with Separate On-chip Oscillator – On-chip Analog Comparator – Interrupt and Wake-up on Pin Change

• Special Microcontroller Features

– Power-on Reset and Pr ogrammab l e Brown-out Detection – Internal Calibrated Oscillator – External and Internal Interrupt Sources – Six Sleep Modes: Idle, ADC Noise Redu ction, Power-save, Power-down, Standby,

and Extended Standby

• I/O and Pac kages

– 23 Programmable I/O Lines – 28-pin PDIP, 32-lead TQFP, 28-pad QFN/MLF and 32-pad QFN/MLF

• Operating Voltage:

– 1.8 - 5.5V for ATmega48P/88P/168PV – 2.7 - 5.5V for ATmega48P/88P/168P – 1.8 - 5.5V for ATmega328P

• Temperature Range:

°C to 85°C

–-40

• Speed Grade:

– ATmega48P/88P/168PV: 0 - 4 MHz @ 1.8 - 5.5V, 0 - 10 MHz @ 2.7 - 5.5V – ATmega48P/88P/168P: 0 - 10 MHz @ 2.7 - 5.5V, 0 - 20 MHz @ 4.5 - 5.5V – ATmega328P: 0 - 4 MHz @ 1.8 - 5.5V, 0 - 10 MHz @ 2.7 - 5.5V, 0 - 20 MHz @ 4.5 - 5.5V

• Low Power Consumption at 1 MHz, 1.8V, 25°C for ATmega48P/88P/168P:

– Active Mode: 0.3 mA – Power-down Mode: 0.1 µA – Power-save Mode: 0.8 µA (Including 32 kHz RTC)

8-Bit Microcontroller

C compatible)

(1)

8-bit

Microcontroller with 4/8/16/32K Bytes In-System Programmable Flash

ATmega48P/V ATmega88P/V ATmega168P/V ATmega328P

Preliminary

Rev. 8025D–AVR–03/08

ATmega48P/88P/168P/328P

1. Pin Configurations

TQFP Top View

PDIP

)

Figure 1-1. Pinout ATmega48P/88P/168P/328P

PD2 (INT0/PCINT18)

PD1 (TXD/PCINT17)

PD0 (RXD/PCINT16)

PC6 (RESET/PCINT14)

PC5 (ADC5/SCL/PCINT13)

PC4 (ADC4/SDA/PCINT12)

PC3 (ADC3/PCINT11)

PC2 (ADC2/PCINT10)

(PCINT19/OC2B/INT1) PD3

(PCINT20/XCK/T0) PD4

(PCINT6/XTAL1/TOSC1) PB6 (PCINT7/XTAL2/TOSC2) PB7

GND VCC GND VCC

32313029282726

1 2 3 4 5 6 7 8

9101112131415

24 23 22 21 20 19 18 17

PC1 (ADC1/PCINT9) PC0 (ADC0/PCINT8) ADC7 GND AREF ADC6 AVCC PB5 (SCK/PCINT5)

(PCINT14/RESET) PC6

(PCINT16/RXD) PD0 (PCINT17/TXD) PD1 (PCINT18/INT0) PD2

(PCINT19/OC2B/INT1) PD3

(PCINT20/XCK/T0) PD4

(PCINT6/XTAL1/TOSC1) PB6 (PCINT7/XTAL2/TOSC2) PB7

(PCINT21/OC0B/T1) PD5

(PCINT22/OC0A/AIN0) PD6

(PCINT0/CLKO/ICP1) PB0

VCC GND

(PCINT23/AIN1) PD7

1 2 3 4 5 6 7 8 9 10 11 12 13 14

PC5 (ADC5/SCL/PCINT13)

PC4 (ADC4/SDA/PCINT12)

PC3 (ADC3/PCINT11)

PC2 (ADC2/PCINT10)

PC1 (ADC1/PCINT9)

PC0 (ADC0/PCINT8)

GND

AREF

AVCC

PB5 (SCK/PCINT5)

PB4 (MISO/PCINT4)

PB3 (MOSI/OC2A/PCINT3)

PB2 (SS/OC1B/PCINT2)

PB1 (OC1A/PCINT1)

(PCINT19/OC2B/INT1) PD3

(PCINT20/XCK/T0) PD4

VCC

GND (PCINT6/XTAL1/TOSC1) PB6 (PCINT7/XTAL2/TOSC2) PB7

(PCINT21/OC0B/T1) PD5

NOTE: Bottom pad should be soldered to ground.

(PCINT1/OC1A) PB1

(PCINT23/AIN1) PD7

(PCINT21/OC0B/T1) PD5

(PCINT0/CLKO/ICP1) PB0

(PCINT22/OC0A/AIN0) PD6

28 MLF Top View

PD2 (INT0/PCINT18)

PD1 (TXD/PCINT17)

PD0 (RXD/PCINT16)

PC6 (RESET/PCINT14)

PC5 (ADC5/SCL/PCINT13)

28272625242322

1 2 3 4 5 6 7

891011121314

(PCINT1/OC1A) PB1

(PCINT23/AIN1) PD7

(PCINT2/SS/OC1B) PB2

(PCINT0/CLKO/ICP1) PB0

(PCINT22/OC0A/AIN0) PD6

(PCINT4/MISO) PB4

(PCINT2/SS/OC1B) PB2

(PCINT3/OC2A/MOSI) PB3

PC4 (ADC4/SDA/PCINT12)

PC3 (ADC3/PCINT11)

PC2 (ADC2/PCINT10)

PC1 (ADC1/PCINT9)

PC0 (ADC0/PCINT8)

GND

AREF

AVCC

PB5 (SCK/PCINT5)

(PCINT4/MISO) PB4

(PCINT3/OC2A/MOSI) PB3

(PCINT19/OC2B/INT1) PD3

(PCINT20/XCK/T0) PD4

(PCINT6/XTAL1/TOSC1) PB6 (PCINT7/XTAL2/TOSC2) PB7

NOTE: Bottom pad should be soldered to ground.

GND VCC GND VCC

1 2 3 4 5 6 7 8

32 MLF Top View

PD2 (INT0/PCINT18)

PD1 (TXD/PCINT17)

PD0 (RXD/PCINT16)

PC6 (RESET/PCINT14)

PC5 (ADC5/SCL/PCINT13)

PC4 (ADC4/SDA/PCINT12)

PC3 (ADC3/PCINT11)

32313029282726

9101112131415

(PCINT1/OC1A) PB1

(PCINT23/AIN1) PD7

(PCINT21/OC0B/T1) PD5

PCINT22/OC0A/AIN0) PD6

(PCINT2/SS/OC1B) PB2

(PCINT0/CLKO/ICP1) PB0

(PCINT3/OC2A/MOSI) PB3

PC2 (ADC2/PCINT10)

PC1 (ADC1/PCINT

PC0 (ADC0/PCINT

ADC7

GND

AREF

ADC6

AVCC

PB5 (SCK/PCINT5

(PCINT4/MISO) PB4

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1.1 Pin Descriptions

1.1.1 VCC

Digital supply voltage.

1.1.2 GND

Ground.

1.1.3 Port B (PB7:0) XTAL1/XTAL2/TOSC1/TOSC2

Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port B output buffers 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 co ndition becomes active, even if the clock is not running.

Depending on the clock selection fuse settings, PB6 can be used as input to the inverting Oscillator amplifier and input to the internal clock oper ating circuit.

Depending on the clock selection fuse settings, PB7 can be used as output from the inverting Oscillator amplifier.

ATmega48P/88P/168P/328P

1.1.4 Port C (PC5:0)

1.1.5 PC6/RESET

If the Internal Calibrated RC Oscillator is used as chip clock source, PB7..6 is used as TOSC2..1 input for the Asynchronous Timer/Counter2 if the AS2 bit in ASSR is set.

The various special features of Port B are elaborated in ”Alternate Functions of Port B” on page

83 and ”System Clock and Clock Options” on page 27.

Port C is a 7-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The PC5..0 output buffers 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 RSTDISBL Fuse is programmed, PC6 is used as an I/O pin. Note that the electrical characteristics of PC6 differ from those of the other pins of Port C.

If the RSTDISBL Fuse is unprogrammed, PC6 is used as a 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 28-3 on page 319. Shorter pulses are not guaranteed to generate a Reset.

The various special features of Port C are elaborated in ”Alternate Functions of Port C” on page

86.

1.1.6 Port D (PD7:0)

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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.

ATmega48P/88P/168P/328P

The various special features of Port D are elaborated in ”Alternate Functions of Port D” on page

89.

1.1.7 AV

AVCC is the supply voltage pin for the A/D Conver ter, PC3:0 , and ADC7:6. It should be extern ally connected to V

, even if the ADC is not used. If the ADC is used, it should be co nnecte d to V

through a low-pass filter. Note that PC6..4 use digital supply voltage, VCC.

1.1.8 AREF

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

1.1.9 ADC7:6 (TQFP and QFN/MLF Package Only)

In the TQFP and QFN/MLF package, ADC7:6 serve as analog inputs to the A/D converter. These pins are powered from the analog supply and serve as 10-bit ADC channels.

1.2 Disclaimer

Typical values contained in this datasheet are based on simulations and characterization of other AVR microcontrollers manufactured o n th e same proce ss te ch nolo gy. Min a nd Ma x valu es will be available after the device is characterized.

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2. Overview

2.1 Block Diagram

ATmega48P/88P/168P/328P

The ATmega48P/88P/168P/328P 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 ATmega48P/88P/168P/328P achieves throughputs approaching 1 MIPS per MHz allowing the system designer to optimize power consumption versus processing speed.

Figure 2-1. Block Diagram

Comp.

VCC

debugWIRE

PROGRAM

CPU

Internal

Bandgap

LOGIC

SRAMFlash

AVC C

AREF

GND

Watchdog

Timer

Watchdog

Oscillator

Circuits /

Clock

Generation

EEPROM

8bit T/C 2

DATA B US

Powe r

Supervision

POR / BOD &

RESET

16bit T/C 18bit T/C 0 A/D Conv.

Analog

8025D–AVR–03/08

USART 0

SPI TWI

PORT C (7)PORT B (8)PORT D (8)

RESET

XTAL[1..2]

ADC[6..7]PC[0..6]PB[0..7]PD[0..7]

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

ATmega48P/88P/168P/328P

architecture is more code efficient while achieving throughputs up to ten times faster than conventional CISC microcontrollers.

The ATmega48P/88P/168P/328P provides the following features: 4K/8K/16K/32K bytes of InSystem Programmable Flash with Read-While-Write capabilities, 256/512/512/1K bytes EEPROM, 512/1K/1K/2K bytes SRAM, 23 general purpose I/O lines, 32 general purpose working registers, three flexible Timer/C ounters with compare modes, inter nal and external interrupts, a serial programmable USART, a byte-oriented 2-wire Serial Interface, an SPI serial port, a 6-channel 10-bit ADC (8 channels in TQFP and QFN/MLF packages), a programmable Watchdog Timer with internal Oscillator, and five software selectable power saving modes. The Idle mode stops the CPU while allowing the SRAM, Timer/Counters, USART, 2-wire Serial Interface, SPI port, and interrupt system to continue func tioning. The Power- down mode saves th e register contents but freezes the Oscillator, disabling all other chip functions until the next interrupt or hardware reset. In Power-save mo de, 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 Re duction 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 v ery fast start-up combined with low power consumption.

The device is manufactured using Atmel’s high density non-volatile memory technology. The On-chip ISP Flash allows the program memory to be reprogrammed In-System through an SPI serial interface, by a conventional non-volatile memory programmer, or by an On-chip Boot program running on the AVR core. The Boot program can use any interface to download the application program in the Application Flash memory. Software in the Boot Flash section will continue to run while the Application Flash section is updated, providing true Read-While-Write operation. By combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic chip, the Atmel ATmega48P/88P/168P/328P is a powerful microcontroller that provides a highly flexible and cost effective solution to many embedded control applications.

The ATmega48P/88P/168P/328P 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.

2.2 Comparison Between ATmega48P, ATmega88P, ATmega168P, and ATmega328P

The ATmega48P, ATmega88P, ATmega168P, and ATmega328P differ only in memory sizes, boot loader support, and interrupt vector sizes. Table 2-1 summarizes the different memory and interrupt vector sizes for the three devices.

Table 2-1. Memory Size Summary

Device Flash EEPROM RAM Interrupt Vector Size

ATmega48P 4K Bytes 256 Bytes 512 Bytes 1 instruction word/vector ATmega88P 8K Bytes 512 Bytes 1K Bytes 1 instruction word/vector ATmega168P 16K Bytes 512 Bytes 1K Bytes 2 instruction words/vector ATmega328P 32K Bytes 1K Bytes 2K Bytes 2 instructions words/vector

ATmega88P, ATmega168P, and ATmega328P support a real Read-While-Write Self-Programming mechanism. There is a separate Boot Loader Section, and the SPM instruction can only execute from there. In ATmega48P, there is no Read-While-Write suppor t and no se pa rate Boot Loader Section. The SPM instruction can execute from the ent ire Flash.

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3. Resources

ATmega48P/88P/168P/328P

A comprehensive set of development tools, application notes and datasheets are available for download on http://www.atmel.com/avr.

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Note: 1.

4. Data Retention

Reliability Qualification results show that the projected data retention failure rate is much less than 1 PPM over 20 years at 85°C or 100 years at 25°C.

5. About Code Examples

This documentation contains simple code examples t hat brief ly show h ow to us e various parts of the device. These code examples assume that the part specific header file is included b efore 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 con firm wit h the C com piler d ocume ntation for more details.

For I/O Registers located in extended I/O map, “IN”, “OUT”, “SBIS”, “SBIC”, “CBI”, and “SBI” instructions must be replaced with instructions that allow access to extended I/O. Typically “LDS” and “STS” combined with “SBRS”, “SBRC”, “SBR”, and “CBR”.

8025D–AVR–03/08

6. AVR CPU Core

6.1 Overview

ATmega48P/88P/168P/328P

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.

Figure 6-1. Block Diagram of the AVR 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

Interrupt

Unit

SPI

Unit

Watchdog

Timer

Analog

Comparator

I/O Module1

I/O Module 2

I/O Module n

8025D–AVR–03/08

I/O Lines

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

The fast-access Register File contains 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 typ-

ATmega48P/88P/168P/328P

ical 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 pointe rs can also be used as an address pointe r for look up tables in Flash pr ogram memory. Thes e 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 AL U. After an arith metic operation, the Status Register is updated to reflect informat ion 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 Prog ram 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 acces sed directly, or as the Data Space locations following those of the Register File, 0x20 - 0x5F. In addition, the ATmega48P/88P/168P/328P has Extended I/O space from 0x60 - 0xFF in SRAM where only the ST/STS/STD and LD/LDS/LDD instructions can be used.

6.2 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 execut ed . The ALU ope ra tio ns 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.

6.3 Status Register

The Status Register contains information about the result of the most recently executed arithmetic instruction. This information can be used for altering program flow in order to perform conditional operations. Note that the Status Register is updated after all ALU operations, as

8025D–AVR–03/08

specified in the Instruction Set Refe rence. This wil l in many cases remove the n eed 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 hand le d by so ftware.

6.3.1 SREG – AVR Status Register

The AVR Status Register – SREG – is defined as:

Bit 76543210 0x3F (0x5F) I T H S V N Z C SREG Read/Write R/W R/W R/W R/W R/W R/W R/W R/W Initial Value 0 0 0 0 0 0 0 0

• Bit 7 – I: Global Interrupt Enable

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

ATmega48P/88P/168P/328P

• 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

⊕ V

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.

8025D–AVR–03/08

• 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.

ATmega48P/88P/168P/328P

6.4 General Purpose Register File

The Register File is optimized for the AVR Enhanced RISC instruction set. In order t o 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 6-2 shows the structure of the 32 general purpose working registers in the CPU.

Figure 6-2. AVR CPU General Purpose Working Registers

General R14 0x0E Purpose R15 0x0F Working R16 0x10

Registers R17 0x11

7 0 Addr.

R0 0x00 R1 0x01 R2 0x02 …

R13 0x0D

… R26 0x1A X-register Low Byte R27 0x1B X-register High Byte R28 0x1C Y-register Low Byte R29 0x1D Y-register High Byte R30 0x1E Z-register Low Byte R31 0x1F Z-register High Byte

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 6-2, 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.

8025D–AVR–03/08

6.4.1 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 6-3.

Figure 6-3. The X-, Y-, and Z-registers

15 XH XL 0

X-register 707 0

R27 (0x1B) R26 (0x1A)

15 YH YL 0

Y-register 707 0

R29 (0x1D) R28 (0x1C)

15 ZH ZL 0

Z-register 70 7 0

R31 (0x1F) R30 (0x1E)

In the different addressing modes these addr ess regist er s have fun cti ons a s fi xed d isp lacement , automatic increment, and automatic decrement (see the instruction set reference for details).

ATmega48P/88P/168P/328P

6.5 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 imp lemented as growing f rom higher memor y locations to lower memory locations. This implies that a Stack PUSH co mmand decr eases th e Stack Pointer.

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 0x0100, preferably RAMEND. 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.

8025D–AVR–03/08

ATmega48P/88P/168P/328P

6.5.1 SPH and SPL – Stack Pointer High and Stack Pointer Low Register

T1 T2 T3 T4

Bit 151413121110 9 8 0x3E (0x5E) SP15 SP14 SP13 SP12 SP11 SP10 SP9 SP8 SPH 0x3D (0x5D) SP7 SP6 SP5 SP4 SP3 SP2 SP1 SP0 SPL

76543210

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

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

Initial Value

RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND RAMEND

6.6 Instruction Execution Timing

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

Figure 6-4 shows the parallel instruction fetches and instruction executions enabled by the Har-

vard 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 6-4. The Parallel Instruction Fetches and Instruction Executions

, directly generated from the selected clock source for the

CPU

T1 T2 T3 T4

clk

CPU

1st Instruction Fetch

1st Instruction Execute

2nd Instruction Fetch

nd Instruction Execute

3rd Instruction Fetch

3rd Instruction Execute

4th Instruction Fetch

Figure 6-5 shows the internal timing concept for th e Regi ster File . In a single clock cycl e an ALU

operation using two register operands is executed, and the result is stored back to the destination register.

Figure 6-5. Single Cycle ALU Operation

clk

CPU

Total Execution Time egister Operands Fetch ALU Operation Execute

Result Write Back

8025D–AVR–03/08

6.7 Reset and Interrupt Handling

The AVR provides several different interrupt sources. These interrupts and the separate Reset Vector each have a separate program vector in the program memory space. All interrupts are assigned individual enable bits which must be written logic one toge ther with the Glo bal Interru pt 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 Program-

ming” on page 294 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 58. The list also determines the priority levels of the different interrupts. The lower the address the higher is the priority level. RESET has the highest priority, and next is INT0 – the External Interrupt Request

0. The Interrupt Vectors can be moved to t he start of the Boot Flash section by setting t he IVSEL bit in the MCU Control Register (MCUCR). Refer to ”Interrupts” on page 58 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,

ATmega88P, ATmega168P and ATmega328P” on page 278.

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.

ATmega48P/88P/168P/328P

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 Int errupt Flags. If the interrup t condition disappears before t he 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 rou tine. 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.

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ATmega48P/88P/168P/328P

Assembly Code Example

in r16, SREG ; store SREG value

cli ; disable interrupts during timed sequence

sbi EECR, EEMPE ; start EEPROM write

sbi EECR, EEPE

out SREG, r16 ; restore SREG value (I-bit)

C Code Example

char cSREG;

cSREG = SREG; /* store SREG value */

/* disable interrupts during timed sequence */

_CLI();

EECR |= (1<<EEMPE); /* start EEPROM write */

EECR |= (1<<EEPE);

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

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

__enable_interrupt(); /* set Global Interrupt Enable */

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

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

6.7.1 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 addre ss fo r t he actua l interr up t ha nd ling rout ine 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 ad dition 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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ATmega48P/88P/168P/328P

7. AVR Memories

7.1 Overview

This section describes the different memories in the ATmega48P/88P/168P/328P. The AVR architecture has two main memory spaces, the Data Memory and the Program Memory space. In addition, the ATmega48P/88P/168P/32 8P fe atur es an EEPRO M Memor y for da ta stor ag e. All three memory spaces are linear and regular.

7.2 In-System Reprogrammable Flash Program Memory

The ATmega48P/88P/168P/328P contains 4/8/16/32K bytes On-chip In-System Reprogrammable Flash memory for program st orage. Since all AVR instruct ions are 16 or 32 bits wid e, the Flash is organized as 2/4/8/16K x 16. For software security, the Flash Program memory space is divided into two sections, Boot Loader Section and Application Program Section in ATmega88P and ATmega168P. ATmega48P does not have separate Boot Loader and Application Program sections, and the SPM instruction can be executed from the entire Flash. See SELFPRGEN description in section ”SPMCSR – Store Program Memory Control and Status Register” on page

276 and page 292for more details.

