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Features

High Performance, Low Power AVR 8-Bit Microcontroller

Advanced RISC Architecture

131 Powerful Instructions Most Single Clock Cycle Execution

32 x 8 General Purpose Working Registers
Fully Static Operation
Up to 16 MIPS Throughput at 16 MHz
On-chip 2-cycle Multiplier
High Endurance Non-volatile Memory Segments
32K Bytes of In-System Self-Programmable Flash program memory
1K Bytes EEPROM
2K Bytes Internal SRAM
Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
Optional Boot Code Section with Independent Lock Bits
In-System Programming by On-chip Boot Program
True Read-While-Write Operation
Programming Lock for Software Security
Peripheral Features
Two 8-bit Timer/Counters with 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
Programmable Serial USART
Master/Slave SPI Serial Interface
Byte-oriented 2-wire Serial Interface (Philips I2C compatible)
Programmable Watchdog Timer with Separate On-chip Oscillator
On-chip Analog Comparator
Interrupt and Wake-up on Pin Change
Special Microcontroller Features
Power-on Reset and Programmable Brown-out Detection
Internal Calibrated Oscillator
External and Internal Interrupt Sources
Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby,
and Extended Standby
I/O and Packages
23 Programmable I/O Lines
32-lead TQFP, and 32-pad QFN/MLF
Operating Voltage:
2.7V - 5.5V for ATmega328P
Temperature Range:
Automotive Temperature Range: -40C to +125C
Speed Grade:
0 - 8 MHz @ 2.7 - 5.5V (Automotive Temp. Range: -40C to +125C)
0 - 16 MHz @ 4.5 - 5.5V (Automotive Temp. Range: -40C to +125C)
Low Power Consumption
Active Mode: 1.5mA @3V - 4MHz
Power-down Mode: 1 A @3V

8-bit
Microcontroller
with 32K Bytes
In-System
Programmable
Flash
ATmega328P
Automotive
Preliminary

7810CAVR10/12

1. Pin Configurations
Figure 1-1.

Pinout

PDIP

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)

TQFP Top View

32
31
30
29
28
27
26
25

(PCINT14/RESET) PC6
(PCINT16/RXD) PD0
(PCINT17/TXD) PD1
(PCINT18/INT0) PD2
(PCINT19/OC2B/INT1) PD3
(PCINT20/XCK/T0) PD4
VCC
GND
(PCINT6/XTAL1/TOSC1) PB6
(PCINT7/XTAL2/TOSC2) PB7
(PCINT21/OC0B/T1) PD5
(PCINT22/OC0A/AIN0) PD6
(PCINT23/AIN1) PD7
(PCINT0/CLKO/ICP1) PB0

24
23
22
21
20
19
18
17

1
2
3
4
5
6
7
8

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

(PCINT21/OC0B/T1) PD5
(PCINT22/OC0A/AIN0) PD6
(PCINT23/AIN1) PD7
(PCINT0/CLKO/ICP1) PB0
(PCINT1/OC1A) PB1
(PCINT2/SS/OC1B) PB2
(PCINT3/OC2A/MOSI) PB3
(PCINT4/MISO) PB4

9
10
11
12
13
14
15
16

PD2 (INT0/PCINT18)
PD1 (TXD/PCINT17)
PD0 (RXD/PCINT16)
PC6 (RESET/PCINT14)
PC5 (ADC5/SCL/PCINT13)
PC4 (ADC4/SDA/PCINT12)
PC3 (ADC3/PCINT11)
PC2 (ADC2/PCINT10)
32
31
30
29
28
27
26
25

PD2 (INT0/PCINT18)
PD1 (TXD/PCINT17)
PD0 (RXD/PCINT16)
PC6 (RESET/PCINT14)
PC5 (ADC5/SCL/PCINT13)
PC4 (ADC4/SDA/PCINT12)
PC3 (ADC3/PCINT11)

28
27
26
25
24
23
22
8
9
10
11
12
13
14

(PCINT22/OC0A/AIN0) PD6
(PCINT23/AIN1) PD7
(PCINT0/CLKO/ICP1) PB0
(PCINT1/OC1A) PB1
(PCINT2/SS/OC1B) PB2
(PCINT3/OC2A/MOSI) PB3
(PCINT4/MISO) PB4

NOTE: Bottom pad should be soldered to ground.

PC2 (ADC2/PCINT10)
PC1 (ADC1/PCINT9)
PC0 (ADC0/PCINT8)
GND
AREF
AVCC
PB5 (SCK/PCINT5)

(PCINT19/OC2B/INT1) PD3
(PCINT20/XCK/T0) PD4
GND
VCC
GND
VCC
(PCINT6/XTAL1/TOSC1) PB6
(PCINT7/XTAL2/TOSC2) PB7

24
23
22
21
20
19
18
17

1
2
3
4
5
6
7
8

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

9
10
11
12
13
14
15
16

21
20
19
18
17
16
15

1
2
3
4
5
6
7

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)

32 MLF Top View

28 MLF Top View

(PCINT19/OC2B/INT1) PD3
(PCINT20/XCK/T0) PD4
VCC
GND
(PCINT6/XTAL1/TOSC1) PB6
(PCINT7/XTAL2/TOSC2) PB7
(PCINT21/OC0B/T1) PD5

28
27
26
25
24
23
22
21
20
19
18
17
16
15

NOTE: Bottom pad should be soldered to ground.

(PCINT21/OC0B/T1) PD5
(PCINT22/OC0A/AIN0) PD6
(PCINT23/AIN1) PD7
(PCINT0/CLKO/ICP1) PB0
(PCINT1/OC1A) PB1
(PCINT2/SS/OC1B) PB2
(PCINT3/OC2A/MOSI) PB3
(PCINT4/MISO) PB4

(PCINT19/OC2B/INT1) PD3
(PCINT20/XCK/T0) PD4
GND
VCC
GND
VCC
(PCINT6/XTAL1/TOSC1) PB6
(PCINT7/XTAL2/TOSC2) PB7

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

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

1.1
1.1.1

Pin Descriptions
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 condition becomes active,
even if the clock is not running.
Depending on the clock selection fuse settings, PB6 can be used as input to the inverting Oscillator amplifier and input to the internal clock operating circuit.
Depending on the clock selection fuse settings, PB7 can be used as output from the inverting
Oscillator amplifier.
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
74 and System Clock and Clock Options on page 25.

1.1.4

Port C (PC5:0)
Port C is a 7-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The
PC5..0 output buffers 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.

