- •Features
- •Pin Configurations
- •Overview
- •Block Diagram
- •Pin Descriptions
- •Port A (PA7..PA0)
- •Port B (PB7..PB0)
- •Port C (PC7..PC0)
- •Port D (PD7..PD0)
- •Port E (PE7..PE0)
- •Port F (PF7..PF0)
- •Port G (PG4..PG0)
- •RESET
- •XTAL1
- •XTAL2
- •AVCC
- •AREF
- •AVR CPU Core
- •Introduction
- •Architectural Overview
- •Status Register
- •Stack Pointer
- •Interrupt Response Time
- •SRAM Data Memory
- •Data Memory Access Times
- •EEPROM Data Memory
- •EEPROM Read/Write Access
- •I/O Memory
- •Overview
- •ATmega103 Compatibility
- •Address Latch Requirements
- •Pull-up and Bus-keeper
- •Timing
- •XMEM Register Description
- •Using all 64KB Locations of External Memory
- •Clock Systems and their Distribution
- •CPU Clock – clkCPU
- •I/O Clock – clkI/O
- •Flash Clock – clkFLASH
- •ADC Clock – clkADC
- •Clock Sources
- •Crystal Oscillator
- •External RC Oscillator
- •External Clock
- •Timer/Counter Oscillator
- •Idle Mode
- •Power-down Mode
- •Power-save Mode
- •Standby Mode
- •Extended Standby Mode
- •Analog to Digital Converter
- •Analog Comparator
- •Brown-out Detector
- •Internal Voltage Reference
- •Watchdog Timer
- •Port Pins
- •System Control and Reset
- •Resetting the AVR
- •Reset Sources
- •Power-on Reset
- •External Reset
- •Brown-out Detection
- •Watchdog Reset
- •Watchdog Timer
- •Timed Sequences for Changing the Configuration of the Watch Dog Timer
- •Safety Level 0
- •Safety Level 1
- •Safety Level 2
- •Interrupts
- •I/O-Ports
- •Introduction
- •Configuring the Pin
- •Reading the Pin Value
- •Alternate Port Functions
- •Alternate Functions of Port A
- •Alternate Functions of Port B
- •Alternate Functions of Port C
- •Alternate Functions of Port D
- •Alternate Functions of Port E
- •Alternate Functions of Port F
- •Alternate Functions of Port G
- •Port A Data Register – PORTA
- •Port B Data Register – PORTB
- •Port C Data Register – PORTC
- •Port D Data Register – PORTD
- •Port E Data Register – PORTE
- •Port F Data Register – PORTF
- •Port G Data Register – PORTG
- •External Interrupts
- •8-bit Timer/Counter0 with PWM and Asynchronous Operation
- •Overview
- •Registers
- •Definitions
- •Counter Unit
- •Output Compare Unit
- •Force Output Compare
- •Modes of Operation
- •Normal Mode
- •Fast PWM Mode
- •Phase Correct PWM Mode
- •Timer/Counter Prescaler
- •16-bit Timer/Counter (Timer/Counter1 and Timer/Counter3)
- •Overview
- •Registers
- •Definitions
- •Compatibility
- •Counter Unit
- •Input Capture Unit
- •Input Capture Trigger Source
- •Noise Canceler
- •Using the Input Capture Unit
- •Output Compare Units
- •Force Output Compare
- •Modes of Operation
- •Normal Mode
- •Fast PWM Mode
- •Phase Correct PWM Mode
- •16-bit Timer/Counter Register Description
- •Internal Clock Source
- •Prescaler Reset
- •External Clock Source
- •8-bit Timer/Counter2 with PWM
- •Overview
- •Registers
- •Definitions
- •Counter Unit
- •Output Compare Unit
- •Force Output Compare
- •Modes of Operation
- •Normal Mode
- •Fast PWM Mode
- •Phase Correct PWM Mode
- •Overview
- •Description
- •Timing Example
- •Slave Mode
- •Master Mode
- •SPI Control Register – SPCR
- •SPI Status Register – SPSR
- •SPI Data Register – SPDR
- •Data Modes
- •USART
- •Dual USART
- •Overview
- •AVR USART vs. AVR UART – Compatibility
- •Clock Generation
- •External Clock
- •Synchronous Clock Operation
- •Frame Formats
- •Parity Bit Calculation
- •USART Initialization
- •Sending Frames with 5 to 8 Data Bit
- •Sending Frames with 9 Data Bit
- •Parity Generator
- •Disabling the Transmitter
- •Receiving Frames with 5 to 8 Data Bits
- •Receiving Frames with 9 Data Bits
- •Receiver Error Flags
- •Parity Checker
- •Disabling the Receiver
- •Flushing the Receive Buffer
- •Asynchronous Data Recovery
- •Using MPCM
- •Two-wire Serial Interface
- •Features
- •TWI Terminology
- •Electrical Interconnection
- •Transferring Bits