The Flash memory has an endurance of at least 10,000 write/erase cycles. The ATmega48P/88P/168P/328P Program Counter (PC) is 11/12/13/14 bits wide, thus addressing the 2/4/8/16K program memory locations. The operation of Boot Program section and associated Boot Lock bits for software protection are described in detail in ”Self-Programming the

Flash, ATmega48P” on page 270 and ”Boot Loader Support – Read-While-Write Self-Programming, ATmega88P, ATmega168P and ATmega328P” on page 278. ”Memory Programming” on page 294 contains a detailed description on Flash Programming in SPI- or Parallel Programming

mode. 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 Tim-

ing” on page 14.

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ATmega48P/88P/168P/328P

Figure 7-1. Program Memory Map, ATmega48 P

Program Memory

Application Flash Section

0x0000

0x7FF

Figure 7-2. Program Memory Map, ATmega88P, ATmega168P, and ATmega328P

Program Memory

0x0000

Application Flash Section

Boot Flash Section

0x0FFF/0x1FFF/0x3FF

8025D–AVR–03/08

7.3 SRAM Data Memory

Figure 7-3 shows how the ATmega48P/88P/168P/328P SRAM Memory is organized.

The ATmega48P/88P/168P/328P is a complex microcontroller with more peripheral units than can be supported within the 64 locations reserved in the Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 - 0xFF in SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.

The lower 768/1280/1280/2303 data memory locations address both the Register File, the I/O memory, Extended I/O memory, and the internal data SRAM. The first 32 locations address the Register File, the next 64 location the standard I/O memory, then 160 locations of Extended I/O memory, and the next 512/1024/1024/ 2048 locations address the internal data SRAM.

The five different addressing modes for the data memory cover: Direct, Indirect with Displacement, Indirect, Indirect with Pre-decrement, and Indirect with Post-increment. In the Register File, registers R26 to R31 feature the indirect addressing pointer registers.

The direct addressing reaches the entire data space. The Indirect with Displacement mode reaches 63 address locations f rom the base address given

by the Y- or Z-register.

ATmega48P/88P/168P/328P

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

The 32 general purpose working registers, 64 I/O Registers, 160 Extended I/O Registers, and the 512/1024/1024/2048 bytes of in t ernal d at a SRAM in th e ATme ga4 8P/88 P/1 68P/ 328P ar e a ll accessible through all these addressing modes. The Register File is described in ”General Pur-

pose Register File” on page 12.

Figure 7-3. Data Memory Map

Data Memory

32 Registers

64 I/O Registers

160 Ext I/O Reg.

Internal SRAM

(512/1024/1024/2048 x 8)

0x0000 - 0x001F 0x0020 - 0x005F 0x0060 - 0x00FF

0x0100

0x02FF/0x04FF/0x04FF/0x08F

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ATmega48P/88P/168P/328P

7.3.1 Data Memory Access Times

This section describes the general access timing concepts for internal memory access. The internal data SRAM access is performed in two clk

Figure 7-4. On-chip Data SRAM Access Cycles

clk

CPU

ddress

Data

cycles as described in Figure 7-4.

CPU

T1 T2 T3

Compute Address

Address valid

7.4 EEPROM Data Memory

The ATmega48P/88P/168P/328P contains 256/512/512/1K bytes of data EEPROM memory. It is organized as a separate data space, in which single bytes can be read and written. The EEPROM has an endurance of at least 100,000 write/erase cycles. The access between the EEPROM and the CPU is described in the following, specifying the EEPROM Address Registers, the EEPROM Data Register, and the EEPROM Control Register.

”Memory Programming” on page 294 contains a detailed description on EEPROM Programming

in SPI or Parallel Programming mode.

7.4.1 EEPROM Read/Write Access

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

Data

Memory Access Instruction

Write

Read

Next Instruction

The write access time for the EEPROM is given in Table 7-2. 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

is likely to rise or fall slowly on power-up/down. This causes the device for some

period of time to run at a voltage lower than specif ied as mi nimum for the clock fre quen cy used . See ”Preventing EEPROM Corruption” on page 21 for details on how to avoid problems in these situations.

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.

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7.4.2 Preventing EEPROM Corruption

During periods of low V too low for the CPU and the EEPROM to operate properly. These issues a re 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.

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 exter nal low V be used. If a reset occurs while a write operation is in progress, the write operation will be completed provided that the power supply voltage is sufficient.

7.5 I/O Memory

The I/O space definition of the ATmega48P/88P/168P/328P is shown in ”Register Summary” on

page 400.

All ATmega48P/88P/168P/328P I/Os and peripherals are placed in the I/O space. All I/O locations may be accessed by the LD/LDS/LDD and ST/STS/STD instructions, transferring data between the 32 general purpose working registers and the I/O space. I/O Registers within the address range 0x00 - 0x1F 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 spe cific commands IN and OUT, the I/O addresses 0x00 - 0x3F must be used . When addressing I/O Registers as data space using LD and ST instructions, 0x20 must be added to these addresses. The ATmega48P/88P/168P/328P is a complex microcontroller with more peripheral units than can be supported within the 64 location reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 - 0xFF in SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.

ATmega48P/88P/168P/328P

the EEPROM data can be corrupted because the supply voltage is

CC,

reset Protection circuit can

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

Some of the Status Flags are cleared by writing a logical one to them. Note that, unlike most other AVRs, the CBI and SBI instructions will only operate on the specified bit, and can therefore be used on registers containing such Status Flags. The CBI and SBI instructions work with registers 0x00 to 0x1F only.

The I/O and peripherals control registers are explained in later sections.

7.5.1 General Purpose I/O Registers

The ATmega48P/88P/168P/328P contains three General Purpose I/O Registers. These registers can be used for storing any information, and they are particularly useful for storing global variables and Status Flags. General Purpose I/O Registers within the address range 0x00 0x1F are directly bit-accessible using the SBI, CBI, SBIS, and SBIC instructions.

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ATmega48P/88P/168P/328P

7.6 Register Description

7.6.1 EEARH and EEARL – The EEPROM Address Register

Bit 1514131211109 8 0x22 (0x42) – – – – – – – EEAR8 EEARH 0x21 (0x41) EEAR7 EEAR6 EEAR5 EEAR4 EEAR3 EEAR2 EEAR1 EEAR0 EEARL

76543210

Read/Write RRRRRRRR/W

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

Initial Value 0 0 0 0 0 0 0 X

XXXXXXXX

• Bits 15..9 – Res: Reserved Bits

These bits are reserved bits in the ATmega48P/88P/168P/328P and will always read as zero.

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

The EEPROM Address Registers – EEARH and EEARL specify the EEPROM address in the 256/512/512/1K bytes EEPROM space. The EEPROM data bytes are addressed linearly between 0 and 255/511/511/1023. The initial value of EEAR is undefined. A proper value must be written before the EEPROM may be accessed.

EEAR8 is an unused bit in ATmega48P and must always be written to zero.

7.6.2 EEDR – The EEPROM Data Register

Bit 76543210 0x20 (0x40) MSB LSB EEDR Read/Write R/W R/W R/W R/W R/W R/W R/W R/W Initial Value 0 0 0 0 0 0 0 0

• Bits 7..0 – EEDR7.0: EEPROM Data

For the EEPROM write operation, the EEDR Register contains the data to b e 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.

7.6.3 EECR – The EEPROM Control Register

Bit 76543210 0x1F (0x3F) – – EEPM1 EEPM0 EERIE EEMPE EEPE EERE EECR Read/Write R R R/W R/W R/W R/W R/W R/W Initial Value 0 0 X X 0 0 X 0

• Bits 7..6 – Res: Reserved Bits

These bits are reserved bits in the ATmega48P/88P/168P/328P and will always read as zero.

• Bits 5, 4 – EEPM1 and EEPM0: EEPROM Programming Mode Bits

The EEPROM Programming mode bit setting defines which programming action that will be triggered when writing EEPE. It is possible to program data in one atomic operation (erase the old value and program the new value) or to split the Erase and Write operations in two different operations. The Programming t imes fo r the d ifferen t modes ar e shown in Table 7- 1. While EEPE

8025D–AVR–03/08

ATmega48P/88P/168P/328P

is set, any write to EEPMn will be ignored. During reset, the EEPMn bits will be reset to 0b00 unless the EEPROM is busy programming.

Table 7-1. EEPROM Mode Bits

Programming

EEPM1 EEPM0

0 0 3.4 ms Erase and Write in one operation (Atomic Operation) 0 1 1.8 ms Erase Only 1 0 1.8 ms Write Only 1 1 – Reserved for future use

• 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 EEPE is cleared. The interrupt will not be generated during EEPROM write or SPM.

• Bit 2 – EEMPE: EEPROM Master Write Enable

The EEMPE bit determines whether setting EEPE to one causes the EEPROM to be written. When EEMPE is set, setting EEPE within four clock cycles will write data to the EEPROM at the selected address If EEMPE is zero, setting EEPE will have no effect. When EEMPE has been written to one by software, hardware clears the bit to zero after four clock cycles. See the description of the EEPE bit for an EEPROM write procedure.

Time Operation

• Bit 1 – EEPE: EEPROM Write Enable

The EEPROM Write Enable Signal EEPE is the write strobe to the EEPROM. When address and data are correctly set up, the EEPE bit must be written to one to write the value into the EEPROM. The EEMPE bit must be written to one before a logical one is written to EEPE, otherwise no EEPROM write 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 EEPE becomes zero.

2. Wait until SELFPRGEN in SPMCSR becomes zero.

3. Write new EEPROM address to EEAR (optional).

4. Write new EEPROM data to EEDR (optional).

5. Write a logical one to the EEMPE bit while writing a zero to EEPE in EECR.

6. Within four clock cycles after setting EEMPE, write a logical one to EEPE. The EEPROM can not be programmed during a CPU write to the Flash memory. The software

must check that the Flash programming is completed before initiating a new EEPROM write. Step 2 is only relevant if the software contains a Boot Loader allowing the CPU to program the Flash. If the Flash is never bein g up da te d by th e CPU, step 2 can be omitted. See ”Boot Loader

Support – Read-While-Write Self-Programming, ATmega88P, ATmega168P and ATmega328P” on page 278 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.

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ATmega48P/88P/168P/328P

When the write access time has elapsed, the EEPE bit is cleared by hardware. The user software can poll this bit and wait for a zero before writing the next byte. When EEPE 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 Registe r, the EERE b it must be writte n to a log ic one t o trigger t he 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 EEPE 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 7-2 lists the typica l programming time for EEPROM access from the CPU.

Table 7-2. EEPROM Programming Time

Symbol Number of Calibrated RC Oscillator Cycles Typ Programming Time

EEPROM write (from CPU)

The following code examples show one assembly and one C function for writing to the EEPROM. The examples assume that interrupts are controlled (e.g. 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.

26,368 3.3 ms

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ATmega48P/88P/168P/328P

Assembly Code Example

EEPROM_write:

; Wait for completion of previous write

sbic EECR,EEPE

rjmp EEPROM_write

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

out EEARH, r18

out EEARL, r17

; Write data (r16) to Data Register

out EEDR,r16

; Write logical one to EEMPE

sbi EECR,EEMPE

; Start eeprom write by setting EEPE

sbi EECR,EEPE

ret

C Code Example

void EEPROM_write(unsigned int uiAddress, unsigned char ucData)

{

/* Wait for completion of previous write */

while(EECR & (1<<EEPE))

;

/* Set up address and Data Registers */

EEAR = uiAddress;

EEDR = ucData;

/* Write logical one to EEMPE */

EECR |= (1<<EEMPE);

/* Start eeprom write by setting EEPE */

EECR |= (1<<EEPE);

}

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ATmega48P/88P/168P/328P

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,EEPE

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<<EEPE))

;

/* Set up address register */

EEAR = uiAddress;

/* Start eeprom read by writing EERE */

EECR |= (1<<EERE);

/* Return data from Data Register */

return EEDR;

}

7.6.4 GPIOR2 – General Purpose I/O Register 2

Bit 76543210 0x2B (0x4B) MSB LSB GPIOR2 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

7.6.5 GPIOR1 – General Purpose I/O Register 1

Bit 76543210 0x2A (0x4A) MSB LSB GPIOR1 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

7.6.6 GPIOR0 – General Purpose I/O Register 0

Bit 76543210 0x1E (0x3E) MSB LSB GPIOR0 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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8. System Clock and Clock Options

8.1 Clock Systems and their Distribution

Figure 8-1 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 consump tion, th e cloc ks to modules not being used can be halted by using different sleep modes, as described in ”Power Manage-

ment and Sleep Modes” on page 40. The clock systems are detailed below.

Figure 8-1. Clock Distribution

ATmega48P/88P/168P/328P

Asynchronous Timer/Counter

Timer/Counter

Oscillator

General I/O

Modules

clk

ASY

External Clock

ADC

clk

ADC

I/O

AVR Clock

Control Unit

System Clock

Prescaler

Source clock

Clock

Multiplexer

Oscillator

Crystal

CPU Core RAM

clk

CPU

clk

FLASH

Reset Logic

Watchdog Timer

Watchdog clock

Watchdog

Oscillator

Low-frequency

Crystal Oscillator

Flash and EEPROM

Calibrated RC

Oscillator

8.1.1 CPU Clock – clk

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.

8.1.2 I/O Clock – clk

I/O

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 start condition detectio n in the USI module is carried ou t asynchronously when clk

8.1.3 Flash Clock – clk

The Flash clock controls operation of the Flash inte rface. The Fla sh clock is usually active simultaneously with the CPU clock.

8025D–AVR–03/08

CPU

FLASH

is halted, TWI address recognition in all sleep modes.

I/O

ATmega48P/88P/168P/328P

8.1.4 Asynchronous Timer Clock – clk

The Asynchronous Timer clock allows the Asynchronous Timer/Counter to be clocked directly from an external clock or 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.

ASY

8.1.5 ADC Clock – clk

8.2 Clock Sources

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 cir cuit ry. Th is gives mo re accurat e ADC conversion results.

The device has the following clock source options, selec table by Flash Fuse bits as shown below. The clock from the selected so ur ce is i npu t to th e AVR clo c k gene ra to r, and r ou te d to t he appropriate modules.

Table 8-1. Device Clocking Options Select

Device Clocking Option CKSEL3..0

Low Power Crystal Oscillator 1111 - 1000 Full Swing Crystal Oscillator 0111 - 0110 Low Frequency Crystal Oscillator 0101 - 0100 Internal 128 kHz RC Oscillator 0011 Calibrated Internal RC Oscillator 0010 External Clock 0000 Reserved 0001

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

(1)

8.2.1 Default Clock Source

The device is shipped with internal RC oscillator at 8.0MHz and with the fuse CKDIV8 programmed, resulting in 1.0MHz system clock. The startup time is set to maximum and time-out period enabled. (CKSEL = "0010", SUT = "10", CKDIV8 = "0"). The default setting ensures that all users can make their desired clock source set ting usi ng any available program ming interf ace.

8.2.2 Clock Startup Sequence

Any clock source needs a sufficient V cycles before it can be considered stable.

To ensure sufficient V the device reset is released by all other reset sources. ”System Control and Reset” on page 47 describes the start conditions for the in ternal r eset. The delay ( t Oscillator and the number of cycles in the delay is set by the SUTx and CKSELx fuse bits. The

to start oscillating and a minimum number of oscillating

, the device issues an internal reset with a time-out delay (t

) is timed from the Watchdog

TOUT

) after

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ATmega48P/88P/168P/328P

selectable delays are shown in Table 8-2. The frequency of the Watchdog Oscillator is voltage dependent as shown in ”Typical Characteristics” on page 327.

Table 8-2. Number of Watchdog Oscillator Cycles

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

0 ms 0 ms 0

4.1 ms 4.3 ms 512 65 ms 69 ms 8K (8,192)

Main purpose of the delay is to keep the AVR in reset until it is supplied with minimum V delay will not monitor the actual voltage and it will be required to select a delay longer than the V

rise time. If this is not possible, an inter nal or ext ernal Bro wn-Out Detection circuit should be

used. A BOD circuit will ensure sufficient V can be disabled. Disabling the time-out delay without utilizing a Brown-Out Detection circuit is not recommended.

The oscillator is required to oscillate for a minimum number of cycles before the clock is considered stable. An internal ripple counter monitors the oscillator output clock, and keeps the internal reset active for a given number of clock cycles. The reset is then released and the device will start to execute. The recommended oscillator start-up time is dependent on the clock type, and varies from 6 cycles for an externally applied clock to 32K cycles for a low frequency crystal.

The start-up sequence for the clock includes both the time-out delay and the start-up time when the device starts up from reset. When starting up from Power-save or Power -down mod e, V assumed to be at a sufficient level and only the start-up time is included.

8.3 Low Power Crystal Oscillator

Pins XTAL1 and XTAL2 are input and output, respectively, of an inverting amplifier which can be configured for use as an On-chip Oscillator, as shown in Figure 8-2 on page 30. Either a quartz crystal or a ceramic resonator may be used.

This Crystal Oscillator is a low power oscillator, with reduced voltage swing on the XTAL2 output. It gives the lowest power consumption, but is not capable of driving other clock inputs, and may be more susceptible to noise in noisy environments. In these cases, re fer t o th e ”Full Swing

Crystal Oscillator” on page 31.

before it releases the reset, and th e t ime -o ut delay

. The

8025D–AVR–03/08

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 8-3 on page 30. For ceramic resonators, the capacitor values given by the manufacturer should be used.

ATmega48P/88P/168P/328P

Figure 8-2. Crystal Oscillator Connections

XTAL2 (TOSC

XTAL1 (TOSC

GND

The Low Power 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 8-3

on page 30.

Table 8-3. Low Power Crystal Oscillator Operating Modes

Frequency Range

(MHz)

0.4 - 0.9 – 100

0.9 - 3.0 12 - 22 101

3.0 - 8.0 12 - 22 110

8.0 - 16.0 12 - 22 111

(1)

Recommended Range for

Capacitors C1 and C2 (pF) CKSEL3..1

(3)

(2)

Notes: 1. The frequency ranges are preliminary values. Actual values are TBD.

2. This option should not be used with crystals, only with ceramic resonators.

3. If 8 MHz frequency exceeds the specification of the device (depends on VCC), the CKDIV8 Fuse can be programmed in order to divide the internal frequency by 8. It must be ensured that the resulting divided clock meets the frequency specification of the device.

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

8-4.

Table 8-4. Start-up Times for the Low Power Crystal Oscillator Clock Selection

Oscillator Source / Power Conditions

Ceramic resonator, fast rising power

Ceramic resonator, slowly rising power

Ceramic resonator, BOD enabled

Ceramic resonator, fast rising power

Ceramic resonator, slowly rising power

Start-up Time from

Power-down and

Power-save

258 CK 14CK + 4.1 ms

258 CK 14CK + 65 ms

1K CK 14CK

1K CK 14CK + 4.1 ms

1K CK 14CK + 65 ms

Additional Delay

from Reset

= 5.0V) CKSEL0 SUT1..0

(1)

(2)

000

001

010

011

100

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ATmega48P/88P/168P/328P

Table 8-4. Start-up Times for the Low Power Crystal Oscillator Clock Selection (Continued)

Oscillator Source / Power Conditions

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 frequency of the

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

2. These options are intended for use with cer amic 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.

8.4 Full Swing Crystal Oscillator

This Crystal Oscillator is a full swing oscillator, with rail-to-rail swing on the XTAL2 output. This is useful for driving other clock inputs and in noisy environments. The current consumption is higher than the ”Low Power Crystal Oscillator” on page 29. Note that the Full Swing Crystal Oscillator will only operate for V

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 8-6 on page 32. For ceramic resonators, the capacitor values given by the manufacturer should be used.

Start-up Time from

Power-down and

Power-save

16K CK 14CK 1 01

16K CK 14CK + 4.1 ms 1 10

16K CK 14CK + 65 ms 1 11

= 2.7 - 5.5 volts.

Additional Delay

from Reset

(VCC = 5.0V) CKSEL0 SUT1..0

8025D–AVR–03/08

The operating mode is selected by the fuses CKSEL3..1 as shown in Table 8-5.

Table 8-5. Full Swing Crystal Oscillator operating modes

Frequency Range

(MHz)

0.4 - 20 12 - 22 011

Notes: 1. The frequency ranges are preliminary values. Actual values are TBD.

2. If 8 MHz frequency exceeds the specification of the device (depends on V Fuse can be programmed in order to divide the internal frequency by 8. It must be ensured that the resulting divided clock meets the frequency specification of the device.