1.1.5

PC6/RESET
If the RSTDISBL Fuse is programmed, PC6 is used as an input pin. 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 28-4 on page 308. 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
77.

1.1.6

Port D (PD7:0)
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each 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.
The various special features of Port D are elaborated in Alternate Functions of Port D on page
80.
3

7810CAVR10/12

1.1.7

AVCC
AVCC is the supply voltage pin for the A/D Converter, PC3:0, and ADC7:6. It should be externally
connected to VCC, even if the ADC is not used. If the ADC is used, it should be connected to VCC
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

1.2

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.

Disclaimer
Typical values contained in this datasheet are based on simulations and characterization of
actual ATmega328P AVR microcontrollers manufactured on the typical process technology.
Automotive Min and Max values are based on characterization of actual ATmega328P AVR
microcontrollers manufactured on the whole process excursion (corner run).

1.3

Automotive Quality Grade

The ATmega328P have been developed and manufactured according to the most
stringent requirements of the international standard ISO-TS-16949. This data sheet contains
limit values extracted from the results of extensive characterization (Temperature and Voltage).
The quality and reliability of the ATmega328P have been verified during regular product
qualification as per AEC-Q100 grade 1.
As indicated in the ordering information paragraph, the products are available in only one temperature grade.
Table 1-1.

Temperature Grade Identification for Automotive Products

Temperature
-40C ; +125C

Temperature Identifier

Comments
Full AutomotiveTemperature Range

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

2. Overview
The ATmega328P 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 ATmega328P
achieves throughputs approaching 1 MIPS per MHz allowing the system designer to optimize
power consumption versus processing speed.

Block Diagram
Block Diagram
GND

Figure 2-1.

VCC

2.1

Watchdog
Timer
Watchdog
Oscillator

Oscillator
Circuits /
Clock
Generation

Power
Supervision
POR / BOD &
RESET

debugWIRE

Flash

SRAM

PROGRAM
LOGIC

CPU
EEPROM
AVCC
AREF

DATABUS

GND

8bit T/C 0

16bit T/C 1

A/D Conv.

8bit T/C 2

Analog
Comp.

Internal
Bandgap

USART 0

SPI

TWI

PORT D (8)

PORT B (8)

PORT C (7)

RESET
XTAL[1..2]
PD[0..7]

PB[0..7]

PC[0..6]

ADC[6..7]

5
7810CAVR10/12

The AVR core combines a rich instruction set with 32 general purpose working registers. All the
32 registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent
registers to be accessed in one single instruction executed in one clock cycle. The resulting
architecture is more code efficient while achieving throughputs up to ten times faster than conventional CISC microcontrollers.
The ATmega328P provides the following features: 32K bytes of In-System Programmable Flash
with Read-While-Write capabilities, 1K bytes EEPROM, 2K bytes SRAM, 23 general purpose I/O
lines, 32 general purpose working registers, three flexible Timer/Counters with compare modes,
internal 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 functioning. The
Power-down mode saves the register contents but freezes the Oscillator, disabling all other chip
functions until the next interrupt or hardware reset. In Power-save mode, the asynchronous
timer continues to run, allowing the user to maintain a timer base while the rest of the device is
sleeping. The ADC Noise Reduction mode stops the CPU and all I/O modules except asynchronous timer and ADC, to minimize switching noise during ADC conversions. In Standby mode,
the crystal/resonator Oscillator is running while the rest of the device is sleeping. This allows
very fast start-up combined with low power consumption.
The device is manufactured using Atmels 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 ATmega328P is a powerful microcontroller that provides a highly flexible and cost effective solution to many embedded control applications.
The ATmega328P 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.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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

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

5. About Code Examples

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

7
7810CAVR10/12

6. AVR CPU Core

6.1

Overview
This section discusses the AVR core architecture in general. The main function of the CPU core
is to ensure correct program execution. The CPU must therefore be able to 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

Program
Counter

Status
and Control

32 x 8
General
Purpose
Registrers

Control Lines

Direct Addressing

Instruction
Decoder

Indirect Addressing

Instruction
Register

Interrupt
Unit
SPI
Unit
Watchdog
Timer

ALU

Analog
Comparator

I/O Module1

Data
SRAM

I/O Module 2

I/O Module n
EEPROM

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.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

The fast-access Register File contains 32 x 8-bit general purpose working registers with a single
clock cycle access time. This allows single-cycle Arithmetic Logic Unit (ALU) operation. In a typical ALU operation, two operands are output from the Register File, the operation is executed,
and the result is stored back in the Register File in one clock cycle.
Six of the 32 registers can be used as three 16-bit indirect address register pointers for Data
Space addressing enabling efficient address calculations. One of the these address pointers
can also be used as an address pointer for look up tables in Flash program memory. These
added function registers are the 16-bit X-, Y-, and Z-register, described later in this section.
The ALU supports arithmetic and logic operations between registers or between a constant and
a register. Single register operations can also be executed in the ALU. After an arithmetic operation, the Status Register is updated to reflect information about the result of the operation.
Program flow is provided by conditional and unconditional jump and call instructions, able to
directly address the whole address space. Most AVR instructions have a single 16-bit word format. Every program memory address contains a 16- or 32-bit instruction.
Program Flash memory space is divided in two sections, the Boot Program section and the
Application Program section. Both sections have dedicated Lock bits for write and read/write
protection. The SPM instruction that writes into the Application Flash memory section must
reside in the Boot Program section.
During interrupts and subroutine calls, the return address Program Counter (PC) is stored on the
Stack. The Stack is effectively allocated in the general data SRAM, and consequently the Stack
size is only limited by the total SRAM size and the usage of the SRAM. All user programs must
initialize the SP in the Reset routine (before subroutines or interrupts are executed). The Stack
Pointer (SP) is read/write accessible in the I/O space. The data SRAM can easily be accessed
through the five different addressing modes supported in the AVR architecture.
The memory spaces in the AVR architecture are all linear and regular memory maps.
A flexible interrupt module has its control registers in the I/O space with an additional Global
Interrupt Enable bit in the Status Register. All interrupts have a separate Interrupt Vector in the
Interrupt Vector table. The interrupts have priority in accordance with their Interrupt Vector position. The lower the Interrupt Vector address, the higher the priority.
The I/O memory space contains 64 addresses for CPU peripheral functions as Control Registers, SPI, and other I/O functions. The I/O Memory can be accessed directly, or as the Data
Space locations following those of the Register File, 0x20 - 0x5F. In addition, the ATmega328P
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 executed. The ALU operations are divided
into three main categories arithmetic, logical, and bit-functions. Some implementations of the
architecture also provide a powerful multiplier supporting both signed/unsigned multiplication
and fractional format. See the Instruction Set section for a detailed description.