- •START and STOP Conditions
- •Address Packet Format
- •Data Packet Format
- •Multi-master Bus Systems, Arbitration and Synchronization
- •Overview of the TWI Module
- •Scl and SDA Pins
- •Bit Rate Generator Unit
- •Bus Interface Unit
- •Address Match Unit
- •Control Unit
- •TWI Register Description
- •TWI Bit Rate Register – TWBR
- •TWI Control Register – TWCR
- •TWI Status Register – TWSR
- •TWI Data Register – TWDR
- •Using the TWI
- •Transmission Modes
- •Master Transmitter Mode
- •Master Receiver Mode
- •Slave Receiver Mode
- •Slave Transmitter Mode
- •Miscellaneous States
- •Analog Comparator
- •Analog Comparator Multiplexed Input
- •Analog to Digital Converter
- •Features
- •Operation
- •Starting a Conversion
- •Differential Gain Channels
- •ADC Input Channels
- •ADC Voltage Reference
- •ADC Noise Canceler
- •Analog Input Circuitry
- •ADC Accuracy Definitions
- •ADC Conversion Result
- •ADLAR = 0:
- •ADLAR = 1:
- •Features
- •Overview
- •Test Access Port – TAP
- •TAP Controller
- •PRIVATE0; $8
- •PRIVATE1; $9
- •PRIVATE2; $A
- •PRIVATE3; $B
- •Bibliography
- •Features
- •System Overview
- •Data Registers
- •Bypass Register
- •Device Identification Register
- •Reset Register
- •Boundary-scan Chain
- •EXTEST; $0
- •IDCODE; $1
- •SAMPLE_PRELOAD; $2
- •AVR_RESET; $C
- •BYPASS; $F
- •Boundary-scan Chain
- •Scanning the Digital Port Pins
- •Scanning the RESET Pin
- •Scanning the Clock Pins
- •Scanning the ADC
- •Boot Loader Features
- •Application Section
- •Boot Loader Section – BLS
- •Boot Loader Lock Bits
- •Performing a Page Write
- •Using the SPM Interrupt
- •Setting the Boot Loader Lock Bits by SPM
- •Reading the Fuse and Lock Bits from Software
- •Preventing Flash Corruption
- •Simple Assembly Code Example for a Boot Loader
- •Fuse Bits
- •Latching of Fuses
- •Signature Bytes
- •Calibration Byte
- •Signal Names
- •Parallel Programming
- •Enter Programming Mode
- •Chip Erase
- •Programming the Flash
- •Programming the EEPROM
- •Reading the Flash
- •Reading the EEPROM
- •Programming the Lock Bits
- •Reading the Signature Bytes
- •Reading the Calibration Byte
- •Serial Downloading
- •Data Polling Flash
- •Data Polling EEPROM
- •AVR_RESET ($C)
- •PROG_ENABLE ($4)
- •PROG_COMMANDS ($5)
- •PROG_PAGELOAD ($6)
- •PROG_PAGEREAD ($7)
- •Data Registers
- •Reset Register
- •Programming Enable Register
- •Virtual Flash Page Read Register
- •Programming Algorithm
- •Entering Programming Mode
- •Leaving Programming Mode
- •Performing Chip Erase
- •Programming the Flash
- •Reading the Flash
- •Programming the EEPROM
- •Reading the EEPROM
- •Programming the Fuses
- •Programming the Lock Bits
- •Reading the Signature Bytes
- •Reading the Calibration Byte
- •Electrical Characteristics
- •Absolute Maximum Ratings*
- •DC Characteristics
- •External Clock Drive Waveforms
- •External Clock Drive
- •2-wire Serial Interface Characteristics
- •ADC Characteristics - Preliminary Data
- •External Data Memory Timing
- •Ordering Information
- •Packaging Information
Output Compare Unit
clear |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Clear TCNT2 (set all bits to zero). |
|||||
clkTn |
Timer/counter clock, referred to as clkT0 in the following. |
||||
top |
Signalize that TCNT2 has reached maximum value. |
||||
bottom |
Signalize that TCNT2 has reached minimum value (zero). |
Depending of the mode of operation used, the counter is cleared, incremented, or decremented at each timer clock (clkT2). clkT2 can be generated from an external or internal clock source, selected by the clock select bits (CS22:0). When no clock source is selected (CS22:0 = 0) the timer is stopped. However, the TCNT2 value can be accessed by the CPU, regardless of whether clkT2 is present or not. A CPU write overrides (has priority over) all counter clear or count operations.