(1)

Recommended Range for

Capacitors C1 and C2 (pF) CKSEL3..1

(2)

), the CKDIV8

ATmega48P/88P/168P/328P

Figure 8-3. Crystal Oscillator Connections

XTAL2 (TOSC

XTAL1 (TOSC

GND

Table 8-6. Start-up Times for the Full Swing Crystal Oscillator Clock Selection

Oscillator Source / Power Conditions

Ceramic resonator, fast rising power

Ceramic resonator, slowly rising power

Ceramic resonator, BOD enabled

Start-up Time from

Power-down and

Power-save

258 CK 14CK + 4.1 ms

258 CK 14CK + 65 ms

1K CK 14CK

Additional Delay

from Reset

(VCC = 5.0V) CKSEL0 SUT1..0

(1)

(2)

000

001

010

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 frequency of the

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

1K CK 14CK + 4.1 ms

1K CK 14CK + 65 ms

16K CK 14CK 1 01

16K CK 14CK + 4.1 ms 1 10

16K CK 14CK + 65 ms 1 11

(2)

011

100

8025D–AVR–03/08

8.5 Low Frequency Crystal Oscillator

The Low-frequency Crystal Oscillator is optimized for use with a 32.768 kHz watch crystal. When selecting crystals, load capasitance and crystal’s Equivalent Series Resistance, ESR must be taken into consideration. Both values are specified by the crystal vendor. ATmega48P/88P/168P/328P oscillator is optimized for very low power consumption, and thus when selecting crystals, see Table 8-7 on page 33 for maximum ESR recommendations on

6.5 pF, 9.0 pF and 12.5 pF crystals

Table 8-7. Maximum ESR Recommendation for 32.768 kHz Crystal

ATmega48P/88P/168P/328P

Crystal CL (pF) Max ESR [kΩ]

6.5 75

9.0 65

12.5 30

Note: 1. Maximum ESR is typical value based on characterization

(1)

The Low-frequency Crystal Oscillator provides an internal load capacitance of typical 6 pF. Crystals with recommended 6 pF load capacitance can be without external capacitors as shown in

Figure 8-4 on page 33.

Figure 8-4. Crystal Oscillator Connections

XTAL2 (TOSC

XTAL1 (TOSC

Crystals specifying load capacitance (CL) higher than 6 pF, require external capacitors applied as described in Figure 8-2 on page 30.

8025D–AVR–03/08

To find suitable load capacitance for a 32.768 kHz crysal, please consult the crystal datasheet. The Low-frequency Crystal Oscillator must be selected by setting the CKSEL Fuses to “0110” or

“0111”, as shown in Table 8-9. Start-up times are determined by th e SUT Fuses as shown in

Table 8-8.

Table 8-8. Start-up Times for the Low-frequency Crystal Oscillator Clock Selection

SUT1..0 Additional Delay from Reset (VCC = 5.0V) Recommended Usage

00 4 CK Fast rising power or BOD enabled 01 4 CK + 4.1 ms Slowly rising power 10 4 CK + 65 ms Stable frequency at start-up 11 Reserved

ATmega48P/88P/168P/328P

Table 8-9. Start-up Times for the Low-frequency Crystal Oscillator Clock Selection

CKSEL3..0

(1)

0110

0111 32K CK Stable frequency at start-up

Note: 1. This option should only be used if frequency stability at start-up is not important for the

application

Power-down and Power-save Recommended Usage

8.6 Calibrated Internal RC Oscillator

By default, the Internal RC Oscillator provides an approximate 8.0 MHz clock. Though voltage and temperature dependent, this clock can be very accurately calibrated by the user. See Table

28-1 on page 318 for more details. The device is shipped with the CKDIV8 Fuse programmed.

See ”System Clock Prescaler” on page 36 for more details. This clock may be selected as the system cloc k by p rogr am m in g th e CKS E L Fus es a s sh own in

Table 8-10. If selected, it will operate with no external components. During reset, hardware loads

the pre-programmed calibration value into th e OSCCAL Re giste r a nd the reby aut omat ica lly calibrates the RC Oscillator. The accuracy of this calibration is shown as Factory calibration in

Table 28-1 on page 318.

By changing the OSCCAL register from SW, see ”OSCCAL – Oscillator Calibration Register” on

page 38, it is possible to get a higher calibration accuracy than by using the factory calibration.

The accuracy of this calibration is shown as User calibration in Table 28-1 on page 318.

Start-up Time from

1K CK

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 299.

Table 8-10. Internal Calibrated RC Oscillator Operating Modes

Frequency Range

7.3 - 8.1 0010

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

2. The frequency ranges are preliminary values. Actual values are TBD.

3. If 8 MHz frequency exceeds the specification of the device (depends on V Fuse can be programmed in order to divide the internal frequency by 8.

(2)

(MHz) CKSEL3..0

(1)(3)

), the CKDIV8

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

Table 8-11 on page 34.

Table 8-11. Start-up times for the internal calibrated RC Oscillator clock selection

Start-up Time from Power-

Power Conditions

BOD enabled 6 CK 14CK Fast rising power 6 CK 14CK + 4.1 ms 01 Slowly rising power 6 CK 14CK + 65 ms

down and Power-save

Reserved 11

Additional Delay from

Reset (VCC = 5.0V) SUT1..0

(1)

(2)

Note: 1. If the RSTDISBL fuse is progr ammed, this start-up time will be increased to

14CK + 4.1 ms to ensure programming mode can be entered.

The device is shipped with this option selected.

8025D–AVR–03/08

8.7 128 kHz Internal Oscillator

The 128 kHz internal Oscillator is a low power Oscillator providing a clock of 128 kHz. The frequency is nominal at 3V and 25°C. This clock may be select as the system clock by programming the CKSEL Fuses to “11” as shown in Table 8-12.

Table 8-12. 128 kHz Internal Oscillator Operating Modes

Note: 1. The frequency is preliminary value. Actual value is TBD.

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

Table 8-13.

Table 8-13. Start-up Times for the 128 kHz Internal Oscillator

ATmega48P/88P/168P/328P

Nominal Frequency CKSEL3..0

128 kHz 0011

8.8 External Clock

Start-up Time from Power-

Power Conditions

BOD enabled 6 CK 14CK Fast rising power 6 CK 14CK + 4 ms 01 Slowly rising power 6 CK 14CK + 64 ms 10

Note: 1. If the RSTDISBL fuse is progr ammed, this start-up time will be increased to

14CK + 4.1 ms to ensure programming mode can be entered.

down and Power-save

Reserved 11

Additional Delay from

Reset SUT1..0

(1)

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

8-5 on page 35. To run the device on an external clock, the CKSEL Fuses must be programmed

to “0000” (see Table 8-14).

Table 8-14. Crystal Oscillator Clock Frequency

Frequency CKSEL3..0

0 - 20 MHz 0000

Figure 8-5. External Clock Drive Configuration

8025D–AVR–03/08

EXTERNAL

CLOCK

SIGNAL

XTAL2

XTAL1

GND

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

Table 8-15.

ATmega48P/88P/168P/328P

Table 8-15. Start-up Times for the External Clock Selection

Power Conditions

BOD enabled 6 CK 14CK 00 Fast rising power 6 CK 14CK + 4.1 ms 01 Slowly rising power 6 CK 14CK + 65 ms 10

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. If changes of more than 2% is required, ensure that the MCU is kept in Reset during the changes.

Note that the System Clock Prescaler can be used to implement run-ti me changes of the int ernal clock frequency while still ensuring stable operation. Refer to ”System Clock Prescaler” on page

36 for details.

8.9 Clock Output Buffer

The device can output the system clock on the CLKO pin. To enable the output, the CKOUT Fuse has to be programmed. This mode is suit able when the chip clock is u sed to drive other circuits on the system. The clock also will be output during reset, and the normal operation of I/O pin will be overridden when the fuse is programmed. Any clock source, including the internal RC Oscillator, can be selected when the clock is output on CLKO. If the System Clock Prescaler is used, it is the divided system clock that is output.

Start-up Time from Power-

down and Power-save

Reserved 11

Additional Delay from

Reset (VCC = 5.0V) SUT1..0

8.10 Timer/Counter Oscillator

ATmega48P/88P/168P/328P uses the same crystal oscillator for Low-frequency Oscillator and Timer/Counter Oscillator. See ”Low Frequency Crystal Oscillator” on page 33 for details on the oscillator and crystal requirements.

ATmega48P/88P/168P/328P share the Timer/Counter Oscillator Pins (TOSC1 and TOSC2) with XTAL1 and XTAL2. When using the Timer/Counter Oscillator, the system clock needs to be four times the oscillator frequency. Due to this and the pin sharing, the Timer/Counter Oscillator can only be used when the Calibrated Internal RC Oscillator is selected as system clock source.

Applying an external clock source to TOSC1 can be done if EXTCLK in the ASSR Register is written to logic one. See ”Asynchronous Operation of Timer/Counter2” on page 156 for further description on selecting external clock as input instead of a 32.768 kHz watch crystal.

8.11 System Clock Prescaler

The ATmega48P/88P/168P/328P has a system clock prescaler, and the system clock can be divided by setting the ”CLKPR – Clock Prescale Register” on page 387. This featu re can be used to decrease the system clock frequen cy and th e power consumption when the r equireme nt for processing power is low. This can be used with all clock source options, and it will affect the clock frequency of the CPU and all synchronous peripherals. clk are divided by a factor as shown in Table 28-3 on page 319.

When switching between prescaler settings, the System Clock Prescaler ensures that no glitches occurs in the clock system. It also en sures th at no in te rme diate freq ue ncy is higher t han

I/O

, clk

ADC

, clk

, and clk

CPU

FLASH

8025D–AVR–03/08

ATmega48P/88P/168P/328P

neither the clock frequency corresponding to the pr eviou s sett ing, nor t he clock fr equency co rr esponding to the new setting. The ripple counter that implements the prescaler runs at the frequency of the undivided clock, which may be faster than the CPU's clock fr equen cy. Hence, it is not possible to determine the state of the prescaler - even if it were readable, and the exact time it takes to switch from one clock division to the other cannot be exactly predicted. From the time the CLKPS values are written, it takes between T1 + T2 and T1 + 2 * T2 before the new clock frequency is active. In this interval, 2 acti ve cl ock e dge s ar e prod uced. Her e, T1 is t he previous clock period, and T2 is the period corresponding to the new pre scaler setting.

To avoid unintentional changes of clock freq ue ncy, a sp ecial writ e p roce dure mu st b ef ollowe d to change the CLKPS bits:

1. Write the Clock Prescaler Change Enable (CLKPCE) bit to one and all other bitsin CLKPR to zero.

2. Within four cycles, write the desired value to CLKPS while writing a zero to CLKPCE.

Interrupts must be disabled when changing prescaler setting to make sure t he write procedur e is not interrupted.

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ATmega48P/88P/168P/328P

8.12 Register Description

8.12.1 OSCCAL – Oscillator Calibration Register

Bit 76543210 (0x66) CAL7 CAL6 CAL5 CAL4 CAL3 CAL2 CAL1 CAL0 OSCCAL Read/Write R/W R/W R/W R/W R/W R/W R/W R/W Initial Value Device Specific Calibration Value

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

The Oscillator Calibration Register is used to trim the Calibrated Internal RC Oscillator to remove process variations from the oscillator frequency. A pre-programmed calibration value is automatically written to this register during chip reset, giving the Factory calibrated frequency as specified in Table 28-1 on page 318. The application software can write this register to change the oscillator frequency. The oscillator can be calibrated to frequencies as specified in Table 28-

1 on page 318. Calibration outside that range is not guaranteed.

Note that this oscillator is used to time EEPROM and Flash write accesses, and these write times will be affected accordingly. If the EEPROM or Flash are written, do not calibrate to more than 8.8 MHz. Otherwise, the EEPROM or Flash write may fail.

The CAL7 bit determines the range of operation for the oscillator. Setting this bit to 0 gives the lowest frequency range, setting this bit to 1 gives the highest frequency range. The two frequency ranges are overlapping, in other words a setting of OSCCAL = 0x7F gives a higher frequency than OSCCAL = 0x80.

The CAL6..0 bits are used to tune the frequency within the selected range. A setting of 0x00 gives the lowest frequency in that r ange, and a setting of 0x7F g ives the high est freq uency in the range.

8.12.2 CLKPR – Clock Prescale Register

Bit 76543210 (0x61) Read/Write R/W R R R R/W R/W R/W R/W Initial Value 0 0 0 0 See Bit Description

CLKPCE – – – CLKPS3 CLKPS2 CLKPS1 CLKPS0 CLKPR

• Bit 7 – CLKPCE: Clock Prescaler Change Enable

The CLKPCE bit must be written to logic one to enable change of the CLKPS bits. The CLKPCE bit is only updated when the other bits in CLKPR are simultaneously written to zero. CLKPCE is cleared by hardware four cycles after it is written or when CLKPS bits are written. Rewriting the CLKPCE bit within this time-out period does neither extend the time-out period, nor clear the CLKPCE bit.

• Bits 3..0 – CLKPS3..0: Clock Prescaler Select Bits 3 - 0

These bits define the division factor between the selected clock source and the internal system clock. These bits can be written run-time to vary the clock frequency to suit the application requirements. As the divider divides the master clock input to t he MCU, the speed o f all synchronous peripherals is reduced when a division factor is used. The division factors are given in

Table 8-16 on page 39.

8025D–AVR–03/08

ATmega48P/88P/168P/328P

The CKDIV8 Fuse determines the initial value of the CLKPS bits. If CKDIV8 is unprogrammed, the CLKPS bits will be reset to “0000”. If CKDIV8 is programmed, CLKPS bits are reset to “0011”, giving a division factor of 8 at start up. This feature should be used if the selected clock source has a higher frequency than the maximum frequency of the device at the present operating conditions. Note that any value can be written to the CLKPS bits regardless of the CKDIV8 Fuse setting. The Application software must ensure that a sufficient division factor is chosen if the selected clock source has a higher frequency than the maximum frequency of the device at the present operating conditions. The device is shipped with the CKDIV8 Fuse programmed.

Table 8-16. Clock Prescaler Select

CLKPS3 CLKPS2 CLKPS1 CLKPS0 Clock Division Factor

0000 1 0001 2 0010 4 0011 8 0100 16 0101 32 0110 64 0111 128 1000 256 1001 Reserved 1010 Reserved 1011 Reserved 1100 Reserved 1101 Reserved 1110 Reserved 1111 Reserved

8025D–AVR–03/08

ATmega48P/88P/168P/328P

9. 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 po wer consumption to the application’s requirements.

When enabled, the Brown-out Detector (BOD) actively monitors the power supply volta ge dur ing the sleep periods. To further save power, it is possib le to d isable the BOD in some sleep modes. See ”BOD Disable” on page 41 for more details.

9.1 Sleep Modes

Figure 8-1 on page 27 presents the different clock systems in the ATmega48P/88P/168P/328P,

and their distribution. The figure is helpful in selecting an appropriate sleep mode. Table 9-1 shows the different sleep modes, their wake up sources BOD disable ability.

Table 9-1. Active Clock Domains and Wake-up Sources in the Different Sleep Modes.

Active Clock Domains Oscillators Wake-up Sources

CPU

FLASH

clk

Sleep Mode

clk

Idle XXX X X

ADC

clkIOclk

ASY

clk

Main Clock

Source Enabled

Timer Oscillator

Enabled

INT1, INT0 and

Pin Change

TWI Address

Match

Timer2

(2)

X X X X XXX

SPM/EEPROM

Software

Ready

ADC

WDT

Other/O

BOD Disable

ADC Noise Reduction

XX X X

Power-down X Power-save X X Standby Extended

Standby

(1)

(2)

(3)

XXX XX X X XXX

XX X X

Notes: 1. Only recommended with external crystal or resonator selected as clock source.

2. If Timer/Counter2 is running in asynchronous mode.

3. For INT1 and INT0, only level interrupt.

To enter any of the six sleep modes, the SE bit in SMCR must be written to lo gic one and a SLEEP instruction must be executed. The SM2, SM1, and SM0 bits in the SMCR 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 9-2 on page 45 for a summary.

If an enabled interrupt occurs while the MCU is in a sleep mode, the MCU wakes up. The MCU is then halted for four cycles in addition to the start-up time, executes the interrupt routine, and resumes execution from the instruction following SLEEP. The contents of the Register File and SRAM are unaltered when the device wakes up from slee p. I f a r eset occurs d uri ng sle ep mode, the MCU wakes up and executes from the Reset Vector.

(2)

XXX

8025D–AVR–03/08

9.2 BOD Disable

ATmega48P/88P/168P/328P

When the Brown-out Detector (BOD) is enabled by BODLEVEL fuses, Table 27-7 on page 297, the BOD is actively monitoring the power supply voltage during a sleep period. To save power, it is possible to disable the BOD by software for some of the sleep modes, see Table 9-1 on page

40. The sleep mode power consumption will then be at the same level as when BOD is globally

disabled by fuses. If BOD is disabled in software, the BOD function is turned off immediately after entering the sleep mode. Upon wake-up from sleep, BOD is automatically enabled again. This ensures safe operation in case the V

When the BOD has been disabled, the wake-up time from sleep mode will be approximately 60 µs to ensure that the BOD is working correctly before the MCU continues executing code.

BOD disable is controlled by bit 6, BODS (B OD Sleep) in the control register MCUCR, see

”MCUCR – MCU Control Register” on page 45. Writing this bit to one turns off the BOD in rele-

vant sleep modes, while a zero in this bit keeps BOD active. Default setting keeps BOD active, i.e. BODS set to zero.

Writing to the BODS bit is controlled by a timed sequence and an enable bit, see ”MCUCR –

MCU Control Register” on page 45.

level has dropped during the sleep period.

9.3 Idle Mode

When the SM2..0 bits are written to 000, the SLEEP instruction makes the MCU enter Idle mode, stopping the CPU but allowing the SPI, USART, Analog Comparator, ADC, 2-wire Serial Interface, Timer/Counters, Watchdog, and the inter ru pt syste m to con tinue o pe ratin g. This sleep mode basically halts clk

Idle mode enables the MCU to wake up from external triggered interrupts as well a s internal ones like the Timer Overflow and USART Transmit Complete interru pts. If wake-up from the Analog Comparator interrupt is not required, the Analog Comparator can be po wered 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.

9.4 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 allow ing the ADC, the external interru pts, the 2wire Serial Interface address wa tch, Time r/Cou nte r2 (if enabled). This sleep mode basically halts clk clocks to run.

This improves the noise environment for the ADC, enabling higher resolution measurements. If the ADC is enabled, a conversion starts automatically when this mode is e ntered. Apart fr om the ADC Conversion Complete interrupt, only an External Reset, a Watchdog System Reset, a Watchdog Interrupt, a Brown-out Reset, a 2-wire Seria l Interface address match, a Timer/Counter2 interrupt, an SPM/EEPROM ready interrupt, an external level interrupt on INT0 or INT1 or a pin change interrupt can wake up the MCU from ADC Noise Reduction mode.

CPU

and clk

, while allowing the other clocks to run.

FLASH

(1)

, and the Watchdog to continue operating

I/O

, clk

CPU

, and clk

FLASH

, while allowing the other

8025D–AVR–03/08

Note: 1. Timer/Counter2 will only keep running in asynchronous mode, see ”8-bit Timer/Counter2 with

PWM and Asynchronous Operation” on page 145 for details.

ATmega48P/88P/168P/328P

9.5 Power-down Mode

When the SM2..0 bits are written to 010, the SLEEP instruction makes the MCU enter Powerdown mode. In this mode, the external Oscillator is stopped, while the external interrupts, the 2wire Serial Interface address watch, and the Watchdog continue operating (if enabled). Only an External Reset, a Watchdog System Reset, a Watchdog Interrupt, a Brown-out Reset, a 2-wire Serial Interface address match, an external level interrupt on INT0 or INT1, or a pin change interrupt can wake up the MCU. This sleep mode basically halts all generated 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 71 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 28.

9.6 Power-save Mode

When the SM2..0 bits are written to 011, the SLEEP instruction makes the MCU enter Powersave mode. This mode is identical to Power-down, with one exception:

If Timer/Counter2 is enabled, it will keep running during sleep. The device can wake up from either Timer Overflow or Output Compare event from Timer/Counter2 if the corresponding Timer/Counter2 interrupt enable bits are set in TIMSK2, and the Global Interrupt Enable bit in SREG is set.

If Timer/Counter2 is not running, Power-down mode is recommended instead of Power-save mode.

The Timer/Counter2 can be clocked both synchronously and asynchronously in Power-save mode. If Timer/Counter2 is not using the asynchronous clock, the Timer/Counter Oscillator is stopped during sleep. If Timer/Counter2 is not using the synchronous clock, the clock source is stopped during sleep. Note that even if the synchronous clock is running in Power-save, this clock is only available for Timer/Counter2.

9.7 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.

9.8 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 with the exception that the Oscillator is kept running. From Extended Standby mode, the device wakes up in six clock cycles.

8025D–AVR–03/08

9.9 Po wer Reduction Register

The Power Reduction Register (PRR), see ”PRR – Power Reduction Register” on page 46, pro- vides a method to stop the clock to individual peripherals to reduce power consumption. The current state of the peripheral is frozen and the I/O registers can not be read or written. Resources used by the peripheral when stopping the clock will remain occupied, hence the peripheral should in most cases be disabled before stopping the clock. Waking up a module, which is done by clearing the bit in PRR, puts the module in the same state as before shutdown .