9
7810CAVR10/12

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
specified in the Instruction Set Reference. This will in many cases remove the need for using the
dedicated compare instructions, resulting in faster and more compact code.
The Status Register is not automatically stored when entering an interrupt routine and restored
when returning from an interrupt. This must be handled by software.

6.3.1

SREG AVR Status Register

The AVR Status Register SREG is defined as:
Bit

0x3F (0x5F)

Read/Write

R/W

Initial Value

SREG

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.
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 Twos Complement
Overflow Flag V. See the Instruction Set Description for detailed information.
Bit 3 V: Twos Complement Overflow Flag
The Twos Complement Overflow Flag V supports twos 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.
10

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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.

6.4

General Purpose Register File

The Register File is optimized for the AVR Enhanced RISC instruction set. In order to achieve
the required performance and flexibility, the following 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

Addr.

0x00

0x01

0x02

R13

0x0D

General

R14

0x0E

Purpose

R15

0x0F

Working

R16

0x10

Registers

R17

0x11

R26

0x1A

X-register Low Byte

R27

0x1B

X-register High Byte

R28

0x1C

Y-register Low Byte

R29

0x1D

Y-register High Byte

R30

0x1E

Z-register Low Byte

R31

0x1F

Z-register High Byte

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.

11
7810CAVR10/12

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

X-register

XL
0

R27 (0x1B)

15
Y-register

R26 (0x1A)

YL
0

R29 (0x1D)

Z-register

R28 (0x1C)

R31 (0x1F)

ZL
7

0
0

R30 (0x1E)

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

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. Note that the Stack is implemented as
growing from higher to lower memory locations. The Stack Pointer Register always points to the
top of the Stack. The Stack Pointer points to the data SRAM Stack area where the Subroutine
and Interrupt Stacks are located. A Stack PUSH command will decrease the Stack Pointer.
The Stack in the data SRAM must be defined by the program before any subroutine calls are
executed or interrupts are enabled. Initial Stack Pointer value equals the last address of the
internal SRAM and the Stack Pointer must be set to point above start of the SRAM, see Figure
7-2 on page 18.
See Table 6-1 for Stack Pointer details.
Table 6-1.

Stack Pointer instructions

Instruction

Stack pointer

Description

PUSH

Decremented by 1

Data is pushed onto the stack

CALL
ICALL
RCALL

Decremented by 2

Return address is pushed onto the stack with a subroutine call or

interrupt

POP

Incremented by 1

Data is popped from the stack

RET
RETI

Incremented by 2

Return address is popped from the stack with return from subroutine
or return from interrupt

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.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

6.5.1

SPH and SPL Stack Pointer High and Stack Pointer Low Register
Bit

0x3E (0x5E)

SP15

SP14

SP13

SP12

SP11

SP10

SP9

SP8

SPH

0x3D (0x5D)

SP7

SP6

SP5

SP4

SP3

SP2

SP1

SP0

SPL

R/W

RAMEND

Read/Write

Initial Value

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 clkCPU, directly generated from the selected clock source for the
chip. No internal clock division is used.
Figure 6-4 shows the parallel instruction fetches and instruction executions enabled by the Harvard architecture and the fast-access Register File concept. This is the basic pipelining concept
to obtain up to 1 MIPS per MHz with the corresponding unique results for functions per cost,
functions per clocks, and functions per power-unit.
Figure 6-4.

The Parallel Instruction Fetches and Instruction Executions

clkCPU
1st Instruction Fetch
1st Instruction Execute
2nd Instruction Fetch
2nd Instruction Execute
3rd Instruction Fetch
3rd Instruction Execute
4th Instruction Fetch

Figure 6-5 shows the internal timing concept for the Register File. In a single clock cycle an ALU
operation using two register operands is executed, and the result is stored back to the destination register.
Figure 6-5.

Single Cycle ALU Operation

clkCPU
Total Execution Time
Register Operands Fetch
ALU Operation Execute
Result Write Back

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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 together with the Global Interrupt
Enable bit in the Status Register in order to enable the interrupt. Depending on the Program
Counter value, interrupts may be automatically disabled when Boot Lock bits BLB02 or BLB12
are programmed. This feature improves software security. See the section Memory Programming on page 286 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 56. 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 the start of the Boot Flash section by setting the IVSEL
bit in the MCU Control Register (MCUCR). Refer to Interrupts on page 56 for more information.
The Reset Vector can also be moved to the start of the Boot Flash section by programming the
BOOTRST Fuse, see Boot Loader Support Read-While-Write Self-Programming on page
271.
When an interrupt occurs, the Global Interrupt Enable I-bit is cleared and all interrupts are disabled. The user software can write logic one to the I-bit to enable nested interrupts. All enabled
interrupts can then interrupt the current interrupt routine. The I-bit is automatically set when a
Return from Interrupt instruction RETI is executed.
There are basically two types of interrupts. The first type is triggered by an event that sets the
Interrupt Flag. For these interrupts, the Program Counter is vectored to the actual Interrupt Vector in order to execute the interrupt handling routine, and hardware clears the corresponding
Interrupt Flag. Interrupt Flags can also be cleared by writing a logic one to the flag bit position(s)
to be cleared. If an interrupt condition occurs while the corresponding interrupt enable bit is
cleared, the Interrupt Flag will be set and remembered until the interrupt is enabled, or the flag is
cleared by software. Similarly, if one or more interrupt conditions occur while the Global Interrupt
Enable bit is cleared, the corresponding Interrupt Flag(s) will be set and remembered until the
Global Interrupt Enable bit is set, and will then be executed by order of priority.
The second type of interrupts will trigger as long as the interrupt condition is present. These
interrupts do not necessarily have Interrupt Flags. If the interrupt condition disappears before the
interrupt is enabled, the interrupt will not be triggered.
When the AVR exits from an interrupt, it will always return to the main program and execute one
more instruction before any pending interrupt is served.
Note that the Status Register is not automatically stored when entering an interrupt routine, nor
restored when returning from an interrupt routine. This must be handled by software.
When using the CLI instruction to disable interrupts, the interrupts will be immediately disabled.
No interrupt will be executed after the CLI instruction, even if it occurs simultaneously with the
CLI instruction. The following example shows how this can be used to avoid interrupts during the
timed EEPROM write sequence.