The counting sequence is determined by the setting of the WGM01 and WGM00 bits located in the Timer/Counter control register (TCCR2). There are close connections between how the counter behaves (counts) and how waveforms are generated on the
output compare output OC2. For more details about advanced counting sequences and waveform generation, see “Modes of Operation” on page 145.
The Timer/Counter overflow (TOV2) flag is set according to the mode of operation selected by the WGM21:0 bits. TOV2 can be used for generating a CPU interrupt.
The 8-bit comparator continuously compares TCNT2 with the output compare register (OCR2). Whenever TCNT2 equals OCR2, the comparator signals a match. A match will set the output compare flag (OCF2) at the next timer clock cycle. If enabled (OCIE2 = 1 and global interrupt flag in SREG is set), the output compare flag generates an output compare interrupt. The OCF2 flag is automatically cleared when the interrupt is executed. Alternatively, the OCF2 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 WGM21:0 bits and compare output mode (COM21:0) bits. The max and bottom signals are used by the waveform generator for
handling the special cases of the extreme values in some modes of operation (see “Modes of Operation” on page 145). Figure 62 shows a block diagram of the output
compare unit.
142 ATmega128(L)
2467B–09/01
ATmega128(L)
Figure 62. Output Compare Unit, Block Diagram
DATA BUS
|
|
|
OCRn |
|
|
TCNTn |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
= (8-bit Comparator ) |
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
OCFn (Int.Req.) |
|||||
top |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|||
bottom |
|
Waveform Generator |
|
|
|
|
|
|
||||
|
|
|
|
OCn |
|
|||||||
FOCn |
|
|
|
|
|
|||||||
|
|
|
|
|
|
|
|
|
||||
|
|
|
|
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
WGMn1:0 |
COMn1:0 |
|
The OCR2 register is double buffered when using any of the pulse width modulation |
|
|
(PWM) modes. For the normal and clear timer on compare (CTC) modes of operation, |
|
|
the double buffering is disabled. The double buffering synchronizes the update of the |
|
|
OCR2 compare register to either top or bottom of the counting sequence. The synchro- |
|
|
nization prevents the occurrence of odd-length, non-symmetrical PWM pulses, thereby |
|
|
making the output glitch-free. |
|
|
The OCR2 register access may seem complex, but this is not case. When the double |
|
|
buffering is enabled, the CPU has access to the OCR2 buffer register, and if double |
|
|
buffering is disabled the CPU will access the OCR2 directly. |
|
Force Output Compare |
In non-PWM waveform generation modes, the match output of the comparator can be |
|
|
forced by writing a one to the force output compare (FOC2) bit. Forcing compare match |
|
|
will not set the OCF2 flag or reload/clear the timer, but the OC2 pin will be updated as if |
|
|
a real compare match had occurred (the COM21:0 bits settings define whether the OC2 |
|
|
pin is set, cleared or toggled). |
|
Compare Match Blocking by |
All CPU write operations to the TCNT2 register will block any compare match that occur |
|
TCNT2 Write |
in the next timer clock cycle, even when the timer is stopped. This feature allows OCR2 |
|
|
to be initialized to the same value as TCNT2 without triggering an interrupt when the |
|
|
Timer/Counter clock is enabled. |
|
Using the Output Compare |
Since writing TCNT2 in any mode of operation will block all compare matches for one |
|
Unit |
timer clock cycle, there are risks involved when changing TCNT2 when using the output |
|
|
compare channel, independently of whether the Timer/Counter is running or not. If the |
|
|
value written to TCNT2 equals the OCR2 value, the compare match will be missed, |
resulting in incorrect waveform generation. Similarly, do not write the TCNT2 value equal to BOTTOM when the counter is downcounting.