Module shutdown can be used in Idle mode and Active mode to significantly reduce the overall power consumption. In all other sleep modes, the clock is already stopped.

9.10 Minimizing Power Consumption

There are several possibilities 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.

9.10.1 Analog to Digital Converter

If enabled, the ADC will be enabled in all sleep modes. To save power, the ADC should be disabled before entering any sleep mode. When the ADC is turned off and on again, the next conversion will be an extended conversion. Refer to ”Analog-to-Digital Converter” on page 251 for details on ADC operation.

ATmega48P/88P/168P/328P

9.10.2 Analog Comparator

When entering Idle mode, the Analog Comparator should be disabled if not used. When entering ADC Noise Reduction mode, the Analog Comparator should be disabled. In 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, independe nt of sleep mode. Refer to ”Analog Comparator” on page 247 for details on how to configure the Analog Comparator.

9.10.3 Brown-out Detector

If the Brown-out Detector is not needed by the a pplication, this module sh ould be turned off. If the Brown-out Detector is enabled by the BODLEVEL Fuses, it will be enabled in all sleep modes, and hence, always consume power. In the deeper sleep modes, this will contribute significantly to the total current consumption. Refer to ”Brown-out Detection” on page 49 for details on how to configure the Brown-out Detector.

9.10.4 Internal Voltage Reference

The Internal Voltage Reference will be enabled when needed by the Brown-out Detection, 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 Volt-

age Reference” on page 50 for details on the start-up time.

8025D–AVR–03/08

ATmega48P/88P/168P/328P

9.10.5 Watchdog Timer

If the Watchdog Timer is not needed in t he application, the m odule should be tu rned 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 51 for details on how to configu re t he Wa tchd og Time r.

9.10.6 Port Pins

When entering a sleep mode, all port pins should be configured to use minimum power. The most important is then to ensure that no pins drive resistive loads. In sleep modes where both the I/O clock (clk 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 80 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

For analog input pins, the digital input buffer should be disabled at all times. An analog signal level close to V input buffers can be disabled by writing to the Digital Input Disable Registers (DIDR1 and DIDR0). Refer to ”DIDR1 – Digital Input Disable Register 1” on page 250 and ”DIDR0 – Digital

Input Disable Register 0” on page 267 for details.

9.10.7 On-chip Debug System

If the On-chip debug system is enabled by the DWEN Fuse and the chip enters sleep mode, the main clock source is enabled and hence always consumes power. In the deeper sleep modes, this will contribute significantly to the total current consumption.

) and the ADC clock (clk

I/O

/2, the input buffer will use excessive power.

/2 on an input pin can cause significant current even in active mode. Digital

) are stopped, the input buffers of the device will

ADC

8025D–AVR–03/08

9.11 Register Description

9.11.1 SMCR – Sleep Mode Control Register

The Sleep Mode Control Register contains control bits for power management.

Bit 76543210 0x33 (0x53) – – – – SM2 SM1 SM0 SE SMCR Read/Write R R R R R/W R/W R/W R/W Initial Value 0 0 0 0 0 0 0 0

• Bits 7..4 Res: Reserved Bits

These bits are unused bits in the ATmega48P/88P/168P/328P, and will always read as zero.

• Bits 3..1 – SM2..0: Sleep Mode Select Bits 2, 1, and 0

These bits select between the five available sleep modes as shown in Table 9-2.

Table 9-2. Sleep Mode Select

SM2 SM1 SM0 Sleep Mode

000Idle 0 0 1 ADC Noise Reduction 0 1 0 Power-down

ATmega48P/88P/168P/328P

0 1 1 Power-save 100Reserved 101Reserved 1 1 0 Standby 1 1 1 External Standby

Note: 1. Standby mode is only recommended for use with external crystals or resonators.

• Bit 0 – SE: Sleep Enable

The SE bit must be written to logic one to make the MCU enter the sleep mode when th e SLEEP instruction is executed. To avoid the MCU enteri ng th e sleep mode unless it is the programmer’s purpose, it is recommended to write the Sleep Enable (SE) b it to one just befor e the exe cution of the SLEEP instruction and to clear it immediately after waking up.

9.11.2 MCUCR – MCU Control Register

Bit 7 6 5 4 3 2 1 0 0x35 (0x55) – BODS BODSE Read/Write R R R R/W R R R/W R/W Initial Value 0 0 0 0 0 0 0 0

• Bit 6 – BODS: BOD Sleep

The BODS bit must be written to logic one in order to turn off BOD during sleep, see Table 9-1

on page 40. Writing to the BODS bit is controlled by a timed sequence and an enable bit,

BODSE in MCUCR. To disable BOD in relevant sleep modes, both BODS and BODSE must first

(1)

PUD – – IVSEL IVCE MCUCR

8025D–AVR–03/08

ATmega48P/88P/168P/328P

be set to one. Then, to set the BODS bit, BODS must be set to one and BODSE must be set to zero within four clock cycles.

The BODS bit is active three clock cycles after it is set. A sleep instruction must be executed while BODS is active in order to turn off the BOD for the actual sleep mode . The BODS bit is automatically cleared after three clock cycles.

• Bit 5 – BODSE: BOD Sleep Enable

BODSE enables setting of BODS control bit, as explained in BODS bit description. BOD disabl e is controlled by a timed sequence.

9.11.3 PRR – Power Reduction Register

Bit 76543210 (0x64) PRTWI PRTIM2 PRTIM0 – PRTIM1 PRSPI PRUSART0 PRADC PRR Read/Write R/W R/W R/W R R/W R/W R/W R/W Initial Value 0 0 0 0 0 0 0 0

• Bit 7 - PRTWI: Power Reduction TWI

Writing a logic one to this bit shuts down the TWI by stopping the clock to the module. When waking up the TWI again, the TWI should be re initialized to ensure proper operation.

• Bit 6 - PRTIM2: Power Reduction Timer/Counter2

Writing a logic one to this bit shuts down th e Timer /Coun ter2 mo dule in synchronous mo de (AS2 is 0). When the Timer/Counter2 is enabled, operation will continue like before the shutdown.

• Bit 5 - PRTIM0: Power Reduction Timer/Counter0

Writing a logic one to this bit shuts down the Timer/Counter0 module. When the Timer/Counter0 is enabled, operation will continue like before the shutdown.

• Bit 4 - Res: Reserved bit

This bit is reserved in ATmega48P/88P/168P/328P and will always read as zero.

• Bit 3 - PRTIM1: Power Reduction Timer/Counter1

Writing a logic one to this bit shuts down the Timer/Counter1 module. When the Timer/Counter1 is enabled, operation will continue like before the shutdown.

• Bit 2 - PRSPI: Power Reduction Serial Peripheral Interface

If using debugWIRE On-chip Debug System, this bit should not be written to one. Writing a logic one to this bit shuts down the Serial Peripheral Interface by stopping the clock to

the module. When waking up the SPI again, the SPI should be re initialized to ensure proper operation.

• Bit 1 - PRUSART0: Power Reduction USART0

Writing a logic one to this bit shuts down the USART by stopping the clock to the module. When waking up the USART again, the USART should be re initialized to ensure proper operat ion.

• Bit 0 - PRADC: Power Reduction ADC

Writing a logic one to this bit shuts do wn the ADC. The ADC mu st be disabled b efore shut down. The analog comparator cannot use the ADC input MUX when the ADC is shut down.

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10. System Control and Reset

10.1 Resetting the AVR

During reset, all I/O Registers are set to their initial values, and the program starts execution from the Reset Vector. For the ATmega168P, the instruction placed at the Reset Vecto r must be a JMP – Absolute Jump – instruction to the reset handling routine . For the ATmega48P and ATmega88P, the instruction placed at the Reset Vect or must be an RJMP – Relative Jump – instruction to the reset handling routine. If the program never enables an interrupt source, the Interrupt Vectors are not used, and regular program code can be placed at these locations. This is also the case if the Reset Vector is in the Application section while the Interrupt Vectors are in the Boot section or vice versa (ATmega88P/168P only). The circuit diagram in Figure 10-1 on

page 48 shows the reset logic. Table 28-3 on page 319 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 SUT and CKSEL Fuses. The different selections for the delay period are presented in ”Clock Sources” on page 28.

ATmega48P/88P/168P/328P

10.2 Reset Sources

The ATmega48P/88P/168P/328P has four 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

the minimum pulse length.

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

Watchdog System Reset mode is enabled.

• Brown-out Re set. The MCU is reset when the supply v oltage V

threshold (V

POT

) and the Brown-out Detector is enabled.

BOT

pin for longer than

is below the Brown-out Rese t

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Figure 10-1. Reset Logic

RESET

Power-on Reset

Circuit

DATA BU S

MCU Status

BORF

PORF

WDRF

EXTRF

10.3 Power-on Reset

A Power-on Reset (POR) pulse is generated by an On-chip detection circuit. The detection level is defined in ”System and Reset Characteristics” on page 319. The POR is activated whenever V well as to detect a failure in supply voltage.

BODLEVEL [2..0]

Pull-up Resistor

SPIKE

FILTER

RSTDISBL

is below the detection level. The POR circuit can be used to trigger the start-up Reset, as

Brown-out

Reset Circuit

Watchdog

Oscillator

Clock

Generator

CKSEL[3:0]

SUT[1:0]

Delay Counters

TIMEOUT

A Power-on Reset (POR) circuit ensures that the device is reset from Power-on. Reac hing the Power-on Reset threshold voltage invokes the delay counter, which determines how long the device is kept in RESET after V when V

decreases below the detection level.

Figure 10-2. MCU Start-up, RESET

RESET

IME-OUT

NTERNAL

rise. The RESET signal is activated again, without any delay,

Tied to V

POT

RST

TOUT

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10.4 External Reset

RESET

ATmega48P/88P/168P/328P

Figure 10-3. MCU Start-up, RESET Extended Externally

RESET

IME-OUT

NTERNAL

An External Reset is generated by a low level on the RESET pin. Reset pulses longer than the minimum pulse width (see ”System and Reset Characteristics ” on page 319) 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 delay counter starts the MCU after the Time-out period – t can be disabled by the RSTDISBL fuse, see Table 27-7 on page 297.

POT

RST

TOUT

– on its positive edge, the

RST

has expired. The External Reset

TOUT –

Figure 10-4. External Reset During Operation

10.5 Brown-out Detection

ATmega48P/88P/168P/328P has an On-chip Brown-out Detection (BOD) circuit for monitoring the V

BOD can be selected by the BODLEVEL Fuses. The trigger level has a hysteresis to ensure spike free Brown-out Detection. The hysteresis o n the detection level should be interpreted as V

= V

BOT+

decreases to a value below the trigger level (V Reset is immediately activated. When V

5 on page 50), the delay counter starts the MCU after the Time-out period t

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

level during operation by comparing it to a fixed trigger level. The trigger level for the

+ V

BOT

given in ”System and Reset Characteristics” on page 319.

BOD

HYST

/2 and V

BOT-

= V

- V

BOT

increases above the trigger level (V

/2.When the BOD is enabled, and V

HYST

in Figure 10-5 on page 50), the Brown-out

BOT-

if the voltage stays below the trigger level for

BOT+

has expired.

TOUT

in Figure 10-

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Figure 10-5. Brown-out Reset During Operation

10.6 Watchdog System Reset

When the Watchdog times out, it will generate a short reset pulse of one CK cycle duration. On the falling edge of this pulse, the delay timer starts counting the Time-out period t

page 51 for details on operation of the Wat chdog Timer.

Figure 10-6. Watchdog System Reset During Operation

RESET

IME-OUT

NTERNAL

RESET

BOT-

BOT+

TOUT

. Refer to

10.7 Internal Voltage Reference

ATmega48P/88P/168P/328P features an internal bandgap reference. This reference is used for Brown-out Detection, and it can be used as an input to the Analog Comparator or the ADC.

10.7.1 Voltage Reference Enable Signals and Start-up Time

The voltage reference has a start-up time that may influence the way it should be used. T he start-up time is given in ”System and Reset Characteristics” on page 319. To save power, the reference is not always turned on. The reference is on during the following situations:

1. When the BOD is enab led (by programming the BODLEVEL [2:0] Fuses).

2. When the bandgap reference is connected to the Analog Comparator (by setting the ACBG bit i n 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

8025D–AVR–03/08

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.

10.8 Watchdog Timer

10.8.1 Features

•

• 3 Operating modes

• Selectable Time-out period from 16ms to 8s

• Possible Hardware fuse Watchdog al ways on (WDTON) for fail-safe mode

10.8.2 Overview

ATmega48P/88P/168P/328P has an Enhanced Watchdog Timer (WDT). The WDT is a timer counting cycles of a separate on-chip 128 kHz oscillator. The WDT gives an interrupt o r a system reset when the counter reaches a given time-out value. In normal operation mode, it is required that the system uses the WDR - Watchdog Timer Reset - instruction to restart th e counter before the time-out value is reached. If the system doesn't restart the counter, an interrupt or system reset will be issued.

ATmega48P/88P/168P/328P

Clocked from separate On-chip Oscillator

–Interrupt – System Reset – Interrupt and System Reset

Figure 10-7. Watchdog Timer

128kHz

OSCILLATOR

OSC/2K

OSC/4K

OSC/8K

OSC/16K

OSC/32K

OSC/64K

OSC/512K

OSC/128K

OSC/256K

OSC/1024K

WDP0

WATCHDOG RESET

WDE

WDIF

WDIE

WDP1 WDP2 WDP3

MCU RESET

INTERRUPT

In Interrupt mode, the WDT gives an interrupt when the time r expires. This int errupt can be used to wake the device from sleep-modes, and also as a general system timer. One example is to limit the maximum time allowed for certain operations, giving an interrupt when the operation has run longer than expected. In System Reset mode, th e WDT gives a reset when the timer expires. This is typically used to prevent system hang-up in case of runaway code. The third mode, Interrupt and System Reset mode, combines the other two modes by first giving an interrupt and then switch to System Reset mode. This mode will for instance allow a safe shutdown by saving critical parameters before a system reset.

8025D–AVR–03/08

The Watchdog always on (WDTON) fuse, if programmed, will force the Watchdog Timer to System Reset mode. With the fuse programmed the System Reset mode bit (WDE) and Interrupt

ATmega48P/88P/168P/328P

mode bit (WDIE) are locked to 1 and 0 respectively. To further ensure program security, alterations to the Watchdog set-up must follow timed sequences. The sequence for clearing WDE and changing time-out configuration is as follows:

1. In the same op erat ion, write a logic one to the Watchdog change enable bit (WDCE) and WDE. A logic one must be written to WDE regardless of the previous value of the WDE bit.

2. Within the next four clock cycles, write the WDE and Watchdog prescaler bits (WDP) as desired, but with the WDCE bit cleared. This must be done in one operation.

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

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Assembly Code Example

WDT_off:

; Turn off global interrupt

cli

; Reset Watchdog Timer

wdr

; Clear WDRF in MCUSR

in r16, MCUSR

andi r16, (0xff & (0<<WDRF))

out MCUSR, r16

; Write logical one to WDCE and WDE

; Keep old prescaler setting to prevent unintentional time-out

lds r16, WDTCSR

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

sts WDTCSR, r16

; Turn off WDT

ldi r16, (0<<WDE)

sts WDTCSR, r16

; Turn on global interrupt

sei

ret

C Code Example

(1)

void WDT_off(void)

{

__disable_interrupt();

__watchdog_reset();

/* Clear WDRF in MCUSR */

MCUSR &= ~(1<<WDRF);

/* Write logical one to WDCE and WDE */

/* Keep old prescaler setting to prevent unintentional time-out */

WDTCSR |= (1<<WDCE) | (1<<WDE);

/* Turn off WDT */

WDTCSR = 0x00;

__enable_interrupt();

}

Note: 1. See ”About Code Examples” on page 8.

Note: If the Watchdog is accidentally enabled, for example by a runaway pointer or brown-out condition, the device will be reset and the Watchdog Timer will stay enabled. If the code is n ot set up to handle the Watchdog, this might lead to an etern al loop of time-out resets. To avoid t his situation, the application software should always clear the Watchdog System Reset Flag (WDRF) and the WDE control bit in the initialisation routine, even if the Watchdog is not in use.

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ATmega48P/88P/168P/328P

The following code example shows one assembly and one C function for changing the time-out value of the Watchdog Timer.

Assembly Code Example

WDT_Prescaler_Change:

; Turn off global interrupt

cli

; Reset Watchdog Timer

wdr

; Start timed sequence

lds r16, WDTCSR

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

sts WDTCSR, r16

; -- Got four cycles to set the new values from here -

; Set new prescaler(time-out) value = 64K cycles (~0.5 s)

ldi r16, (1<<WDE) | (1<<WDP2) | (1<<WDP0)

sts WDTCSR, r16

; -- Finished setting new values, used 2 cycles -

; Turn on global interrupt

sei

ret

C Code Example

(1)

void WDT_Prescaler_Change(void)

{

__disable_interrupt();

__watchdog_reset();

/* Start timed equence */

WDTCSR |= (1<<WDCE) | (1<<WDE);

/* Set new prescaler(time-out) value = 64K cycles (~0.5 s) */

WDTCSR = (1<<WDE) | (1<<WDP2) | (1<<WDP0);

__enable_interrupt();

}

Note: 1. See ”About Code Examples” on page 8.

Note: The Watchdog Timer should be reset before any change of the WDP bits, since a change in the WDP bits can result in a time-out when switching to a shorter time-out period.

8025D–AVR–03/08

10.9 Register Description

10.9.1 MCUSR – MCU Status Register

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

Bit 76543210 0x35 (0x55) ––––WDRFBORFEXTRFPORFMCUSR Read/Write RRRRR/WR/WR/WR/W Initial Value0000 See Bit Description

• Bit 7..4: Res: Reserved Bits

These bits are unused bits in the ATmega48P/88P/168P/328P, and will always read as zero.

• Bit 3 – WDRF: Watchdog System Reset Flag

This bit is set if a Watchdog System 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.

ATmega48P/88P/168P/328P

• 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.

• 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 MCUSR 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.

10.9.2 WDTCSR – Watchdog Timer Control Register

Bit 76543210 (0x60) WDIF WDIE WDP3 WDCE WDE WDP2 WDP1 WDP0 WDTCSR Read/Write R/W R/W R/W R/W R/W R/W R/W R/W Initial Value 0 0 0 0 X 0 0 0

• Bit 7 - WDIF: Watchdog Interrupt Flag

This bit is set when a time-out occurs in the Watchdog Timer and the Watchdog Timer is configured for interrupt. WDIF is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, WDIF is clear ed by writing a logic on e to the f lag. Whe n the I-bi t in SREG and WDIE are set, the Watchdog Time-out Interrupt is executed .

• Bit 6 - WDIE: Watchdog Interrupt Enable

When this bit is written to one and the I-bit in the Status Re gister is set, the Wa tchdog Interr upt is enabled. If WDE is cleared in combination with this setting, the Watchdog Timer is in Interrupt Mode, and the corresponding interrupt is executed if time-out in the Watchdog Timer occurs. If WDE is set, the Watchdog Timer is in Interr upt a nd System Reset Mode . The first t ime-o ut in the Watchdog Timer will set WDIF. Executing the corresponding interrupt vector will clear WDIE and

8025D–AVR–03/08

ATmega48P/88P/168P/328P

WDIF automatically by hardware (the Watchdog goes to System Reset Mode). This is useful for keeping the Watchdog Timer security while using the interrupt. To stay in Interrupt and System Reset Mode, WDIE must be set after each interr up t. Th is sh ou ld however not b e done with in t he interrupt service routine itself, as this might compromise the safety-function of the Watchdog System Reset mode. If the interrupt is not executed before the next time-out, a System Reset will be applied.

Table 10-1. Watchdog Timer Configuration

WDTON

Note: 1. WDTON Fuse set to “0” means programmed and “1” means unprogrammed.

(1)

1 0 0 Stopped None 1 0 1 Interrupt Mode Interrupt 1 1 0 System Reset Mode Reset

111

0 x x System Reset Mode Reset

WDE WDIE Mode Action on Time-out

Interrupt and System Reset Mode

Interrupt, then go to System Reset Mode

• Bit 4 - WDCE: Watchdog Change Enable

This bit is used in timed sequences for changing WDE and prescaler bits. To clear the WDE bit, and/or change the prescaler bits, WDCE must be set.

Once written to one, hardware will clear WDCE after four clock cycles.

• Bit 3 - WDE: Watchdog System Reset Enable

WDE is overridden by WDRF in MCUSR. This means that WDE is always set when WDRF is set. To clear WDE, WDRF must be cleared first. This feature ensur es multiple reset s during co nditions causing failure, and a safe start-up after the failure.