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Atmel ATmega328P [Preliminary]

Assembly Code Example
in r16, SREG
cli

; store SREG value

; 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 address for the actual interrupt handling routine
is executed. During this four clock cycle period, the Program Counter is pushed onto the Stack.
The vector is normally a jump to the interrupt routine, and this jump takes three clock cycles. If
an interrupt occurs during execution of a multi-cycle instruction, this instruction is completed
before the interrupt is served. If an interrupt occurs when the MCU is in sleep mode, the interrupt
execution response time is increased by four clock cycles. This increase comes in addition to the
start-up time from the selected sleep mode.
A return from an interrupt handling routine takes four clock cycles. During these four clock
cycles, the Program Counter (two bytes) is popped back from the Stack, the Stack Pointer is
incremented by two, and the I-bit in SREG is set.

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7. AVR Memories
7.1

Overview
This section describes the different memories in the ATmega328P. The AVR architecture has
two main memory spaces, the Data Memory and the Program Memory space. In addition, the
ATmega328P features an EEPROM Memory for data storage. All three memory spaces are linear and regular.

7.2

In-System Reprogrammable Flash Program Memory

The ATmega328P contains 32K bytes On-chip In-System Reprogrammable Flash memory for
program storage. Since all AVR instructions are 16 or 32 bits wide, the Flash is organized as
16K x 16. For software security, the Flash Program memory space is divided into two sections,
Boot Loader Section and Application Program Section in ATmega328P. See SELFPRGEN
description in section SPMCSR Store Program Memory Control and Status Register on page
269 and page 284for more details.
The Flash memory has an endurance of at least 10,000 write/erase cycles. The ATmega328P
Program Counter (PC) is 14 bits wide, thus addressing the 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, ATmega328P on page 263 and Boot
Loader Support Read-While-Write Self-Programming on page 271. Memory Programming
on page 286 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 Timing on page 13.

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Atmel ATmega328P [Preliminary]

Figure 7-1.

Program Memory Map ATmega328P

Program Memory
0x0000

Application Flash Section

Boot Flash Section

0x3FFF

7.3

SRAM Data Memory

Figure 7-2 shows how the ATmega328P SRAM Memory is organized.
The ATmega328P 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 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 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 from the base address given
by the Y- or Z-register.
When using register indirect addressing modes with automatic pre-decrement and post-increment, the address registers X, Y, and Z are decremented or incremented.
The 32 general purpose working registers, 64 I/O Registers, 160 Extended I/O Registers, and
the 2048 bytes of internal data SRAM in the ATmega328P are all accessible through all these
addressing modes. The Register File is described in General Purpose Register File on page
11.

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Figure 7-2.

Data Memory Map

Data Memory
0x0000 - 0x001F
0x0020 - 0x005F
0x0060 - 0x00FF
0x0100

32 Registers
64 I/O Registers
160 Ext I/O Reg.
Internal SRAM
(2048 x 8)

0x08FF

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 clkCPU cycles as described in Figure 7-3.
Figure 7-3.

On-chip Data SRAM Access Cycles

clkCPU
Address

Compute Address

Address valid

Write

Data
WR

Read

Data
RD

Memory Access Instruction

7.4

Next Instruction

EEPROM Data Memory

The ATmega328P contains 1K byte 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 286 contains a detailed description on EEPROM Programming
in SPI or Parallel Programming mode.

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Atmel ATmega328P [Preliminary]

7.4.1

EEPROM Read/Write Access

The EEPROM Access Registers are accessible in the I/O space.
The write access time for the EEPROM is given in Table 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, VCC 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 specified as minimum for the clock frequency used.
See Preventing EEPROM Corruption on page 19 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.

7.4.2

Preventing EEPROM Corruption

During periods of low VCC, the EEPROM data can be corrupted because the supply voltage is
too low for the CPU and the EEPROM to operate properly. These issues are the same as for
board level systems using EEPROM, and the same design solutions should be applied.
An EEPROM data corruption can be caused by two situations when the voltage is too low. First,
a 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 external low VCC reset Protection circuit can
be used. If a reset occurs while a write operation is in progress, the write operation will be completed provided that the power supply voltage is sufficient.

7.5

I/O Memory
The I/O space definition of the ATmega328P is shown in Register Summary on page 326.
All ATmega328P 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 specific commands IN and OUT, the
I/O addresses 0x00 - 0x3F must be used. When addressing I/O Registers as data space using
LD and ST instructions, 0x20 must be added to these addresses. The ATmega328P 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.
For compatibility with future devices, reserved bits should be written to zero if accessed.
Reserved I/O memory addresses should never be written.

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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

7.6
7.6.1

General Purpose I/O Registers

The ATmega328P 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.

0x22 (0x42)

EEAR8

EEARH

0x21 (0x41)

EEAR7

EEAR6

EEAR5

EEAR4

EEAR3

EEAR2

EEAR1

EEAR0

EEARL

Read/Write

Initial Value

R/W

Bits 15..9 Res: Reserved Bits

These bits are reserved bits in the ATmega328P 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 ATmega328P and must always be written to zero.
7.6.2

EEDR The EEPROM Data Register

Bit

0x20 (0x40)

MSB

LSB

Read/Write

R/W

Initial Value

EEDR

Bits 7..0 EEDR7.0: EEPROM Data

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

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Atmel ATmega328P [Preliminary]

7.6.3

EECR The EEPROM Control Register

Bit

0x1F (0x3F)

EEPM1

EEPM0

EERIE

EEMPE

EEPE

EERE

Read/Write

R/W

Initial Value

EECR

Bits 7..6 Res: Reserved Bits

These bits are reserved bits in the ATmega328P 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 times for the different modes are shown in Table 7-1. While EEPE
is set, any write to EEPMn will be ignored. During reset, the EEPMn bits will be reset to 0b00
unless the EEPROM is busy programming.
Table 7-1.

EEPROM Mode Bits

EEPM1

EEPM0

Programming
Time

3.4 ms

Erase and Write in one operation (Atomic Operation)

1.8 ms

Erase Only

1.8 ms

Write Only

Operation

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.
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).

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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 being updated by the CPU, step 2 can be omitted. See Boot Loader
Support Read-While-Write Self-Programming on page 271 for details about Boot
programming.
Caution: An interrupt between step 5 and step 6 will make the write cycle fail, since the
EEPROM Master Write Enable will time-out. If an interrupt routine accessing the EEPROM is
interrupting another EEPROM access, the EEAR or EEDR Register will be modified, causing the
interrupted EEPROM access to fail. It is recommended to have the Global Interrupt Flag cleared
during all the steps to avoid these problems.
When the write access time has elapsed, the EEPE bit is cleared by hardware. The user software can poll this bit and wait for a zero before 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 Register, the EERE bit must be written to a logic one to trigger the
EEPROM read. The EEPROM read access takes one instruction, and the requested data is
available immediately. When the EEPROM is read, the CPU is halted for four cycles before the
next instruction is executed.
The user should poll the 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 typical programming time for EEPROM access from the CPU.
Table 7-2.