The setup of the OC2 should be performed before setting the data direction register for the port pin to output. The easiest way of setting the OC2 value is to use the force output
143
2467B–09/01
Compare Match Output
Unit
compare (FOC2) strobe bits in normal mode. The OC2 register keeps its value even when changing between waveform generation modes.
Be aware that the COM21:0 bits are not double buffered together with the compare value. Changing the COM21:0 bits will take effect immediately.
The compare output mode (COM21:0) bits have two functions. The waveform generator
uses the COM21:0 bits for defining the output compare (OC2) state at the next compare match. Also, the COM21:0 bits control the OC2 pin output source. Figure 63 shows a
simplified schematic of the logic affected by the COM21:0 bit setting. The I/O registers, I/O bits, and I/O pins in the figure are shown in bold. Only the parts of the general I/O port control registers (DDR and PORT) that are affected by the COM21:0 bits are shown. When referring to the OC2 state, the reference is for the internal OC2 register, not the OC2 pin. If a system reset occur, the OC2 register is reset to “0”.
Figure 63. Compare Match Output Unit, Schematic
COMn1 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
Waveform |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|||||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||||||
COMn0 |
|
|
|
|
D |
Q |
|
|
|
|
|
|
|
|
|
|||||||||
|
|
|
|
|
Generator |
|
|
|
|
|
|
|
|
|
|
|
|
|||||||
FOCn |
|
|
|
|
|
|
|
|
|
|
|
|
|
|||||||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||||||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
OCn |
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
OCn |
|
|
0 |
|
|
|
|
Pin |
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
BUS |
|
|
|
|
D |
Q |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
PORT |
|
|
|
|
|
|
|
|
|
|||||||||||
|
|
|
|
|
|
|
|
|
DATA |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
D |
Q |
|
|
|
|
|
|
|
|
|
||||||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
clkI/O |
|
|
|
|
|
|
|
|
|
|
DDR |
|
|
|
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The general I/O port function is overridden by the output compare (OC2) from the waveform generator if either of the COM21:0 bits are set. However, the OC2 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 OC2 pin (DDR_OC2) must be set as output before the OC2 value is visible on the pin. The port override function is independent of the waveform generation mode.
The design of the output compare pin logic allows initialization of the OC2 state before
the output is enabled. Note that some COM21:0 bit settings are reserved for certain modes of operation. See “8-bit Timer/Counter Register Description” on page 151.
Compare Output Mode and The waveform generator uses the COM21:0 bits differently in normal, CTC, and PWM Waveform Generation modes. For all modes, setting the COM21:0 = 0 tells the waveform generator that no
action on the OC2 register is to be performed on the next compare match. For compare output actions in the non-PWM modes refer to Table 65 on page 152. For fast PWM mode, refer to Table 66 on page 152, and for phase correct PWM refer to Table 67 on page 152.
144 ATmega128(L)
2467B–09/01