• Bit 5, 2..0 - WDP3..0: Watchdog Timer Prescaler 3, 2, 1 and 0

The WDP3..0 bits determine the Watchdog Timer prescaling when the Watchdog Time r is running. The different prescaling values and their corresponding time-out periods are shown in

Table 10-2 on page 56.

Table 10-2. Watchdog Timer Prescale Select

Number of WDT Oscillator

WDP3 WDP2 WDP1 WDP0

0 0 0 0 2K (2048) cycles 16 ms 0 0 0 1 4K (4096) cycles 32 ms 0 0 1 0 8K (8192) cycles 64 ms 0 0 1 1 16K (16384) cycles 0.125 s 0 1 0 0 32K (32768) cycles 0.25 s 0 1 0 1 64K (65536) cycles 0.5 s 0 1 1 0 128K (131072) cycles 1.0 s

Cycles

Typical Time-out at

VCC = 5.0V

0 1 1 1 256K (262144) cycles 2.0 s

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ATmega48P/88P/168P/328P

Table 10-2. Watchdog Timer Prescale Select (Continued)

Number of WDT Oscillator

WDP3 WDP2 WDP1 WDP0

1 0 0 0 512K (524288) cycles 4.0 s 1 0 0 1 1024K (1048576) cycles 8.0 s 1010 1011 1100 1101 1110 1111

Cycles

Reserved

Typical Time-out at

VCC = 5.0V

8025D–AVR–03/08

ATmega48P/88P/168P/328P

11. Interrupts

This section describes the specifics of the interrupt handling as performed in ATmega48P/88P/168P/328P. For a general explanation of the AVR interrupt handling, refe r to

”Reset and Interrupt Handling” on page 15.

The interrupt vectors in ATmega48P, ATmega88P, ATmega168P, and ATmega328P are generally the same, with the following differences:

• Each Interrupt Vector occupies two instruction words in ATmega168P and ATmega328P, and

one instruction word in ATmega48P and ATmega88P.

• ATmega48P does not have a separate Boot Loader Section. In ATmega88P, ATmega168P,

and ATmega328P, the Reset V ector is aff ected b y the BOO TRST fu se, and the Int errupt Vector start address is affected by the IVSEL bit in MCUCR.

11.1 Interrupt V ectors in ATmega48P

Table 11-1. Reset and Interrupt V ectors in ATmega48P

Vector No. Pr ogram Address Source Interrupt Definition

1 0x000 RESET 2 0x001 INT0 External Interrupt Request 0 3 0x002 INT1 External Interrupt Request 1 4 0x003 PCINT0 Pin Change Interrupt Request 0 5 0x004 PCINT1 Pin Change Interrupt Request 1 6 0x005 PCINT2 Pin Change Interrupt Request 2

External Pin, Power-on Reset, Brown-out Reset and Watchdog System Reset

7 0x006 WDT Watchdog Time-out Interrupt 8 0x007 TIMER2 COMPA Timer/Counter2 Compare Match A

9 0x008 TIMER2 COMPB Timer/Counter2 Compare Match B 10 0x009 TIMER2 OVF Timer/Counter2 Overflow 11 0x00A TIMER1 CAPT Timer/Counter1 Capture Event 12 0x00B TIMER1 COMPA Timer/Counter1 Compare Match A 13 0x00 C TIMER1 COMPB Timer/Coutner1 Compare Match B 14 0x00 D TIMER1 OVF Timer/Counter1 Overflow 15 0x00E TIMER0 COMPA Timer/Counter0 Compare Match A 16 0x00F TIMER0 COMPB Timer/Counter0 Compare Match B 17 0x010 TIMER0 OVF Timer/Counter0 Overflow 18 0x011 SPI, STC SPI Serial Transfer Complete 19 0x012 USART, RX USART Rx Complete 20 0x013 USART, UDRE USART, Data Register Empty 21 0x014 USART, TX USART, Tx Complete 22 0x015 ADC ADC Conversion Complete 23 0x016 EE READY EEPROM Ready

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Table 11-1. Reset and Interrupt Vectors in ATmega48P (Continued)

Vector No. Pr ogram Address Source Interrupt Definition

24 0x017 ANALOG COMP Analog Comparator 25 0x018 TWI 2-wire Serial Interface 26 0x019 SPM READY Store Program Memory Ready

The most typical and general program setup for the Reset and Interrupt Vector Addresses in ATmega48P is:

Address Labels Code Comments

0x000 rjmp RESET ; Reset Handler

0x001 rjmp EXT_INT0 ; IRQ0 Handler

0x002 rjmp EXT_INT1 ; IRQ1 Handler

0x003 rjmp PCINT0 ; PCINT0 Handler

0x004 rjmp PCINT1 ; PCINT1 Handler

0x005 rjmp PCINT2 ; PCINT2 Handler

0x006 rjmp WDT ; Watchdog Timer Handler

0x007 rjmp TIM2_COMPA ; Timer2 Compare A Handler

0x008 rjmp TIM2_COMPB ; Timer2 Compare B Handler

0x009 rjmp TIM2_OVF ; Timer2 Overflow Handler

0x00A rjmp TIM1_CAPT ; Timer1 Capture Handler

0x00B rjmp TIM1_COMPA ; Timer1 Compare A Handler

0x00C rjmp TIM1_COMPB ; Timer1 Compare B Handler

0x00D rjmp TIM1_OVF ; Timer1 Overflow Handler

0x00E rjmp TIM0_COMPA ; Timer0 Compare A Handler

0x00F rjmp TIM0_COMPB ; Timer0 Compare B Handler

0x010 rjmp TIM0_OVF ; Timer0 Overflow Handler

0x011 rjmp SPI_STC ; SPI Transfer Complete Handler

0x012 rjmp USART_RXC ; USART, RX Complete Handler

0x013 rjmp USART_UDRE ; USART, UDR Empty Handler

0x014 rjmp USART_TXC ; USART, TX Complete Handler

0x015 rjmp ADC ; ADC Conversion Complete Handler

0x016 rjmp EE_RDY ; EEPROM Ready Handler

0x017 rjmp ANA_COMP ; Analog Comparator Handler

0x018 rjmp TWI ; 2-wire Serial Interface Handler

0x019 rjmp SPM_RDY ; Store Program Memory Ready Handler

;

0x01ARESET: ldi r16, high(RAMEND); Main program start

0x01B out SPH,r16 ; Set Stack Pointer to top of RAM

0x01C ldi r16, low(RAMEND)

0x01D out SPL,r16

0x01E sei ; Enable interrupts

0x01F <instr> xxx

... ... ... ...

8025D–AVR–03/08

ATmega48P/88P/168P/328P

11.2 Interrupt V ectors in ATmega88P

Table 11-2. Reset and Interrupt Vectors in ATmega88P

Program

Vector No.

1 0x000

2 0x001 INT0 External Interrupt Request 0

3 0x002 INT1 External Interrupt Request 1

4 0x003 PCINT0 Pin Change Interrupt Request 0

5 0x004 PCINT1 Pin Change Interrupt Request 1

6 0x005 PCINT2 Pin Change Interrupt Request 2

7 0x006 WDT Watchdog Time-out Interrupt

8 0x007 TIMER2 COMPA Timer/Counter2 Compare Match A

Address

(2)

(1)

Source Interrupt Definition

RESET

External Pin, Power-on Reset, Brown-out Reset and Watchdog System Reset

17 0x010 TIMER0 OVF Timer/Counter0 Overflow 18 0x011 SPI, STC SPI Serial Transfer Complete 19 0x012 USART, RX USART Rx Complete 20 0x013 USART, UDRE USART, Data Register Empty 21 0x014 USART, TX USART, Tx Complete 22 0x015 ADC ADC Conversion Complete 23 0x016 EE READY EEPROM Ready 24 0x017 ANALOG COMP Analog Comparator 25 0x018 TWI 2-wire Serial Interface 26 0x019 SPM READY Store Program Memory Ready

Notes: 1. When the BOOTRST Fuse is programmed, the device will jump to the Boot Loader address at reset, see ”Boot Loader Sup-

port – Read-While-Write Self-Programming, ATmega88P, ATmega168P and ATmega328P” on page 278.

2. When the IVSEL bit in MCUCR is set, Interrupt Vectors will be moved to the start of the Boot Flash Section. The address of each Interrupt Vector will then be the address in this table added to the start address of the Boot Flash Section.

Table 11-3 on page 61 shows reset and Interrupt Vectors placement for the various combina-

tions 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.

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Table 11-3. Reset and Interrupt Vectors Placement in ATmega88P

BOOTRST IVSEL Reset Address Interrupt Vectors Start Address

1 0 0x000 0x001 1 1 0x000 Boot Reset Address + 0x001 0 0 Boot Reset Address 0x001 0 1 Boot Reset Address Boot Reset Address + 0x001

Note: 1. The Boot Reset Address is shown in Table 26-6 on page 289. For the BOOTRST Fuse “1”

means unprogrammed while “0” means programmed.

(1)

The most typical and general program setup for the Reset and Interrupt Vector Addresses in ATmega88P is:

Address Labels Code Comments

0x000 rjmp RESET ; Reset Handler

0x001 rjmp EXT_INT0 ; IRQ0 Handler

0x002 rjmp EXT_INT1 ; IRQ1 Handler

0x003 rjmp PCINT0 ; PCINT0 Handler

0x004 rjmp PCINT1 ; PCINT1 Handler

0x005 rjmp PCINT2 ; PCINT2 Handler

0x006 rjmp WDT ; Watchdog Timer Handler

0x007 rjmp TIM2_COMPA ; Timer2 Compare A Handler

0X008 rjmp TIM2_COMPB ; Timer2 Compare B Handler

0x009 rjmp TIM2_OVF ; Timer2 Overflow Handler

0x00A rjmp TIM1_CAPT ; Timer1 Capture Handler

0x00B rjmp TIM1_COMPA ; Timer1 Compare A Handler

0x00C rjmp TIM1_COMPB ; Timer1 Compare B Handler

0x00D rjmp TIM1_OVF ; Timer1 Overflow Handler

0x00E rjmp TIM0_COMPA ; Timer0 Compare A Handler

0x00F rjmp TIM0_COMPB ; Timer0 Compare B Handler

0x010 rjmp TIM0_OVF ; Timer0 Overflow Handler

0x011 rjmp SPI_STC ; SPI Transfer Complete Handler

0x012 rjmp USART_RXC ; USART, RX Complete Handler

0x013 rjmp USART_UDRE ; USART, UDR Empty Handler

0x014 rjmp USART_TXC ; USART, TX Complete Handler

0x015 rjmp ADC ; ADC Conversion Complete Handler

0x016 rjmp EE_RDY ; EEPROM Ready Handler

0x017 rjmp ANA_COMP ; Analog Comparator Handler

0x018 rjmp TWI ; 2-wire Serial Interface Handler

0x019 rjmp SPM_RDY ; Store Program Memory Ready Handler

;

0x01ARESET: ldi r16, high(RAMEND); Main program start

0x01B out SPH,r16 ; Set Stack Pointer to top of RAM

0x01C ldi r16, low(RAMEND)

0x01D out SPL,r16 0x01E sei ; Enable interrupts

0x01F <instr> xxx

8025D–AVR–03/08

ATmega48P/88P/168P/328P

When the BOOTRST Fuse is unprogrammed, the Boot section size set to 2K bytes and the IVSEL bit in the MCUCR Register is set before any interrupts are enabled, the most typical and general program setup for the Reset and Inte rrupt Vector Addresses in ATmega88P is:

Address Labels Code Comments

0x000 RESET: ldi r16,high(RAMEND); Main program start

0x001 out SPH,r16 ; Set Stack Pointer to top of RAM

0x002 ldi r16,low(RAMEND)

0x003 out SPL,r16 0x004 sei ; Enable interrupts

0x005 <instr> xxx

;

.org 0xC01

0xC01 rjmp EXT_INT0 ; IRQ0 Handler

0xC02 rjmp EXT_INT1 ; IRQ1 Handler

... ... ... ;

0xC19 rjmp 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 in ATmega88P is:

Address Labels Code Comments

.org 0x001

0x001 rjmp EXT_INT0 ; IRQ0 Handler

0x002 rjmp EXT_INT1 ; IRQ1 Handler

... ... ... ;

0x019 rjmp SPM_RDY ; Store Program Memory Ready Handler

;

.org 0xC00 0xC00 RESET: ldi r16,high(RAMEND); Main program start

0xC01 out SPH,r16 ; Set Stack Pointer to top of RAM

0xC02 ldi r16,low(RAMEND)

0xC03 out SPL,r16 0xC04 sei ; Enable interrupts

0xC05 <instr> xxx

When the BOOTRST Fuse is programmed, the Boot section size set to 2K bytes and the IVSEL bit in the MCUCR Register is set before any interrupts are enabled, the most typical and general program setup for the Reset and Interrupt Vector Addresses in ATmega88P is:

Address Labels Code Comments

;

.org 0xC00 0xC00 rjmp RESET ; Reset handler

0xC01 rjmp EXT_INT0 ; IRQ0 Handler

0xC02 rjmp EXT_INT1 ; IRQ1 Handler

... ... ... ;

0xC19 rjmp SPM_RDY ; Store Program Memory Ready Handler

;

0xC1A RESET: ldi r16,high(RAMEND); Main program start

8025D–AVR–03/08

0xC1B out SPH,r16 ; Set Stack Pointer to top of RAM

0xC1C ldi r16,low(RAMEND)

0xC1D out SPL,r16 0xC1E sei ; Enable interrupts

0xC1F <instr> xxx

11.3 Interrupt V ectors in ATmega168P

Table 11-4. Reset and Interrupt V ectors in ATmega168P

ATmega48P/88P/168P/328P

Program

VectorNo.

1 0x0000 2 0x0002 INT0 External Interrupt Request 0 3 0x0004 INT1 External Interrupt Request 1 4 0x0006 PCINT0 Pin Change Interrupt Request 0 5 0x0008 PCINT1 Pin Change Interrupt Request 1 6 0x000A PCINT2 Pin Change Interrupt Request 2 7 0x000C WDT Watchdog Time-out Interrupt 8 0x000E TIMER2 COMPA Timer/Counter2 Compare Match A

9 0x0010 TIMER2 COMPB Timer/Counter2 Compare Match B 10 0x0012 TIMER2 OVF Timer/Counter2 Overflow 11 0x0014 TIMER1 CAPT Timer/Counter1 Capture Event 12 0x0016 TIMER1 COMPA Timer/Counter1 Compare Match A 13 0x0018 TIMER1 COMPB Timer/Coutner1 Compare Match B 14 0x001A TIMER1 OVF Timer/Counter1 Overflow 15 0x001C TIMER0 COMPA Timer/Counter0 Compare Match A 16 0x001E TIMER0 COMPB Timer/Counter0 Compare Match B

Address

(2)

(1)

Source Interrupt Definition

RESET

External Pin, Power-on Reset, Brown-out Reset and Watchdog System Reset

17 0x0020 TIMER0 OVF Timer/Counter0 Overflow 18 0x0022 SPI, STC SPI Serial Transfer Complete 19 0x0024 USART, RX USART Rx Complete 20 0x0026 USART, UDRE USART, Data Register Empty 21 0x0028 USART, TX USART, Tx Complete 22 0x002A ADC ADC Conversion Complete 23 0x002C EE READY EEPROM Ready 24 0x002E ANALOG COMP Analog Comparator 25 0x0030 TWI 2-wire Serial Interface 26 0x0032 SPM READY Store Program Memory Ready

Notes: 1. When the BOOTRST Fuse is programmed, the device will jump to the Boot Loader address at reset, see ”Boot Loader Sup-

port – Read-While-Write Self-Programming, ATmega88P, ATmega168P and ATmega328P” on page 278.

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Table 11-5 on page 64 shows reset and Interrupt Vectors placement for the various combina-

Table 11-5. Reset and Interrupt Vectors Placement in ATmega168P

BOOTRST IVSEL Reset Address Interrupt Vectors Start Address

1 0 0x000 0x002 1 1 0x000 Boot Reset Address + 0x0002 0 0 Boot Reset Address 0x002 0 1 Boot Reset Address Boot Reset Address + 0x0002

Note: 1. The Boot Reset Address is shown in Table 26-6 on page 289. For the BOOTRST Fuse “1”

means unprogrammed while “0” means programmed.

(1)

The most typical and general program setup for the Reset and Interrupt Vector Addresses in ATmega168P is:

Address Labels Code Comments

0x0000 jmp RESET ; Reset Handler

0x0002 jmp EXT_INT0 ; IRQ0 Handler

0x0004 jmp EXT_INT1 ; IRQ1 Handler

0x0006 jmp PCINT0 ; PCINT0 Handler

0x0008 jmp PCINT1 ; PCINT1 Handler

0x000A jmp PCINT2 ; PCINT2 Handler

0x000C jmp WDT ; Watchdog Timer Handler

0x000E jmp TIM2_COMPA ; Timer2 Compare A Handler

0x0010 jmp TIM2_COMPB ; Timer2 Compare B Handler

0x0012 jmp TIM2_OVF ; Timer2 Overflow Handler

0x0014 jmp TIM1_CAPT ; Timer1 Capture Handler

0x0016 jmp TIM1_COMPA ; Timer1 Compare A Handler

0x0018 jmp TIM1_COMPB ; Timer1 Compare B Handler

0x001A jmp TIM1_OVF ; Timer1 Overflow Handler

0x001C jmp TIM0_COMPA ; Timer0 Compare A Handler

0x001E jmp TIM0_COMPB ; Timer0 Compare B Handler

0x0020 jmp TIM0_OVF ; Timer0 Overflow Handler

0x0022 jmp SPI_STC ; SPI Transfer Complete Handler

0x0024 jmp USART_RXC ; USART, RX Complete Handler

0x0026 jmp USART_UDRE ; USART, UDR Empty Handler

0x0028 jmp USART_TXC ; USART, TX Complete Handler

0x002A jmp ADC ; ADC Conversion Complete Handler

0x002C jmp EE_RDY ; EEPROM Ready Handler

0x002E jmp ANA_COMP ; Analog Comparator Handler

0x0030 jmp TWI ; 2-wire Serial Interface Handler

0x0032 jmp SPM_RDY ; Store Program Memory Ready Handler

;

0x0033RESET: ldi r16, high(RAMEND); Main program start

8025D–AVR–03/08

ATmega48P/88P/168P/328P

0x0034 out SPH,r16 ; Set Stack Pointer to top of RAM

0x0035 ldi r16, low(RAMEND)

0x0036 out SPL,r16

0x0037 sei ; Enable interrupts

0x0038 <instr> xxx

... ... ... ...

Address Labels Code Comments

0x0000 RESET: ldi r16,high(RAMEND); Main program start

0x0001 out SPH,r16 ; Set Stack Pointer to top of RAM

0x0002 ldi r16,low(RAMEND)

0x0003 out SPL,r16 0x0004 sei ; Enable interrupts

0x0005 <instr> xxx

;

.org 0x1C02

0x1C02 jmp EXT_INT0 ; IRQ0 Handler

0x1C04 jmp EXT_INT1 ; IRQ1 Handler

... ... ... ;

0x1C32 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 Inter rupt Vector Addresses in ATmega168P is:

Address Labels Code Comments

.org 0x0002

0x0002 jmp EXT_INT0 ; IRQ0 Handler

0x0004 jmp EXT_INT1 ; IRQ1 Handler

... ... ... ;

0x0032 jmp SPM_RDY ; Store Program Memory Ready Handler

;

.org 0x1C00 0x1C00 RESET: ldi r16,high(RAMEND); Main program start

0x1C01 out SPH,r16 ; Set Stack Pointer to top of RAM

0x1C02 ldi r16,low(RAMEND)

0x1C03 out SPL,r16 0x1C04 sei ; Enable interrupts

0x1C05 <instr> xxx

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Address Labels Code Comments

;

.org 0x1C00 0x1C00 jmp RESET ; Reset handler

0x1C02 jmp EXT_INT0 ; IRQ0 Handler

0x1C04 jmp EXT_INT1 ; IRQ1 Handler

... ... ... ;

0x1C32 jmp SPM_RDY ; Store Program Memory Ready Handler

;

0x1C33 RESET: ldi r16,high(RAMEND); Main program start

0x1C34 out SPH,r16 ; Set Stack Pointer to top of RAM

0x1C35 ldi r16,low(RAMEND)

0x1C36 out SPL,r16 0x1C37 sei ; Enable interrupts

0x1C38 <instr> xxx

11.4 Interrupt V ectors in ATmega328P

Table 11-6. Reset and Interrupt V ectors in ATmega328P

Program

VectorNo.

Address

(2)

(1)

Source Interrupt Definition

RESET

External Pin, Power-on Reset, Brown-out Reset and Watchdog System Reset

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Table 11-6. Reset and Interrupt Vectors in ATmega328P (Continued)

Program

VectorNo.