EEPROM Programming Time

Symbol
EEPROM write
(from CPU)

Number of Calibrated RC Oscillator Cycles

Typ Programming Time

26,368

3.3 ms

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.

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Atmel ATmega328P [Preliminary]

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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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

7.6.5

Read/Write

R/W

Initial Value

LSB

GPIOR2

GPIOR1 General Purpose I/O Register 1

0x2A (0x4A)

MSB

Read/Write

R/W

Initial Value

LSB

GPIOR1

GPIOR0 General Purpose I/O Register 0

Bit

MSB

Bit

7.6.6

0x2B (0x4B)

0x1E (0x3E)

MSB

LSB

Read/Write

R/W

Initial Value

GPIOR0

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Atmel ATmega328P [Preliminary]

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 consumption, the clocks to modules
not being used can be halted by using different sleep modes, as described in Power Management and Sleep Modes on page 37. The clock systems are detailed below.
Figure 8-1.

Clock Distribution

Asynchronous
Timer/Counter

General I/O
Modules

ADC

CPU Core

RAM

Flash and
EEPROM

clkADC
clkI/O

AVR Clock
Control Unit

clkASY

clkFLASH

System Clock
Prescaler

Source clock
Clock
Multiplexer

Timer/Counter
Oscillator

External Clock

clkCPU

Crystal
Oscillator

Reset Logic

Watchdog Timer

Watchdog clock
Watchdog
Oscillator

Low-frequency
Crystal Oscillator

Calibrated RC
Oscillator

8.1.1

CPU Clock clkCPU

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 clkI/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 detection in the USI module is carried out asynchronously when clkI/O is halted, TWI address recognition in all sleep modes.

8.1.3

Flash Clock clkFLASH

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

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8.1.4

Asynchronous Timer Clock clkASY

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.

8.1.5

ADC Clock clkADC

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

8.2

Clock Sources
The device has the following clock source options, selectable by Flash Fuse bits as shown
below. The clock from the selected source is input to the AVR clock generator, and routed to the
appropriate modules.
Table 8-1.

Device Clocking Options Select(1)

Device Clocking Option

CKSEL3..0

Low Power Crystal Oscillator

1111 - 1000

Full Swing Crystal Oscillator

0111 - 0110

Low Frequency Crystal Oscillator

0101 - 0100

Internal 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.

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 setting using any available programming interface.

8.2.2

Clock Startup Sequence

Any clock source needs a sufficient VCC to start oscillating and a minimum number of oscillating
cycles before it can be considered stable.
To ensure sufficient VCC, the device issues an internal reset with a time-out delay (tTOUT) after
the device reset is released by all other reset sources. System Control and Reset on page 44
describes the start conditions for the internal reset. The delay (tTOUT) is timed from the Watchdog
Oscillator and the number of cycles in the delay is set by the SUTx and CKSELx fuse bits. The

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Atmel ATmega328P [Preliminary]

selectable delays are shown in Table 8-2. The frequency of the Watchdog Oscillator is voltage
dependent as shown in Typical Characteristics on page 315.
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

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 VCC. The
delay will not monitor the actual voltage and it will be required to select a delay longer than the
VCC rise time. If this is not possible, an internal or external Brown-Out Detection circuit should be
used. A BOD circuit will ensure sufficient VCC before it releases the reset, and the time-out delay
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 mode, VCC is
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 28. 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, refer to the Full Swing
Crystal Oscillator on page 29.
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 28. For ceramic resonators, the capacitor values given by the manufacturer should be used.

27
7810CAVR10/12

Figure 8-2.

Crystal Oscillator Connections

XTAL2 (TOSC2)

XTAL1 (TOSC1)
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 28.

Table 8-3.

Low Power Crystal Oscillator Operating Modes(2)

Frequency Range
(MHz)

Recommended Range for

Capacitors C1 and C2 (pF)

CKSEL3..1

0.4 - 0.9

100(1)

0.9 - 3.0

12 - 22

101

3.0 - 8.0

12 - 22

110

8.0 - 16.0

12 - 22

111

Notes:

1. .This option should not be used with crystals, only with ceramic resonators.
2. 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
Start-up Time from
Power-down and
Power-save

Additional Delay
from Reset
(VCC = 5.0V)

CKSEL0

SUT1..0

Ceramic resonator, fast

rising power

258 CK

14CK + 4.1 ms(1)

Ceramic resonator, slowly

rising power

258 CK

14CK + 65 ms(1)

Ceramic resonator, BOD

enabled

1K CK

14CK(2)

Ceramic resonator, fast

rising power

1K CK

14CK + 4.1 ms(2)

Ceramic resonator, slowly

rising power

1K CK

14CK + 65 ms(2)

Oscillator Source /
Power Conditions

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Table 8-4.

Start-up Times for the Low Power Crystal Oscillator Clock Selection (Continued)
Start-up Time from
Power-down and
Power-save

Capacitors C1 and C2 (pF)

0.4 - 16

12 - 22

Notes:

CKSEL3..1
011

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

29
7810CAVR10/12

Figure 8-3.

Crystal Oscillator Connections

XTAL2 (TOSC2)

XTAL1 (TOSC1)
GND

Table 8-6.

Start-up Times for the Full Swing Crystal Oscillator Clock Selection
Start-up Time from
Power-down and
Power-save

Additional Delay
from Reset
(VCC = 5.0V)

CKSEL0

SUT1..0

Ceramic resonator, fast

rising power

258 CK

14CK + 4.1 ms(1)

Crystal Oscillator, slowly

rising power

16K CK

14CK + 65 ms

Oscillator Source /
Power Conditions

Notes:

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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 crystals Equivalent Series Resistance, ESR
must be taken into consideration. Both values are specified by the crystal vendor. ATmega328P
oscillator is optimized for very low power consumption, and thus when selecting crystals, see
Table 8-7 on page 31 for maximum ESR recommendations on 6.5 pF, 9.0 pF and 12.5 pF
crystals
Table 8-7.