22 0x002A ADC ADC Conversion Complete 23 0x002C EE READY EEPROM Ready 24 0x002E ANALOG COMP Analog Comparator 25 0x0030 TWI 2-wire Serial Interface 26 0x0032 SPM READY Store Program Memory Ready

Notes: 1. When the BOOTRST Fuse is programmed, the device will jump to the Boot Loader address at reset, see ”Boot Loader Sup-

2. When the IVSEL bit in MCUCR is set, Interrupt Vectors will be moved to the start of the Boot Flash Section. The address of

Address

port – Read-While-Write Self-Programming, ATmega88P, ATmega168P and ATmega328P” on page 278.

each Interrupt Vector will then be the address in this table added to the start address of the Boot Flash Section.

(2)

Source Interrupt Definition

Table 11-7 on page 67 shows reset and Interrupt Vectors placement for the various combina-

Table 11-7. Reset and Interrupt Vectors Placement in ATmega328P

BOOTRST IVSEL Reset Address Interrupt Vectors Start Address

1 0 0x000 0x002 1 1 0x000 Boot Reset Address + 0x0002

(1)

0 0 Boot Reset Address 0x002 0 1 Boot Reset Address Boot Reset Address + 0x0002

Note: 1. The Boot Reset Address is shown in Table 26-6 on page 289. 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 ATmega328P is:

Address Labels Code Comments

0x0000 jmp RESET ; Reset Handler

0x0002 jmp EXT_INT0 ; IRQ0 Handler

0x0004 jmp EXT_INT1 ; IRQ1 Handler

0x0006 jmp PCINT0 ; PCINT0 Handler

0x0008 jmp PCINT1 ; PCINT1 Handler

0x000A jmp PCINT2 ; PCINT2 Handler

0x000C jmp WDT ; Watchdog Timer Handler

0x000E jmp TIM2_COMPA ; Timer2 Compare A Handler

0x0010 jmp TIM2_COMPB ; Timer2 Compare B Handler

0x0012 jmp TIM2_OVF ; Timer2 Overflow Handler

0x0014 jmp TIM1_CAPT ; Timer1 Capture Handler

0x0016 jmp TIM1_COMPA ; Timer1 Compare A Handler

0x0018 jmp TIM1_COMPB ; Timer1 Compare B Handler

0x001A jmp TIM1_OVF ; Timer1 Overflow Handler

8025D–AVR–03/08

ATmega48P/88P/168P/328P

0x001C jmp TIM0_COMPA ; Timer0 Compare A Handler

0x001E jmp TIM0_COMPB ; Timer0 Compare B Handler

0x0020 jmp TIM0_OVF ; Timer0 Overflow Handler

0x0022 jmp SPI_STC ; SPI Transfer Complete Handler

0x0024 jmp USART_RXC ; USART, RX Complete Handler

0x0026 jmp USART_UDRE ; USART, UDR Empty Handler

0x0028 jmp USART_TXC ; USART, TX Complete Handler

0x002A jmp ADC ; ADC Conversion Complete Handler

0x002C jmp EE_RDY ; EEPROM Ready Handler

0x002E jmp ANA_COMP ; Analog Comparator Handler

0x0030 jmp TWI ; 2-wire Serial Interface Handler

0x0032 jmp SPM_RDY ; Store Program Memory Ready Handler

;

0x0033RESET: ldi r16, high(RAMEND); Main program start

0x0034 out SPH,r16 ; Set Stack Pointer to top of RAM

0x0035 ldi r16, low(RAMEND)

0x0036 out SPL,r16

0x0037 sei ; Enable interrupts

0x0038 <instr> xxx

... ... ... ...

Address Labels Code Comments

0x0000 RESET: ldi r16,high(RAMEND); Main program start

0x0001 out SPH,r16 ; Set Stack Pointer to top of RAM

0x0002 ldi r16,low(RAMEND)

0x0003 out SPL,r16 0x0004 sei ; Enable interrupts

0x0005 <instr> xxx

;

.org 0x3C02

0x3C02 jmp EXT_INT0 ; IRQ0 Handler

0x3C04 jmp EXT_INT1 ; IRQ1 Handler

... ... ... ;

0x3C32 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 Inter rupt Vector Addresses in ATmega328P is:

Address Labels Code Comments

.org 0x0002

0x0002 jmp EXT_INT0 ; IRQ0 Handler

0x0004 jmp EXT_INT1 ; IRQ1 Handler

... ... ... ;

0x0032 jmp SPM_RDY ; Store Program Memory Ready Handler

;

8025D–AVR–03/08

ATmega48P/88P/168P/328P

.org 0x3C00 0x3C00 RESET: ldi r16,high(RAMEND); Main program start

0x3C01 out SPH,r16 ; Set Stack Pointer to top of RAM

0x3C02 ldi r16,low(RAMEND)

0x3C03 out SPL,r16 0x3C04 sei ; Enable interrupts

0x3C05 <instr> xxx

Address Labels Code Comments

;

.org 0x3C00 0x3C00 jmp RESET ; Reset handler

0x3C02 jmp EXT_INT0 ; IRQ0 Handler

0x3C04 jmp EXT_INT1 ; IRQ1 Handler

... ... ... ;

0x3C32 jmp SPM_RDY ; Store Program Memory Ready Handler

;

0x3C33 RESET: ldi r16,high(RAMEND); Main program start

0x3C34 out SPH,r16 ; Set Stack Pointer to top of RAM

0x3C35 ldi r16,low(RAMEND)

0x3C36 out SPL,r16 0x3C37 sei ; Enable interrupts

0x3C38 <instr> xxx

11.5 Register Description

11.5.1 Moving Interrupts Between Application and Boot Space, ATmega88P, ATmega168P and ATmega328P

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

11.5.2 MCUCR – MCU Control Register

Bit 76543210 0x35 (0x55) Read/Write R R R R/W R R R/W R/W Initial Value00000000

• 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, ATmega88P, ATmega168P and ATmega3 28P” on page 2 78 for details. To

avoid unintentional changes of Interrupt Vector tables, a special write procedure must be followed to change the IVSEL bit:

– BODS BODSE PUD – – IVSEL IVCE MCUCR

8025D–AVR–03/08

ATmega48P/88P/168P/328P

a. Write the Interrupt Vector Change Enable (IVCE) bit to one. b. 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 programmed,

interrupts are disabled while executing from the Application section. If Interrupt Vectors are placed in the Application section and Boot Lock bit BLB12 is programed, interrupts are disabled while executing from the Boot Loader section. Refer to the section ”Boot Loader Support – Read-While-

Write Self-Programming, ATmega88P, ATmega168P and ATmega328P” on page 278 for details

on Boot Lock bits.

This bit is not available in ATmega48P.

• 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.

Assembly Code Example

Move_interrupts:

; Enable change of Interrupt Vectors

ldi r16, (1<<IVCE)

out MCUCR, r16

; Move interrupts to Boot Flash section

ldi r16, (1<<IVSEL)

out MCUCR, r16

ret

C Code Example

void Move_interrupts(void)

{

/* Enable change of Interrupt Vectors */

MCUCR = (1<<IVCE);

/* Move interrupts to Boot Flash section */

MCUCR = (1<<IVSEL);

}

This bit is not available in ATmega48P.

8025D–AVR–03/08

12. External Interrupts

The External Interrupts are triggered by the INT0 and INT1 pins or any of the PCINT23..0 pins. Observe that, if enabled, the interrupts will trigger even if the INT0 and INT1 or PCINT23..0 pins are configured as outputs. This feature provides a way of generating a software interrupt. The pin change interrupt PCI2 will trigger if any enabled PCINT23..16 pin toggles. The pin change interrupt PCI1 will trigger if any enabled PCINT14..8 pin toggles. The pin change interrupt PCI0 will trigger if any enabled PCINT7..0 pin toggles. The PCMSK2, PCMSK1 and PCMSK0 Registers control which pins contribute to the pin change interrupts. Pin change interrupts on PCINT23..0 are detected asynchronously. This implies that these interrupts can be used for waking the part also from sleep modes other than Idle mode.

The INT0 and INT1 interrupts can be triggered by a falling or rising ed ge or a low level. This is set up as indicated in the specification for the External Interrupt Control Register A – EICRA. When the INT0 or INT1 interrupts are enabled and are configured as level triggered, the interrupts will trigger as long as the pin is held low. Note that recognition of falling or rising edge interrupts on INT0 or INT1 requires the presence of an I/O clock, described in ”Clock Systems

and their Distribution” on page 27. Low level inter rupt on INT0 and INT1 is detected asynchro-

nously. This implies that this interrupt can be used for waking the part also from sleep mo des other than Idle mode. The I/O clock is halted in all sleep modes except Idle mode.

ATmega48P/88P/168P/328P

Note that if a level triggered interrupt is used for wake-up from Power -down, the required level must be held long enough for the MCU to complete the wake-up to trigger the level interrupt. If the level disappears before the end of the Start-up Time, the MCU will still wake up, but no interrupt will be generated. The start-up time is defined by the SUT and CKSEL Fuses as described in ”System Clock and Clock Options” on page 27.

12.1 Pin Change Interrupt Timing

An example of timing of a pin change interrupt is shown in Figure 12-1.

Figure 12-1. Timing of pin change interrupts

PCINT(0)

pin_lat

pin_sync

pcint_in_(0)

pin_lat

D Q

clk

pin_sync

PCINT(0) in PCMSK(x)

pcint_in_(0)

0 x

clk

pcint_syn

pcint_setflag

pcint_syn

cint_setflag

PCIF

8025D–AVR–03/08

ATmega48P/88P/168P/328P

12.2 Register Description

12.2.1 EICRA – External Interrupt Control Register A

The External Interrupt Control Register A contains control bits for interrupt sense control.

Bit 76543210 (0x69) – – – – ISC11 ISC10 ISC01 ISC00 EICRA Read/Write R R R R R/W R/W R/W R/W Initial Value 0 0 0 0 0 0 0 0

• Bit 7..4 – Res: Reserved Bits

These bits are unused bits in the ATmega48P/88P/168P/328P, and will always read as zero.

• Bit 3, 2 – ISC11, ISC10: Interrupt Sense Control 1 Bit 1 and Bit 0

The External Interrupt 1 is activated by the external pin INT1 if the SREG I-flag and the corresponding interrupt mask are set. The level and edges on the external INT1 pin that activate the interrupt are defined in Table 12-1. 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 gu aranteed to generate an int errupt. 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 12-1. 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 ge nerates 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.

• 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 12-2. The value on the INT0 pin is sampled before detecting edges. If edge or toggle interrupt is selected, pulses that last longer than one clock period will generate an interrupt. Shorter pulses are not gu aranteed to generate an int errupt. 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 12-2. Interrupt 0 Sense Control

ISC01 ISC00 Description

0 0 The low level of INT0 generates an interrupt request. 0 1 Any logical change on INT0 ge nerates 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.

8025D–AVR–03/08

12.2.2 EIMSK – External Interrupt Mask Register

Bit 76543210 0x1D (0x3D) ––––––INT1INT0EIMSK Read/Write RRRRRRR/WR/W Initial Value00000000

• Bit 7..2 – Res: Reserved Bits

These bits are unused bits in the ATmega48P/88P/168P/328P, and will always read as zero.

• Bit 1 – INT1: External Interrupt Request 1 Enable

When the INT1 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), the external pin interrupt is enabled. The Interrupt Sense Control1 bits 1/0 (ISC11 and ISC10) in the External Interrupt Control Register A (EICRA) define whether the external interrupt is activated on rising and/or falling edge of the INT1 pin or level sensed. Activity on the pin will cause an interrupt request even if INT1 is configured as an out put. The corre sponding interr upt of Ext ernal Interrupt Request 1 is executed from the INT1 Interrupt Vector.

• Bit 0 – INT0: External Interrupt Request 0 Enable

When the INT0 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), the external pin interrupt is enabled. The Interrupt Sense Control0 bits 1/0 (ISC01 and ISC00) in the External Interrupt Control Register A (EICRA) define whether the external interrupt is activated on rising and/or falling edge of the INT0 pin or level sensed. Activity on the pin will cause an interrupt request even if INT0 is configured as an out put. The corre sponding interr upt of Ext ernal Interrupt Request 0 is executed from the INT0 Interrupt Vector.

ATmega48P/88P/168P/328P

12.2.3 EIFR – External Interrupt Flag Register

Bit 76543210 0x1C (0x3C) ––––––INTF1INTF0EIFR Read/Write RRRRRRR/WR/W Initial Value00000000

• Bit 7..2 – Res: Reserved Bits

These bits are unused bits in the ATmega48P/88P/168P/328P, and will always read as zero.

• Bit 1 – INTF1: External Interrupt Flag 1

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

• Bit 0 – INTF0: External Interrupt Flag 0

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

8025D–AVR–03/08

ATmega48P/88P/168P/328P

12.2.4 PCICR – Pin Change Interrupt Control Register

Bit 76543210 (0x68) –––––PCIE2PCIE1PCIE0PCICR Read/Write R R R R R R/W R/W R/W Initial Value00000000

• Bit 7..3 - Res: Reserved Bits

These bits are unused bits in the ATmega48P/88P/168P/328P, and will always read as zero.

• Bit 2 - PCIE2: Pin Change Interrupt Enable 2

When the PCIE2 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), pin change interrupt 2 is enabled. Any change on any enabled PCINT23..16 pin will cause an interrupt. The corresponding interrupt of Pin Change Inter rupt Request is executed from the PCI2 Interrupt Vector. PCINT23..16 pins are enabled individually by the PCMSK2 Register.

• Bit 1 - PCIE1: Pin Change Interrupt Enable 1

When the PCIE1 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), pin change interrupt 1 is enabled. Any change on any enabled PCINT14..8 pin will cause an interrupt. The corresponding interrupt of Pin Change Inter rupt Request is executed from the PCI1 Interrupt Vector. PCINT14..8 pins are enabled individually by the PCMSK1 Register.

• Bit 0 - PCIE0: Pin Change Interrupt Enable 0

When the PCIE0 bit is set (one) and the I-bit in the Status Register (SREG) is set (one), pin change interrupt 0 is enabled. Any change on any enabled PCINT7..0 pin will cause an interrupt. The corresponding interrupt of Pin Change Interrupt Request is executed from the PCI0 Interrupt Vector. PCINT7..0 pins are enabled individually by the PCMSK0 Register.

12.2.5 PCIFR – Pin Change Interrupt Flag Register

Bit 76543210 0x1B (0x3B) –––––PCIF2PCIF1PCIF0PCIFR Read/Write R R R R R R/W R/W R/W Initial Value00000000

• Bit 7..3 - Res: Reserved Bits

These bits are unused bits in the ATmega48P/88P/168P/328P, and will always read as zero.

• Bit 2 - PCIF2: Pin Change Interrupt Flag 2

When a logic change on any PCINT23..16 pin triggers an interrupt request, PCIF2 becomes set (one). If the I-bit in SREG and the PCIE2 bit in PCICR are set (one), the MCU will jump to the corresponding Interrupt Vector. The flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing a logical one to it.

• Bit 1 - PCIF1: Pin Change Interrupt Flag 1

When a logic change on any PCINT14..8 pin triggers an interrupt request, PCIF1 becomes set (one). If the I-bit in SREG and the PCIE1 bit in PCICR are set (one), the MCU will jump to the corresponding Interrupt Vector. The flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing a logical one to it.

8025D–AVR–03/08

• Bit 0 - PCIF0: Pin Change Interrupt Flag 0

When a logic change on any PCINT7..0 pin triggers an interrupt request, PCIF0 becomes set (one). If the I-bit in SREG and the PCIE0 bit in PCICR are set (one), the MCU will jump to 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.

12.2.6 PCMSK2 – Pin Change Mask Register 2

Bit 76543210 (0x6D) 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

PCINT23 PCINT22 PCINT21 PCINT20 PCINT19 PCINT18 PCINT17 PCINT16 PCMSK2

• Bit 7..0 – PCINT23..16: Pin Change Enable Mask 23..16

Each PCINT23..16-bit selects whether pin change interrupt is enabled on the corresponding I/O pin. If PCINT23..16 is set and the PCIE 2 bit in PCICR is set, pin change interrupt is enabled on the corresponding I/O pin. If PCINT23..16 is cleared, pin change interrupt on the corresponding I/O pin is disabled.

12.2.7 PCMSK1 – Pin Change Mask Register 1

Bit 76543210 (0x6C) Read/Write R R/W R/W R/W R/W R/W R/W R/W Initial Value 0 0 0 0 0 0 0 0

– PCINT14 PCINT13 PCINT12 PCINT11 PCINT10 PCINT9 PCINT8 PCMSK1

ATmega48P/88P/168P/328P

• Bit 7 – Res: Reserved Bit

This bit is an unused bit in the ATmega48P/88P/168P/328P, and will always read as zero.

• Bit 6..0 – PCINT14..8: Pin Change Enable Mask 14..8

Each PCINT14..8-bit selects whether pin change interrupt is enabled on the corresponding I/O pin. If PCINT14..8 is set and the PCIE1 bit in PCICR is set, pin change interrupt is enabled on the corresponding I/O pin. If PCINT14..8 is cleared, pin change interrupt on the corresponding I/O pin is disabled.

12.2.8 PCMSK0 – Pin Change Mask Register 0

Bit 76543210 (0x6B) PCINT7 PCINT6 PCINT5 PCINT4 PCINT3 PCINT2 PCINT1 PCINT0 PCMSK0 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 7..0 – PCINT7..0: Pin Change Enable Mask 7..0

Each PCINT7..0 bit selects whether pin change interrupt is enabled on the corresponding I/O pin. If PCINT7..0 is set and the PCIE0 bit in PCICR is set, pin change interrupt is enabled on the corresponding I/O pin. If PCINT7..0 is cle ar ed, p in ch ang e inter rup t on t he correspo nd ing I/O pin is disabled.

8025D–AVR–03/08

ATmega48P/88P/168P/328P

13. I/O-Ports

13.1 Overview

All AVR ports have true Read-Modify-Write functionality when used as general digital I/O ports. This means that the direction of one port pin can be changed without unintentionally changing the direction of any other pin with the SBI and CBI instructions. The same applies when changing drive value (if configured as output) or enabling/ disabling of p ull-up resist ors (if con figured 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

acteristics” on page 313 for a complete list of parameters.

Figure 13-1. I/O Pin Equivalent Schematic

and Ground as indicated in Figure 13-1. Refer to ”Electrical Char-

Pxn

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” rep resents the bit number. However, when using the register or bit defines in a program , the precise form must be used. For examp le, PORTB3 for bit no. 3 in Port B, here documented ge ner ally as PO RTxn . The physical I /O Registers and bit locations are listed in ”Register Description” on page 93.

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. However, writing a logic one to a bit in the PINx Register, will result in a toggle in the corresponding bit in the Data Register. In addition, the Pull-up Disable – PUD bit in MCUCR 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

77. Most port pins are multiplexed with alternate func tions for the peripheral featur es on the

device. How each alternate function interferes with the port pin is described in ”Alternate Port

Functions” on page 81. Refer to the individual module sections for a full description of the alter-

nate functions.

See Figure

"General Digital I/O" for

Logic

Details

8025D–AVR–03/08

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.

13.2 Ports as General Digital I/O

The ports are bi-directional I/O ports with optional internal pull-ups. Figure 13-2 shows a functional description of one I/O-port pin, here generically called Pxn.

ATmega48P/88P/168P/328P

Figure 13-2. General Digital I/O

Pxn

PUD: PULLUP DISABLE SLEEP: SLEEP CONTROL clk

: I/O CLOCK

I/O

(1)

SLEEP

Q D

DDxn

CLR

RESET

Q D

PORTxn

CLR

RESET

RRx

SYNCHRONIZER

DLQ

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

PINxn

PUD

WDx

RDx

RPx

clk

WRx

I/O

WPx

DATA B US

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

13.2.1 Configuring the Pin

Each port pin consists of three register bits: DDxn, PORTxn, and PINxn. As shown in ”Register

Description” on page 93, 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 h as to be configured as an output pin. The port pi ns are tri-stated when re set condition b ecomes active, even if no clocks are running.

8025D–AVR–03/08

SLEEP, and PUD are common to all ports.

I/O

ATmega48P/88P/168P/328P

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).

13.2.2 Toggli ng the Pin

Writing a logic one to PINxn toggles the value of PORTxn, independent on the value of DDRxn. Note that the SBI instruction can be used to toggle one single bit in a port.

13.2.3 Switching Between Input and Output

When switching between tri-state ({DDxn, PORTxn} = 0b00) and output high ({DDxn, PORTxn} = 0b11), an intermediate state with either pull-up enabled {DDxn, PORTxn} = 0b01) or output low ({DDxn, PORTxn} = 0b10) must occur. Normally, the pull-up enabled state is fully acceptable, as a high-impedance environment will not notice the difference between a strong high driver and a pull-up. If this is not the case, t he PUD bit in t he MCUCR Reg ist er can be set to di sable 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-sta te ({DDxn, PORTxn} = 0b00) o r the o utput high state ({DDxn, PORTxn} = 0b11) as an intermediate step.