Note:

Maximum ESR Recommendation for 32.768 kHz Crystal

Crystal CL (pF)

Max ESR [k](1)

6.5

9.0

12.5

1. Maximum ESR is typical value based on characterization

The Low-frequency Crystal Oscillator provides an internal load capacitance of typical 6 pF at

each TOSC pin. The external capacitance (C) needed at each TOSC pin can be calculated by
using:
C = 2 CL C S

where CL is the load capacitance for a 32.768 kHz crystal specified by the crystal vendor and CS
is the total stray capacitance for one TOSC pin.
Crystals specifying load capacitance (CL) higher than 6 pF, require external capacitors applied
as described in Figure 8-2 on page 28.
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 the SUT Fuses as shown in
Table 8-8.
Table 8-8.
SUT1..0

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

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

4 CK

4 CK + 4.1 ms

Slowly rising power

4 CK + 65 ms

Stable frequency at start-up

Reserved

Table 8-9.
CKSEL3..0
(1)

0100

0101
Note:

Fast rising power or BOD enabled

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

Start-up Time from
Power-down and Power-save

Recommended Usage

1K CK
32K CK

Stable frequency at start-up

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

31
7810CAVR10/12

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 307 for more details. The device is shipped with the CKDIV8 Fuse programmed.
See System Clock Prescaler on page 34 for more details.
This clock may be selected as the system clock by programming the CKSEL Fuses as shown in
Table 8-10. If selected, it will operate with no external components. During reset, hardware loads
the pre-programmed calibration value into the OSCCAL Register and thereby automatically calibrates the RC Oscillator. The accuracy of this calibration is shown as Factory calibration in
Table 28-1 on page 307.
By changing the OSCCAL register from SW, see OSCCAL Oscillator Calibration Register on
page 35, 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 307.
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 289.
Internal Calibrated RC Oscillator Operating Modes(1)(2)

Table 8-10.

Notes:

Nominal Frequency (MHz)

CKSEL3..0

0010

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

Reserved
Note:

1. If the RSTDISBL fuse is programmed, this start-up time will be increased to

14CK + 4.1 ms to ensure programming mode can be entered.
2. The device is shipped with this option selected.

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 25C. 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

Nominal Frequency

CKSEL3..0

128 kHz

0011

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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

Start-up Time from
Power-down and Power-save

Additional Delay from

Reset

SUT1..0

BOD enabled

6 CK

14CK(1)

Fast rising power

6 CK

14CK + 4 ms

Slowly rising power

6 CK

14CK + 64 ms

Power Conditions

Reserved
Note:

8.8

1. If the RSTDISBL fuse is programmed, this start-up time will be increased to

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

External Clock
To drive the device from an external clock source, XTAL1 should be driven as shown in Figure
8-4 on page 33. To run the device on an external clock, the CKSEL Fuses must be programmed
to 0000 (see Table 8-14).
Table 8-14.

Figure 8-4.

Crystal Oscillator Clock Frequency

Frequency

CKSEL3..0

0 - 16 MHz

0000

External Clock Drive Configuration

XTAL2

EXTERNAL
CLOCK
SIGNAL

XTAL1

GND

When this clock source is selected, start-up times are determined by the SUT Fuses as shown in
Table 8-15.
Table 8-15.

Start-up Times for the External Clock Selection

Start-up Time from
Power-down and Power-save

Additional Delay from

Reset (VCC = 5.0V)

SUT1..0

BOD enabled

6 CK

14CK

Fast rising power

6 CK

14CK + 4.1 ms

Slowly rising power

6 CK

14CK + 65 ms

Power Conditions

Reserved

33
7810CAVR10/12

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-time changes of the internal
clock frequency while still ensuring stable operation. Refer to System Clock Prescaler on page
34 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 suitable when the chip clock is used 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.

8.10

Timer/Counter Oscillator
ATmega328P uses the same crystal oscillator for Low-frequency Oscillator and Timer/Counter
Oscillator. See Low Frequency Crystal Oscillator on page 31 for details on the oscillator and
crystal requirements.
ATmega328P 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 147 for further
description on selecting external clock as input instead of a 32.768 kHz watch crystal.

8.11

System Clock Prescaler

The ATmega328P has a system clock prescaler, and the system clock can be divided by setting
the CLKPR Clock Prescale Register on page 357. This feature can be used to decrease the
system clock frequency and the power consumption when the requirement for processing power
is low. This can be used with all clock source options, and it will affect the clock frequency of the
CPU and all synchronous peripherals. clkI/O, clkADC, clkCPU, and clkFLASH are divided by a factor
as shown in Table 28-4 on page 308.
When switching between prescaler settings, the System Clock Prescaler ensures that no
glitches occurs in the clock system. It also ensures that no intermediate frequency is higher than
neither the clock frequency corresponding to the previous setting, nor the clock frequency corresponding 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 frequency. 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 active clock edges are produced. Here, T1 is the previous clock period, and T2 is the period corresponding to the new prescaler setting.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

To avoid unintentional changes of clock frequency, a special write procedure must befollowed 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 the write procedure is
not interrupted.

8.12
8.12.1

CAL7

CAL6

CAL5

CAL4

CAL3

CAL2

CAL1

CAL0

R/W

Initial Value

OSCCAL

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 307. 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 307. 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 range, and a setting of 0x7F gives the highest frequency in the
range.
8.12.2

CLKPR Clock Prescale Register

Bit

CLKPCE

CLKPS3

CLKPS2

CLKPS1

CLKPS0

Read/Write

R/W

Initial Value

(0x61)

CLKPR

See Bit Description

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.

35
7810CAVR10/12

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 the MCU, the speed of all synchronous peripherals is reduced when a division factor is used. The division factors are given in
Table 8-16 on page 36.
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

128

256

Reserved

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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 power consumption to the applications requirements.
When enabled, the Brown-out Detector (BOD) actively monitors the power supply voltage during
the sleep periods. To further save power, it is possible to disable the BOD in some sleep modes.
See BOD Disable on page 38 for more details.

9.1

Sleep Modes
Figure 8-1 on page 25 presents the different clock systems in the ATmega328P, 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.

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

clkASY

Main Clock
Source Enabled

Timer Oscillator
Enabled

INT1, INT0 and

Pin Change

TWI Address
Match

Timer2

SPM/EEPROM
Ready

ADC

WDT

Other/O

X(2)

X(3)

X(2)

X(3)

Power-down
Power-save

Notes:

X(2)

Standby(1)
Extended
Standby

Wake-up Sources

clkADC

ADC Noise
Reduction

Oscillators

clkIO

Idle

clkFLASH

Sleep Mode

clkCPU

Active Clock Domains

X
X(2)

X(2)

Software
BOD Disable

Table 9-1.

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 logic 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 42 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 sleep. If a reset occurs during sleep mode,
the MCU wakes up and executes from the Reset Vector.