Table 13-1 summarizes the control signals for the pin value.

Table 13-1. Port Pin Configurations

DDxn PORTxn

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

PUD

(in MCUCR) I/O Pull-up Comment

0 1 0 Input Yes Pxn will source current if ext. pulled low. 0 1 1 Input No Tri-state (Hi-Z) 1 0 X Output No Output Low (Sink) 1 1 X Output No Output High (Source)

13.2.4 Reading the Pin Value

Independent of the setting of Data Direction b it DDxn, the port pin can be read through the PINxn Register bit. As shown in Figure 13-2, t he PINxn Regist er bit a nd th e prece ding 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 intro duces a delay. Fi gure 13-3 shows a timing diagram of the synchronization when reading an externally applied pin value. The maximum and minimum propagation delays are deno te d t

pd,max

and t

respectively.

pd,min

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Figure 13-3. Synchronization when Reading an Externally Applied Pin value

SYSTEM CLK

INSTRUCTIONS

XXX in r17, PINx

XXX

SYNC LATCH

PINxn

r17

0x00 0xFF

pd, max

pd, min

Consider the clock period starting shortly after the first falling edge of the system clock. The latch is closed when the clock is low, and goes transparent when the clock is high, as indicated by the shaded region of the “SYNC LATCH” signal. The signal value is latched when the system clock goes low. It is clocked into the PINxn Register at the succeeding positive clock edge. As indicated by the two arrows tpd,max and tpd,min, a single signal transition on the pin will be delayed between ½ and 1½ system clock period depending upon the time of assertion.

When reading back a software assigned pin value, a nop instruction must be inserted as indicated in Figure 13-4. The out instruction sets the “SYNC LATCH” signal at the positive edge of the clock. In this case, the delay tpd through the synchronizer is 1 system clock period.

Figure 13-4. Synchronization when Reading a Software Assigned Pin Value

SYSTEM CLK

r16

INSTRUCTIONS

out PORTx, r16 nop in r17, PINx

0xFF

SYNC LATCH

PINxn

r17

0x00 0xFF

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.

8025D–AVR–03/08

ATmega48P/88P/168P/328P

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

...

(1)

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*/

__no_operation();

/* Read port pins */

i = PINB;

...

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.

13.2.5 Digital Input Enable and Sleep Modes

As shown in Figure 13-2, 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, and Standb y mode to avoid high power co nsumption if some input signals are left floating, or have an analog signal level close to V

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 81.

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 extern al interrupt is not enabled, the corresponding External Interrupt Flag will be set when resuming from the above mentioned Sleep mode, as the clamping in these sleep mode produces the requested logic change.

13.2.6 Unconnected Pins

If some pins are unused, it is recommended to ensure t hat these pins have a defi ned level. Even though most of the digital inputs are disabled in th e deep sleep modes as de scribed above, float-

/2.

8025D–AVR–03/08

ing 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 accidentally configured as an output.

13.3 Alternate Port Functions

Most port pins have alternate functions in addition to being general digital I/Os. Figure 13-5 shows how the port pin control signals from the simplified Figure 13-2 on page 77 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.

ATmega48P/88P/168P/328P

or GND is not recommended, since this may caus e excessiv e currents if t he pin is

Figure 13-5. 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

clk

RRx

RPx

I/O

DIxn

WRx

PTOExn

WPx

DATA BU S

8025D–AVR–03/08

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 PTOExn: Pxn, PORT TOGGLE OVERRIDE ENABLE

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

: I/O CLOCK

I/O

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

Note: 1. WRx, 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

ATmega48P/88P/168P/328P

Table 13-2 summarizes the function of the o verridin g signals. Th e pin and por t indexes f rom Fig- ure 13-5 on page 81 are not shown in the succeeding tables. The overriding signals are

generated internally in the modules having the alternate function.

Table 13-2. Generic Description of Overriding Signals for Alternate Functions

Signal Name Full Name Description

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.

PUOE

PUOV

DDOE

DDOV

PVOE

Pull-up Override Enable

Pull-up Override Value

Data Direction Override Enable

Data Direction Override Value

Port Value Override Enable

PVOV

PTOE

DIEOE

DIEOV

DI Digital Input

AIO

Port Value Override Value

Port Toggle Override Enable

Digital Input Enable Override Enable

Digital Input Enable Override Value

Analog Input/Output

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

If PTOE is set, the PORTxn Register bit is inverted.

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

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

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

This is the Analog Input/output to/from alternate functions. The signal is connected directly to the pad, and can be used bidirectionally.

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.

8025D–AVR–03/08

13.3.1 Alternate Functions of Port B

The Port B pins with alternate functions are shown in Table 13-3.

Table 13-3. Port B Pins Alternate Functions

Port Pin Alternate Functions

ATmega48P/88P/168P/328P

PB7

PB6

PB5

PB4

PB3

PB2

PB1

PB0

XTAL2 ( TOSC2 (Timer Oscillator pin 2) PCINT7 (Pin Change Interrupt 7)

XTAL1 ( TOSC1 (Timer Oscillator pin 1) PCINT6 (Pin Change Interrupt 6)

SCK (SPI Bus Master clock Input) PCINT5 (Pin Change Interrupt 5)

MISO (SPI Bus Master Input/Slave Output) PCINT4 (Pin Change Interrupt 4)

MOSI (SPI Bus Master Output/Slave Input) OC2A (Timer/Counter2 Output Compare Match A Output) PCINT3 (Pin Change Interrupt 3)

SS OC1B (Timer/Counter1 Output Compare Match B Output) PCINT2 (Pin Change Interrupt 2)

OC1A (Timer/Counter1 Output Compare Match A Output) PCINT1 (Pin Change Interrupt 1)

ICP1 (Timer/Counter1 Input Capture Input) CLKO (Divided System Clock Output) PCINT0 (Pin Change Interrupt 0)

Chip Clock Oscillator pin 2)

Chip Clock Oscillator pin 1 or External clock input)

(SPI Bus Master Slave select)

The alternate pin configuration is as follows:

8025D–AVR–03/08

• XTAL2/TOSC2/PCINT7 – Port B, Bit 7

XTAL2: Chip clock Oscillator pin 2. Used as clock pin for crystal Oscillator or Low-frequency crystal Oscillator. When used as a clock pin, the pin can not be used as an I/O pin.

TOSC2: Timer Oscillator pin 2. Used only if internal calibrated RC Oscillator is selected as chip clock source, and the asynchronous timer is enabled by the correct setting in ASSR. When the AS2 bit in ASSR is set (one) and the EXCLK bit is cleared (zero) to enable asynchronous clocking of Timer/Counter2 using the Crystal Oscillator, pin PB7 is disconnected from the port, and becomes the inverting output of the Oscillator amplifier. In this mode, a crystal Oscillator is connected to this pin, and the pin cannot be used as an I/O pin.

PCINT7: Pin Change Interrupt source 7. The PB7 pin can serve as an external interrupt source. If PB7 is used as a clock pin, DDB7, PORTB7 and PINB7 will all read 0.

• XTAL1/TOSC1/PCINT6 – Port B, Bit 6

XTAL1: Chip clock Oscillator pin 1. Used for all chip clock sources except internal calibrated RC Oscillator. When used as a clock pin, the pin can not be used as an I/O pin.

TOSC1: Timer Oscillator pin 1. Used only if internal calibrated RC Oscillator is selected as chip clock source, and the asynchronous timer is enabled by the correct setting in ASSR. When the

ATmega48P/88P/168P/328P

AS2 bit in ASSR is set (one) to enable asynchronous clocking of Timer/Counter2, pin PB6 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.

PCINT6: Pin Change Interrupt source 6. The PB6 pin can serve as an external interrupt source. If PB6 is used as a clock pin, DDB6, PORTB6 and PINB6 will all read 0.

• SCK/PCINT5 – Port B, Bit 5

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 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.

PCINT5: Pin Change Interrupt source 5. The PB5 pin can serve as an external interrupt source.

• MISO/PCINT4 – Port B, Bit 4

MISO: Master Data input, Slave Data output pin for SPI channel. When the SPI is enabled as a Master, this pin is configured as an input regardless of the setting of DDB4. When the SPI is enabled as a Slave, 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.

PCINT4: Pin Change Interrupt source 4. The PB4 pin can serve as an external interrupt source.

• MOSI/OC2/PCINT3 – Port B, Bit 3

MOSI: SPI Master Data output, Slave Data input for SPI channel. When the SPI is enabled as a Slave, this pin is configured as an input regardless of the setting of DDB3. When the SPI is enabled as a Master, the data direction of this pin is controlled by DDB3. When the pin is forced by the SPI to be an input, the pull-up can still be controlled by the PORTB3 bit.

OC2, Output Compare Match Output: The PB3 pin can serve as an external output for the Timer/Counter2 Compare Match. The PB3 pin has to be configured as an output (DDB3 set (one)) to serve this function. The OC2 pin is also the output pin for the PWM mode timer function.

PCINT3: Pin Change Interrupt source 3. The PB3 pin can serve as an external interrupt source.

•SS

/OC1B/PCINT2 – Port B, Bit 2

: Slave Select input. When the SPI is enabled as a Slave, this pin is configured as an input regardless of the setting of DDB2. As a Slave, the SPI is activated when this pin is driven low. When the SPI is enabled as a Master, the dat a direction of this pin is controlled by DDB2. When the pin is forced by the SPI to be an input, the pull-up can still be controlled by the PORTB2 bit.

OC1B, Output Compare Match output: The PB2 pin can serve as an external output for the Timer/Counter1 Compare Match B. The PB2 pin has to be configured as an output (DDB2 set (one)) to serve this function. The OC1B pin is also the output pin for the PWM mode timer function.

PCINT2: Pin Change Interrupt source 2. The PB2 pin can serve as an external interrupt source.

• OC1A/PCINT1 – Port B, Bit 1

OC1A, Output Compare Match output: The PB1 pin can serve as an external output for the Timer/Counter1 Compare Match A. The PB1 pin has to be configured as an output (DDB1 set

8025D–AVR–03/08

ATmega48P/88P/168P/328P

(one)) to serve this function. The OC1A pin is also the output pin for the PWM mode timer function.

PCINT1: Pin Change Interrupt source 1. The PB1 pin can serve as an external interrupt source.

• ICP1/CLKO/PCINT0 – Port B, Bit 0

ICP1, Input Capture Pin: The PB0 pin can act as an Input Capture Pin for Timer/Counter1. CLKO, Divided System Clock: The divided system clock can be output on the PB0 pin. The

divided system clock will be output if the CKOUT Fuse is programmed, regardless of the PORTB0 and DDB0 settings. It will also be output during reset.

PCINT0: Pin Change Interrupt source 0. The PB0 pin can serve as an external interrupt source.

Table 13-4 and Table 13-5 on page 86 relate the alternate functions of Port B to the overriding

signals shown in Figure 13-5 on page 81. SPI MSTR INPUT and SPI SLAVE OUTPUT constitute the MISO signal, while MOSI is divided into SPI MSTR OUTPUT and SPI SLAVE INPUT.

Table 13-4. Overriding Signals for Alternate Functions in PB7..PB4

Signal Name

PUOE

PUOV 0 0 PORTB5 • PUD PORTB4 • PUD

DDOE

DDOV0000 PVOE 0 0 SPE • MSTR SPE • MSTR

PVOV 0 0 SCK OUTPUT

DIEOE

DIEOV

DI PCINT7 INPUT PCINT6 INPUT

AIO Oscillator Output

Notes: 1. INTRC means that one of the internal RC Oscillators are selected (by the CKSEL fuses),

PB7/XTAL2/ TOSC2/PCINT7

INTRC

• EXTCK+

AS2

INTRC

• EXTCK+

AS2

INTRC • EXTCK + AS2 + PCINT7 • PCIE0

(INTRC + EXTCK) • AS2

EXTCK means that external clock is selected (by the CKSEL fuses)

PB6/XTAL1/

(1)

TOSC1/PCINT6

+ AS2 SPE • MSTR SPE • MSTR

INTRC

+ AS2 SPE • MSTR SPE • MSTR

INTRC

+ AS2 +

INTRC PCINT6 • PCIE0

INTRC • AS2 11

Oscillator/Clock Input

PB5/SCK/

(1)

PCINT5

PCINT5 • PCIE0 PCINT4 • PCIE0

PCINT5 INPUT SCK INPUT

––

PB4/MISO/ PCINT4

SPI SLAVE OUTPUT

PCINT4 INPUT SPI MSTR INPUT

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ATmega48P/88P/168P/328P

Table 13-5. Overriding Signals for Alternate Functions in PB3..PB0

Signal Name

PUOE SPE • MSTR PUOV PORTB3 • PUD DDOE SPE • MSTR DDOV 0 0 0 0

PVOE

PVOV

DIEOE PCINT3 • PCIE0 PCINT2 • PCIE0 PCINT1 • PCIE0 PCINT0 • PCIE0 DIEOV1111

AIO––––

PB3/MOSI/ OC2/PCINT3

SPE • MSTR + OC2A ENABLE

SPI MSTR OUTPUT + OC2A

PCINT3 INPUT SPI SLAVE INPUT

13.3.2 Alternate Functions of Port C

The Port C pins with alternate functions are shown in Table 13-6.

Table 13-6. Port C Pins Alternate Functions

PB2/SS/ OC1B/PCINT2

SPE • MSTR 00 PORTB2 • PUD 00 SPE • MSTR 00

OC1B ENABLE OC1A ENABLE 0

OC1B OC1A 0

PCINT2 INPUT SPI SS

PB1/OC1A/ PCINT1

PCINT1 INPUT

PB0/ICP1/ PCINT0

PCINT0 INPUT ICP1 INPUT

Port Pin Alternate Function

RESET

PC6

PC5

PC4

PC3

PC2

PC1

PC0

(Reset pin)

PCINT14 (Pin Change Interrupt 14) ADC5 (ADC Input Channel 5)

SCL (2-wire Serial Bus Clock Line) PCINT13 (Pin Change Interrupt 13)

ADC4 (ADC Input Channel 4) SDA (2-wire Serial Bus Data Input/Output Line) PCINT12 (Pin Change Interrupt 12)

ADC3 (ADC Input Channel 3) PCINT11 (Pin Change Interrupt 11)

ADC2 (ADC Input Channel 2) PCINT10 (Pin Change Interrupt 10)

ADC1 (ADC Input Channel 1) PCINT9 (Pin Change Interrupt 9)

ADC0 (ADC Input Channel 0) PCINT8 (Pin Change Interrupt 8)

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The alternate pin configuration is as follows:

ATmega48P/88P/168P/328P

• RESET

RESET pin, and the part will have to rely on Power-on Reset and Brown-out Reset as its reset sources. When the RSTDISBL Fuse is unprogrammed, the reset circuitry is connected to the pin, and the pin can not be used as an I/O pin.

If PC6 is used as a reset pin, DDC6, PORTC6 and PINC6 will all read 0. PCINT14: Pin Change Interrupt source 14. The PC6 pin can serve as an external interrupt

source.

• SCL/ADC5/PCINT13 – Port C, Bit 5

SCL, 2-wire Serial Interface Clock: When the TWEN bit in TWCR is set (one) to enable the 2wire Serial Interface, pin PC5 is disconnected from the port and becomes the Serial Clock I/O pin for the 2-wire Serial Interface. In this mode, there is a spike filter on the pin to suppress spikes shorter than 50 ns on the input signal, and the pin is driven by an open drain driver with slew-rate limitation.

PC5 can also be used as ADC input Channel 5. Note that ADC input channel 5 uses digital power.

PCINT13: Pin Change Interrupt source 13. The PC5 pin can serve as an external interrupt source.

• SDA/ADC4/PCINT12 – Port C, Bit 4

SDA, 2-wire Serial Interface Data: When the TWEN bit in TWCR is set (one) to enable the 2-wire Serial Interface, pin PC4 is disconnected from the port and becomes the Serial Data I/O pin for the 2-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 slewrate limitation.

/PCINT14 – Port C, Bit 6

, Reset pin: When the RSTDISBL Fuse is programmed, this pin functions as a normal I/O

8025D–AVR–03/08

PC4 can also be used as ADC input Channel 4. Note that ADC input channel 4 uses digital power.

PCINT12: Pin Change Interrupt source 12. The PC4 pin can serve as an external interrupt source.

• ADC3/PCINT11 – Port C, Bit 3

PC3 can also be used as ADC input Channel 3. Note that ADC input channel 3 uses analog power.

PCINT11: Pin Change Interrupt source 11. The PC3 pin can serve as an external interrupt source.

• ADC2/PCINT10 – Port C, Bit 2

PC2 can also be used as ADC input Channel 2. Note that ADC input channel 2 uses analog power.

PCINT10: Pin Change Interrupt source 10. The PC2 pin can serve as an external interrupt source.

ATmega48P/88P/168P/328P

• ADC1/PCINT9 – Port C, Bit 1

PC1 can also be used as ADC input Channel 1. Note that ADC input channel 1 uses analog power.

PCINT9: Pin Change Interrupt source 9. The PC1 pin can serve as an external interrupt source.

• ADC0/PCINT8 – Port C, Bit 0

PC0 can also be used as ADC input Channel 0. Note that ADC input channel 0 uses analog power.

PCINT8: Pin Change Interrupt source 8. The PC0 pin can serve as an external interrupt source.

Table 13-7 and Table 13-8 relate the alternate functions of Port C to the overriding signals

shown in Figure 13-5 on page 81.

Table 13-7. Overriding Signals for Alternate Functions in PC6..PC4

Signal Name PC6/RESET/PCINT14 PC5/SCL/ADC5/PCINT13 PC4/SDA/ADC4/PCINT12

PUOE RSTDISBL TWEN TWEN PUOV 1 PORTC5 • PUD PORTC4 • PUD DDOE RSTDISBL TWEN TWEN DDOV 0 SCL_OUT SDA_OUT PVOE 0 TWEN TWEN PVOV 0 0 0

DIEOE

DIEOV RSTDISBL PCINT13 • PCIE1 PCINT12 • PCIE1 DI PCINT14 INPUT PCINT13 INPUT PCINT12 INPUT AIO RESET INPUT ADC5 INPUT / SCL INPUT ADC4 INPUT / SDA INPUT

Note: 1. When enabled, the 2-wire Serial Interface enables slew-rate controls on the output pins PC4

RSTDISBL + PCINT14 • PCIE1

and PC5. 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.

PCINT13 • PCIE1 + ADC5D PCINT12 • PCIE1 + ADC4D

(1)

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ATmega48P/88P/168P/328P

Table 13-8. Overriding Signals for Alternate Functions in PC3..PC0

Signal Name

PUOE0000 PUOV0000 DDOE 0 0 0 0 DDOV 0 0 0 0 PVOE0000 PVOV0000

DIEOE

DIEOV PCINT11 • PCIE1 PCINT10 • PCIE1 PCINT9 • PCIE1 PCINT8 • PCIE1 DI PCINT11 INPUT PCINT10 INPUT PCINT9 INPUT PCINT8 INPUT AIO ADC3 INPUT ADC2 INPUT ADC1 INPUT ADC0 INPUT

PC3/ADC3/ PCINT11

PCINT11 • PCIE1 + ADC3D

13.3.3 Alternate Functions of Port D

The Port D pins with alternate functions are shown in Table 13-9.

Table 13-9. Port D Pins Alternate Functions

PC2/ADC2/ PCINT10

PCINT10 • PCIE1 + ADC2D

PC1/ADC1/ PCINT9

PCINT9 • PCIE1 + ADC1D

PC0/ADC0/ PCINT8

PCINT8 • PCIE1 + ADC0D

Port Pin Alternate Function

PD7

PD6

PD5

PD4

PD3

PD2

PD1

PD0

AIN1 (Analog Comparator Negative Input) PCINT23 (Pin Change Interrupt 23)

AIN0 (Analog Comparator Positive Input) OC0A (Timer/Counter0 Output Compare Match A Output) PCINT22 (Pin Change Interrupt 22)

T1 (Timer/Counter 1 External Counter Input) OC0B (Timer/Counter0 Output Compare Match B Output) PCINT21 (Pin Change Interrupt 21)

XCK (USART External Clock Input/Output) T0 (Timer/Counter 0 External Counter Input) PCINT20 (Pin Change Interrupt 20)

INT1 (External Interrupt 1 Input) OC2B (Timer/Counter2 Output Compare Match B Output) PCINT19 (Pin Change Interrupt 19)

INT0 (External Interrupt 0 Input) PCINT18 (Pin Change Interrupt 18)

TXD (USART Output Pin) PCINT17 (Pin Change Interrupt 17)

RXD (USART Input Pin) PCINT16 (Pin Change Interrupt 16)

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ATmega48P/88P/168P/328P

The alternate pin configuration is as follows:

• AIN1/OC2B/PCINT23 – Port D, Bit 7

AIN1, Analog Comparator Negative Input. Configur e the port pin as inpu t with the inter nal pull-up switched off to avoid the digital port function from interfering with the function of the Analog Comparator.