37
7810CAVR10/12

9.2

BOD Disable
When the Brown-out Detector (BOD) is enabled by BODLEVEL fuses, Table 27-7 on page 289,
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
39. 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 VCC level has dropped during the sleep period.
When the BOD has been disabled, the wake-up time from sleep mode will be approximately 60
s to ensure that the BOD is working correctly before the MCU continues executing code.
BOD disable is controlled by bit 6, BODS (BOD Sleep) in the control register MCUCR, see
MCUCR MCU Control Register on page 42. Writing this bit to one turns off the BOD in relevant 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 42.

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

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 allowing the ADC, the external interrupts, the
2-wire Serial Interface address watch, Timer/Counter2(1), and the Watchdog to continue operating (if enabled). This sleep mode basically halts clkI/O, clkCPU, and clkFLASH, while allowing the
other clocks to run.
This improves the noise environment for the ADC, enabling higher resolution measurements. If
the ADC is enabled, a conversion starts automatically when this mode is entered. Apart from the
ADC Conversion Complete interrupt, only an External Reset, a Watchdog System Reset, a
Watchdog Interrupt, a Brown-out Reset, a 2-wire Serial 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.
Note:

1. Timer/Counter2 will only keep running in asynchronous mode, see 8-bit Timer/Counter2 with
PWM and Asynchronous Operation on page 136 for details.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

9.5

Power-down Mode
When the SM2..0 bits are written to 010, the SLEEP instruction makes the MCU enter
Power-down mode. In this mode, the external Oscillator is stopped, while the external interrupts,
the 2-wire Serial Interface address watch, and the Watchdog continue operating (if enabled).
Only an External Reset, a Watchdog System Reset, a Watchdog Interrupt, a Brown-out Reset, a
2-wire Serial Interface address match, an external level interrupt on INT0 or INT1, or a pin
change interrupt can wake up the MCU. This sleep mode basically halts all generated 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 61
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 26.

9.6

Power-save Mode
When the SM2..0 bits are written to 011, the SLEEP instruction makes the MCU enter
Power-save mode. This mode is identical to Power-down, with one exception:
If Timer/Counter2 is 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.

39
7810CAVR10/12

9.9

Power Reduction Register

The Power Reduction Register (PRR), see PRR Power Reduction Register on page 43, provides 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 devices 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 242
for details on ADC operation.

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, independent of sleep
mode. Refer to Analog Comparator on page 238 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 application, this module should 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 47 for details
on how to configure the Brown-out Detector.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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 Voltage Reference on page 48 for details on the start-up time.

9.10.5

Watchdog Timer
If the Watchdog Timer is not needed in the application, the module should be turned off. If the
Watchdog Timer is enabled, it will be enabled in all sleep modes and hence always consume
power. In the deeper sleep modes, this will contribute significantly to the total current consumption. Refer to Watchdog Timer on page 49 for details on how to configure the Watchdog Timer.

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 (clkI/O) and the ADC clock (clkADC) are stopped, the input buffers of the device will
be disabled. This ensures that no power is consumed by the input logic when not needed. In
some cases, the input logic is needed for detecting wake-up conditions, and it will then be
enabled. Refer to the section Digital Input Enable and Sleep Modes on page 70 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 VCC/2, the input buffer will use excessive power.
For analog input pins, the digital input buffer should be disabled at all times. An analog signal
level close to VCC/2 on an input pin can cause significant current even in active mode. Digital
input buffers can be disabled by writing to the Digital Input Disable Registers (DIDR1 and
DIDR0). Refer to DIDR1 Digital Input Disable Register 1 on page 241 and DIDR0 Digital
Input Disable Register 0 on page 260 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.

41
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9.11
9.11.1

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

0x33 (0x53)

SM2

SM1

SM0

Read/Write

R/W

Initial Value

SMCR

Bits 7..4 Res: Reserved Bits

These bits are unused bits in the ATmega328P, 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.

Note:

Sleep Mode Select

SM2

SM1

SM0

Sleep Mode

Idle

ADC Noise Reduction

Power-down

Power-save

Reserved

Standby(1)

External Standby(1)

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 the SLEEP
instruction is executed. To avoid the MCU entering the sleep mode unless it is the programmers
purpose, it is recommended to write the Sleep Enable (SE) bit to one just before the execution of
the SLEEP instruction and to clear it immediately after waking up.
9.11.2

MCUCR MCU Control Register

Bit

0x35 (0x55)

BODS

BODSE

PUD

IVSEL

IVCE

Read/Write

R/W

Initial Value

MCUCR

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 37. Writing to the BODS bit is controlled by a timed sequence and an enable bit,
BODSE in MCUCR. To disable BOD in relevant sleep modes, both BODS and BODSE must first
be set to one. Then, to set the BODS bit, BODS must be set to one and BODSE must be set to
zero within four clock cycles.

Atmel ATmega328P [Preliminary]

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Atmel ATmega328P [Preliminary]

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 disable
is controlled by a timed sequence.
9.11.3

PRR Power Reduction Register

Bit

PRTWI

PRTIM2

PRTIM0

PRTIM1

PRSPI

PRUSART0

PRADC

Read/Write

R/W

Initial Value

(0x64)

PRR

Bit 7 - PRTWI: Power Reduction TWI

Writing a logic one to this bit shuts down the TWI by stopping the clock to the module. When
waking up the TWI again, the TWI should be re initialized to ensure proper operation.
Bit 6 - PRTIM2: Power Reduction Timer/Counter2
Writing a logic one to this bit shuts down the Timer/Counter2 module in synchronous mode (AS2
is 0). When the Timer/Counter2 is enabled, operation will continue like before the shutdown.
Bit 5 - PRTIM0: Power Reduction Timer/Counter0
Writing a logic one to this bit shuts 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 ATmega328P 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 operation.
Bit 0 - PRADC: Power Reduction ADC
Writing a logic one to this bit shuts down the ADC. The ADC must be disabled before 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 ATmega328P, the instruction placed at the Reset Vector must be
an RJMP Relative Jump instruction to the reset handling routine. If the program never
enables an interrupt source, the Interrupt Vectors are not used, and regular program code can
be placed at these locations. This is also the case if the Reset Vector is in the Application section while the Interrupt Vectors are in the Boot section. The circuit diagram in Figure 10-1 on
page 45 shows the reset logic. Table 28-4 on page 308 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 26.