PCINT23: Pin Change Interrupt source 23. The PD7 pin can serve as an external interrupt source.

• AIN0/OC0A/PCINT22 – Port D, Bit 6

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.

OC0A, Output Compare Match output: The PD6 pin can serve as an external output for the Timer/Counter0 Compare Match A. The PD6 pin has to be configured as an output (DDD6 set (one)) to serve this function. The OC0A pin is also the output pin for the PWM mode timer function.

PCINT22: Pin Change Interrupt source 22. The PD6 pin can serve as an external interrupt source.

• T1/OC0B/PCINT21 – Port D, Bit 5

T1, Timer/Counter1 counter source. OC0B, Output Compare Match output: The PD5 pin can serve as an external output for the

Timer/Counter0 Compare Match B. The PD5 pin has to be configured as an output (DDD5 set (one)) to serve this function. The OC0B pin is also the output pin for the PWM mode timer function.

PCINT21: Pin Change Interrupt source 21. The PD5 pin can serve as an external interrupt source.

• XCK/T0/PCINT20 – Port D, Bit 4

XCK, USART external clock. T0, Timer/Counter0 counter source. PCINT20: Pin Change Interrupt source 20. The PD4 pin can serve as an external interrupt

source.

• INT1/OC2B/PCINT19 – Port D, Bit 3

INT1, External Interrupt source 1: The PD3 pin can serve as an external interrupt source. OC2B, Output Compare Match output: The PD3 pin can serve as an external output for the

Timer/Counter0 Compare Match B. The PD3 pin has to be configured as an output (DDD3 set (one)) to serve this function. The OC2B pin is also the output pin for the PWM mode timer function.

PCINT19: Pin Change Interrupt source 19. The PD3 pin can serve as an external interrupt source.

8025D–AVR–03/08

ATmega48P/88P/168P/328P

• INT0/PCINT18 – Port D, Bit 2

INT0, External Interrupt source 0: The PD2 pin can serve as an external interrupt source. PCINT18: Pin Change Interrupt source 18. The PD2 pin can serve as an external interrupt

source.

• TXD/PCINT17 – Port D, Bit 1

TXD, Transmit Data (Data output pin for the USART). When the USART Transmitter is enabled, this pin is configured as an output regardless of the value of DDD1.

PCINT17: Pin Change Interrupt source 17. The PD1 pin can serve as an external interrupt source.

• RXD/PCINT16 – Port D, Bit 0

RXD, Receive Data (Data input pin for the USART). When the USART Receiver is enabled this pin is configured as an input regardless of the value of DDD0. When the USART forces this pin to be an input, the pull-up can still be controlled by the PORTD0 bit.

PCINT16: Pin Change Interrupt source 16. The PD0 pin can serve as an external interrupt source.

Table 13-10 and Table 13-11 relate the alternate functions of Port D to the overriding signals

shown in Figure 13-5 on page 81.

Table 13-10. Overriding Signals for Alternate Functions PD7..PD4

Signal Name

PUOE0000 PUO0000 DDOE 0 0 0 0 DDOV 0 0 0 0 PVOE 0 OC0A ENABLE OC0B ENABLE UMSEL PVOV 0 OC0A OC0B XCK OUTPUT DIEOE PCINT23 • PCIE2 PCINT22 • PCIE2 PCINT21 • PCIE2 PCINT20 • PCIE2 DIEOV1111

DI PCINT23 INPUT PCINT22 INPUT

AIO AIN1 INPUT AIN0 INPUT – –

PD7/AIN1 /PCINT23

PD6/AIN0/ OC0A/PCINT22

PD5/T1/OC0B/ PCINT21

PCINT21 INPUT T1 INPUT

PD4/XCK/ T0/PCINT20

PCINT20 INPUT XCK INPUT T0 INPUT

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Table 13-11. Overriding Signals for Alternate Functions in PD3..PD0

Signal Name

PUOE 0 0 TXEN RXEN PUO000PORTD0 • PUD DDOE 0 0 TXEN RXEN DDOV 0 0 1 0 PVOE OC2B ENABLE 0 TXEN 0 PVOV OC2B 0 TXD 0

DIEOE

DIEOV1111

AIO––––

PD3/OC2B/INT1/ PCINT19

INT1 ENABLE + PCINT19 • PCIE2

PCINT19 INPUT INT1 INPUT

PD2/INT0/ PCINT18

INT0 ENABLE + PCINT18 • PCIE1

PCINT18 INPUT INT0 INPUT

PD1/TXD/ PCINT17

PCINT17 • PCIE2 PCINT16 • PCIE2

PCINT17 INPUT

PD0/RXD/ PCINT16

PCINT16 INPUT RXD

8025D–AVR–03/08

13.4 Register Description

13.4.1 MCUCR – MCU Control Register

Bit 7 6 5 4 3 2 1 0 0x35 (0x55) Read/Write R R R R/W R R R/W R/W Initial Value 0 0 0 0 0 0 0 0

• Bit 4 – 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 ”Con-

figuring the Pin” on page 77 for more details about this feature.

13.4.2 PORTB – The Port B Data Register

Bit 76543210 0x05 (0x25) 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

– BODS BODSE PUD – – IVSEL IVCE MCUCR

PORTB7 PORTB6 PORTB5 PORTB4 PORTB3 PORTB2 PORTB1 PORTB0 PORTB

ATmega48P/88P/168P/328P

13.4.3 DDRB – The Port B Data Direction Register

Bit 76543210 0x04 (0x24) DDB7 DDB6 DDB5 DDB4 DDB3 DDB2 DDB1 DDB0 DDRB Read/Write R/W R/W R/W R/W R/W R/W R/W R/W Initial Value 0 0 0 0 0 0 0 0

13.4.4 PINB – The Port B Input Pins Address

Bit 76543210 0x03 (0x23) 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

13.4.5 PORTC – The Port C Data Register

Bit 76543210 0x08 (0x28) Read/Write R R/W R/W R/W R/W R/W R/W R/W Initial Value 0 0 0 0 0 0 0 0

– PORTC6 PORTC5 PORTC4 PORTC3 PORTC2 PORTC1 PORTC0 PORTC

13.4.6 DDRC – The Port C Data Direction Register

Bit 76543210 0x07 (0x27) – DDC6 DDC5 DDC4 DDC3 DDC2 DDC1 DDC0 DDRC Read/Write R R/W R/W R/W R/W R/W R/W R/W Initial Value 0 0 0 0 0 0 0 0

13.4.7 PINC – The Port C Input Pins Address

Bit 76543210 0x06 (0x26) – PINC6 PINC5 PINC4 PINC3 PINC2 PINC1 PINC0 PINC Read/WriteRRRRRRRR Initial Value 0 N/A N/A N/A N/A N/A N/A N/A

8025D–AVR–03/08

ATmega48P/88P/168P/328P

13.4.8 PORTD – The Port D Data Register

Bit 76543210 0x0B (0x2B) 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

PORTD7 PORTD6 PORTD5 PORTD4 PORTD3 PORTD2 PORTD1 PORTD0 PORTD

13.4.9 DDRD – The Port D Data Direction Register

Bit 76543210 0x0A (0x2A) DDD7 DDD6 DDD5 DDD4 DDD3 DDD2 DDD1 DDD0 DDRD Read/Write R/W R/W R/W R/W R/W R/W R/W R/W Initial Value 0 0 0 0 0 0 0 0

13.4.10 PIND – The Port D Input Pins Address

Bit 76543210 0x09 (0x29) 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

8025D–AVR–03/08

14. 8-bit Timer/Counter0 with PWM

14.1 Features

• Two Independent Output Compare Units

• Double Buffered Output Compare Registers

• Clear Timer on Compare Match (Auto Reload)

• Glitch Free, Phase Correct Pulse Width Modulator (PWM)

• Variable PWM Period

• Frequency Generator

• Three Independent Interrupt Sources (TOV0, OCF0A, and OCF0B)

14.2 Overview

Timer/Counter0 is a general purpose 8-bit Timer/Counter module, with two independent Output Compare Units, and with PWM support. It allows accurate progr am execution timing (event management) and wave generation.

A simplified block diagram of the 8-bit Timer/Counter is shown in Figure 14-1. For the actual placement of I/O pins, refer to ”Pinout ATmega4 8P/88P/ 16 8P/328 P” on page 2. CPU accessible I/O Registers, including I/O bits and I/O pins, are shown in bold. The device-specific I/O Register and bit locations are listed in the ”Register Description” on page 107.

ATmega48P/88P/168P/328P

The PRTIM0 bit in ”Minimizing Power Consumption” on page 43 must be written to zero to enable Timer/Counter0 module.

8025D–AVR–03/08

ATmega48P/88P/168P/328P

Figure 14-1. 8-bit Timer/Counter Block Diagram

Count

Clear

Direction

Control Logic

TOP BOTTOM

TOVn

(Int.Req.)

clk

Clock Select

Edge

Detector

14.2.1 Definitions

Timer/Counter

TCNTn

OCRnA

Fixed

TOP

Val ue

DATA BUS

OCRnB

TCCRnA TCCRnB

( From Prescaler )

OCnA

(Int.Req.)

Wavefo rm

Generation

OCnB

(Int.Req.)

Wavefo rm

Generation

OCnA

OCnB

Many register and bit references in this section are written in genera l form. A lower case “n” replaces the Timer/Counter number, in this case 0. A lower case “x” replaces the Output Compare Unit, in this case Compare Unit A or Compare Unit B. However, when using the register or bit defines in a program, the precise form must be used, i.e., TCNT0 for accessing Timer/Counter0 counter value and so on.

The definitions in Table 14-1 are also used extensively throughout the document. Table 14-1. 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 OCR0A Register. The assignment is dependent on the mode of operation.

14.2.2 Registers

The Timer/Counter (TCNT0) and Output Compare Registers (OCR0A an d OCR0B) are 8-bit registers. Interrupt request (abbreviated to Int.Req. in the figure) signals are all visible in the Timer Interrupt Flag Register (TIFR0). All interr upts are individ ually masked with the Timer Inte rrupt Mask Register (TIMSK0). TIFR0 and TIMSK0 are not shown in the figure.

8025D–AVR–03/08

The Timer/Counter can be clocked internally, via th e prescaler, or b y an external clo ck source on the T0 pin. The Clock Select logic block controls which clock source a nd edge the Tim er/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 (OCR0A and OCR0B) are compared with the Timer/Counter value at all times. The result of the compare can be used by the Waveform Generator to generate a PWM or variable frequency output on the Output Compare pins (OC0A and OC0B). See Section “15.7.3” on page 12 4. for details. The compare ma tch event will also set the Compare Flag (OCF0A or OCF0B) which can be used to generate an Output Compare interrupt request.

14.3 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 (TCCR0B) . For details o n clock sources and p rescaler, see ”Timer/Counter0 and Timer/Counter1 Prescalers” on page 142.

14.4 Counter Unit

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

14-2 shows a block diagram of the counter and its surroundings.

ATmega48P/88P/168P/328P

Figure 14-2. Counter Unit Block Diagram

TOVn

top

(Int.Req.)

clk

Clock Select

Edge

Detector

( From Prescaler )

DATA BUS

count

TCNTn Control Logic

clear

direction

bottom

Signal description (internal signals):

count Increment or decrem en t TC NT 0 by 1. 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. 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

). clkT0 can be generated from an external or internal clock source,

selected by the Clock Select bits (CS02:0). When no clock source is selected (CS02:0 = 0) the timer is stopped. However, the TCNT0 value can be accessed by the CPU, regardless of whether clk

is present or not. A CPU write overrides (has priority over) all counter clear or

count operations.

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ATmega48P/88P/168P/328P

The counting sequence is determined by the setting of the WGM01 and WGM00 bits located in

WGMn1:0

COMnx1:0

the Timer/Counter Control Register (TCCR0A) and the WGM02 bit located in the Timer/Counter Control Register B (TCCR0B). There are close connections between how the counter behaves (counts) and how waveforms are generated on the Output Compare outputs OC0A and OC0B. For more details about advanced counting sequences and waveform generation, see ”Modes of

Operation” on page 100.

The Timer/Counter Overflow Flag (TOV0) is set according to the mode of operation selected by the WGM02:0 bits. TOV0 can be used for generating a CPU interrupt.

14.5 Output Compare Unit

The 8-bit comparator continuously compares TCNT0 with the Output Compare Registers (OCR0A and OCR0B). Whenever TCNT0 equals OCR0A or OCR0B, the comparator signals a match. A match will set the Output Compare Flag (OCF0A or OCF0B) at the next timer clock cycle. If the corresponding interrupt is enabled, the Output Compare Flag generates an Output Compare interrupt. The Output Compare Flag is aut om atica lly cleare d wh en the int errup t is executed. Alternatively, the flag can be cleared by software by writing a logical one to its I/O bit location. The Waveform Generator uses the match signal to generate an output according to operating mode set by the WGM02:0 bits and Compa re Outpu t mode (COM0x1:0) bits. The max and bottom signals are used by the Waveform Generator for handling the special cases of the extreme values in some modes of operation (”Modes of Operation” on page 100).

Figure 14-3 shows a block diagram of the Output Compare unit.

Figure 14-3. Output Compare Unit, Block Diagram

DATA BUS

OCRnx

TCNTn

= (8-bit Comparator )

OCFnx (Int.Req.)

top

bottom

FOCn

Waveform Generator

OCnx

The OCR0x Registers are double buffered when using any o f the Pulse Width Modulation (PWM) modes. For the normal and Clear Timer on Comp are (CTC) mode s of oper ation, the do uble buffering is disabled. The double buffering synchronizes the update of the OCR0x Compare Registers to either top or bottom of the counting sequence. The synchronization prevents the occurrence of odd-length, non-symmetrical PWM pulses, thereby making the output glitch-free.

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The OCR0x Register access may seem complex, but this is not case. When the doub le buffering is enabled, the CPU has access to the OCR0x Buffer Register, and if double buffering is disabled the CPU will access the OCR0x directly.

14.5.1 Force Output Compare

In non-PWM waveform generation modes, the match output of the comparator can be forced by writing a one to the Force Output Compare (FOC0x) bit. Forcing compare match will not set the OCF0x Flag or reload/clear the timer, but the OC0x pin will be updated as if a real compare match had occurred (the COM0x1:0 bits settings define whether the OC0x pin is set, cleared or toggled).

14.5.2 Compare Match Blocking by TCNT0 Write

All CPU write operations to the TCNT0 Register will block any compare match that occur in the next timer clock cycle, even when the timer is stopped. This feature allows OCR0x to be initialized to the same value as TCNT0 without triggering an inte rrupt when the Timer/Counte r clock is enabled.

14.5.3 Using the Output Compare Unit

Since writing TCNT0 in any mode of operation will block all compare matches for one timer clock cycle, there are risks involved when changing TCNT0 when using the Output Compare Unit, independently of whether the Timer/Counter is running or not. If the value written to TCNT0 equals the OCR0x value, the compare match will be missed, resulting in incorrect waveform generation. Similarly, do not write the TCNT0 value equal to BOTTOM when the counter is downcounting.

ATmega48P/88P/168P/328P

The setup of the OC0x should be performed before setting the Data Direction Register for the port pin to output. The easiest way of setting the OC0x value is to use the Force Output Compare (FOC0x) strobe bits in Normal mode. The OC0x Registers keep their valu es even when changing between Waveform Generation modes.

Be aware that the COM0x1:0 bits are not double buffered together with the compare value. Changing the COM0x1:0 bits will take effect immediately.

14.6 Compare Match Output Unit

The Compare Output mode (COM0x1:0) bits have two funct ions. The Wavefor m Generato r uses the COM0x1:0 bits for defining the Output Compare (OC0x) state at the next compare match. Also, the COM0x1:0 bits control the OC0x pin output source. Figure 14-4 shows a simplified schematic of the logic affected by the COM0x 1:0 bit setting. Th e I/O Registe rs, I/O bits, and I/O pins in the figure are shown in bold. Only the parts of the general I/O port control registers (DDR and PORT) that are affected by the COM0x1:0 bits are shown. When referring to the OC0x state, the reference is for the internal OC0x Register, not the OC0x pin. If a system reset occur, the OC0x Register is reset to “0”.

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ATmega48P/88P/168P/328P

Figure 14-4. Compare Match Output Unit, Schematic

COMnx1

COMnx0 FOCn

clk

I/O

Waveform Generator

OCnx

PORT

DATA BUS

DDR

OCnx

The general I/O port function is overridden by the Output Compare (OC0x) from the Waveform Generator if either of the COM0x1:0 bits are set. However, the OC0x pin direction (input or output) is still controlled by the Data Direction Register (DDR) for the port pin. The Data Direction Register bit for the OC0x pin (DDR_OC0x) must be set as output before the OC0x value is visible on the pin. The port override function is independen t of the Waveform Generation mode.

The design of the Output Compare pin logic allows initialization of the OC0x state befor e the output is enabled. Note that some COM0x1:0 bit settings are reserved for certain modes of operation. See Section “14.9” on page 107.

14.6.1 Compare Output Mode and Waveform Generation

The Waveform Generator uses the COM0x1:0 bits diff erently in Nor mal, CTC, and PWM modes. For all modes, setting the COM0x1:0 = 0 tells the Waveform Generator that no action on the OC0x Register is to be performed on the ne xt compare mat ch. For compa re output actio ns in the non-PWM modes refer to Table 14-2 on page 107. For fast PWM mode, refer to Table 14-3 on

page 107, and for phase correct PWM refer t o Table 14-4 on page 108.

A change of the COM0x1:0 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 FOC0x strobe bits.

14.7 Modes of Operation

The mode of operation, i.e., the behavior of the Timer/Counter and the Output Compare pins, is defined by the combination of the Waveform Gen eration mode (WGM02:0) and Comp are Output mode (COM0x1:0) bits. The Compare Output mode bits do no t affect the counting sequence, while the Waveform Generation mode bits do. The COM0x1: 0 bits control wheth er the PWM output generated should be inverted or not (inverted or non-inverted PWM). For non-PWM modes the COM0x1:0 bits control whether the output should be set, cleared, or toggled at a compare match (See Section “14.6” on page 99.).

For detailed timing information refer to ”Timer/Counter Timing Diagrams” on page 105.

100

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ATMEL ATmega48P, ATmega48PV, ATmega88P, ATmega88PV, ATmega168P User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Features

1. Pin Configurations

1.1 Pin Descriptions

1.1.1 VCC

1.1.2 GND

1.1.3 Port B (PB7:0) XTAL1/XTAL2/TOSC1/TOSC2

1.1.4 Port C (PC5:0)

1.1.5 PC6/RESET

1.1.6 Port D (PD7:0)

1.1.8 AREF

1.1.9 ADC7:6 (TQFP and QFN/MLF Package Only)

1.2 Disclaimer

2. Overview

2.1 Block Diagram

2.2 Comparison Between ATmega48P, ATmega88P, ATmega168P, and ATmega328P

3. Resources

4. Data Retention

5. About Code Examples

6. AVR CPU Core

6.1 Overview

6.3 Status Register

6.4 General Purpose Register File

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

6.5 Stack Pointer

6.6 Instruction Execution Timing

6.7 Reset and Interrupt Handling

6.7.1 Interrupt Response Time

7. AVR Memories

7.1 Overview

7.2 In-System Reprogrammable Flash Program Memory

7.3 SRAM Data Memory

7.3.1 Data Memory Access Times

7.4 EEPROM Data Memory

7.4.1 EEPROM Read/Write Access

7.4.2 Preventing EEPROM Corruption

7.5 I/O Memory

7.5.1 General Purpose I/O Registers

7.6 Register Description

8. System Clock and Clock Options

8.1 Clock Systems and their Distribution

8.2 Clock Sources

8.2.1 Default Clock Source

8.2.2 Clock Startup Sequence

8.3 Low Power Crystal Oscillator

8.4 Full Swing Crystal Oscillator

8.5 Low Frequency Crystal Oscillator

8.6 Calibrated Internal RC Oscillator

8.7 128 kHz Internal Oscillator

8.8 External Clock

8.9 Clock Output Buffer

8.10 Timer/Counter Oscillator

8.11 System Clock Prescaler

8.12 Register Description

9. Power Management and Sleep Modes

9.1 Sleep Modes

9.2 BOD Disable

9.3 Idle Mode

9.4 ADC Noise Reduction Mode

9.5 Power-down Mode

9.6 Power-save Mode

9.7 Standby Mode

9.8 Extended Standby Mode

9.9 Po wer Reduction Register

9.10 Minimizing Power Consumption

9.10.1 Analog to Digital Converter

9.10.2 Analog Comparator

9.10.3 Brown-out Detector

9.10.4 Internal Voltage Reference

9.10.5 Watchdog Timer

9.10.6 Port Pins

9.10.7 On-chip Debug System

9.11 Register Description

10. System Control and Reset

10.1 Resetting the AVR

10.2 Reset Sources

10.3 Power-on Reset