10.2

Reset Sources
The ATmega328P has four sources of reset:
Power-on Reset. The MCU is reset when the supply voltage is below the Power-on Reset
threshold (VPOT).
External Reset. The MCU is reset when a low level is present on the RESET pin for longer than
the minimum pulse length.
Watchdog System Reset. The MCU is reset when the Watchdog Timer period expires and the
Watchdog System Reset mode is enabled.
Brown-out Reset. The MCU is reset when the supply voltage VCC is below the Brown-out Reset
threshold (VBOT) and the Brown-out Detector is enabled.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Figure 10-1. Reset Logic
DATA BUS

PORF
BORF
EXTRF
WDRF

MCU Status
Register (MCUSR)

Power-on Reset
Circuit

Brown-out
Reset Circuit

BODLEVEL [2..0]

Pull-up Resistor

SPIKE
FILTER

RSTDISBL
Watchdog
Oscillator

Clock
Generator

Delay Counters
TIMEOUT

CKSEL[3:0]
SUT[1:0]

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 308. The POR is activated whenever
VCC is below the detection level. The POR circuit can be used to trigger the start-up Reset, as
well as to detect a failure in supply voltage.
A Power-on Reset (POR) circuit ensures that the device is reset from Power-on. Reaching the
Power-on Reset threshold voltage invokes the delay counter, which determines how long the
device is kept in RESET after VCC rise. The RESET signal is activated again, without any delay,
when VCC decreases below the detection level.

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Figure 10-2. MCU Start-up, RESET Tied to VCC

VPOT

VCC

VRST

RESET

tTOUT

TIME-OUT

INTERNAL
RESET

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

VPOT

VCC

VRST

RESET

tTOUT

TIME-OUT

INTERNAL
RESET

Table 10-1.
Symbol

Power On Reset Specifications

Parameter

Min

Power-on Reset Threshold Voltage (rising)

VPOT

Max

1.4
()

1.0

1.3

Units
V

1.6

0.4

VPORMAX

VCC Max. start voltage to ensure internal

Power-on Reset signal

VPORMIN

VCC Min. start voltage to ensure internal

Power-on Reset signal

-0.1

VCCRR

VCC Rise Rate to ensure Power-on Reset

0.01

V/ms

Note:

Power-on Reset Threshold Voltage (falling)

Typ

1. Before rising, the supply has to be between VPORMIN and VPORMAX to ensure a Reset

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

10.4

External Reset
An External Reset is generated by a low level on the RESET pin. Reset pulses longer than the
minimum pulse width (see System and Reset Characteristics on page 308) 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 VRST on its positive edge, the
delay counter starts the MCU after the Time-out period tTOUT has expired. The External Reset
can be disabled by the RSTDISBL fuse, see Table 27-7 on page 289.
Figure 10-4. External Reset During Operation
CC

10.5

Brown-out Detection
ATmega328P has an On-chip Brown-out Detection (BOD) circuit for monitoring the VCC level
during operation by comparing it to a fixed trigger level. The trigger level for the BOD can be
selected by the BODLEVEL Fuses. The trigger level has a hysteresis to ensure spike free
Brown-out Detection. The hysteresis on the detection level should be interpreted as VBOT+ =
VBOT + VHYST/2 and VBOT- = VBOT - VHYST/2.When the BOD is enabled, and VCC decreases to a
value below the trigger level (VBOT- in Figure 10-5 on page 47), the Brown-out Reset is immediately activated. When VCC increases above the trigger level (VBOT+ in Figure 10-5 on page 47),
the delay counter starts the MCU after the Time-out period tTOUT has expired.
The BOD circuit will only detect a drop in VCC if the voltage stays below the trigger level for longer than tBOD given in System and Reset Characteristics on page 308.
Figure 10-5. Brown-out Reset During Operation
VCC

VBOT-

VBOT+

RESET

TIME-OUT

tTOUT

INTERNAL
RESET

47
7810CAVR10/12

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 tTOUT. Refer to
page 49 for details on operation of the Watchdog Timer.
Figure 10-6. Watchdog System Reset During Operation
CC

10.7

Internal Voltage Reference

ATmega328P 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. The
start-up time is given in System and Reset Characteristics on page 308. To save power, the
reference is not always turned on. The reference is on during the following situations:
1. When the BOD is enabled (by programming the BODLEVEL [2:0] Fuses).
2. When the bandgap reference is connected to the Analog Comparator (by setting the
ACBG bit in ACSR).
3. When the ADC is enabled.
Thus, when the BOD is not enabled, after setting the ACBG bit or enabling the ADC, the user
must always allow the reference to start up before the output from the Analog Comparator or
ADC is used. To reduce power consumption in Power-down mode, the user can avoid the three
conditions above to ensure that the reference is turned off before entering Power-down mode.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

10.8
10.8.1

Watchdog Timer
Features
Clocked from separate On-chip Oscillator
3 Operating modes
Interrupt
System Reset
Interrupt and System Reset
Selectable Time-out period from 16ms to 8s
Possible Hardware fuse Watchdog always on (WDTON) for fail-safe mode

10.8.2

Overview
ATmega328P 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 or 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 the counter before the time-out
value is reached. If the system doesn't restart the counter, an interrupt or system reset will be
issued.

128kHz
OSCILLATOR

WATCHDOG
RESET
WDE

OSC/2K
OSC/4K
OSC/8K
OSC/16K
OSC/32K
OSC/64K
OSC/128K
OSC/256K
OSC/512K
OSC/1024K

Figure 10-7. Watchdog Timer

WDP0
WDP1
WDP2
WDP3
MCU RESET

WDIF

WDIE

INTERRUPT

In Interrupt mode, the WDT gives an interrupt when the timer expires. This interrupt can be used
to wake the device from sleep-modes, and also as a general system timer. One 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, the WDT gives a reset when the timer
expires. This is typically used to prevent system hang-up in case of runaway code. The third
mode, Interrupt and System Reset mode, combines the other two modes by first giving an interrupt and then switch to System Reset mode. This mode will for instance allow a safe shutdown
by saving critical parameters before a system reset.
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
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.

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The sequence for clearing WDE and changing time-out configuration is as follows:
1. In the same operation, 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.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Assembly Code Example(1)

WDT_off:
; Turn off global interrupt
cli
; Reset Watchdog Timer
wdr
; Clear WDRF in MCUSR
in

r16, MCUSR

andi

r16, (0xff & (0<<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 7.

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 not
set up to handle the Watchdog, this might lead to an eternal loop of time-out resets. To avoid this
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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The following code example shows one assembly and one C function for changing the time-out
value of the Watchdog Timer.
Assembly Code Example(1)
WDT_Prescaler_Change:
; Turn off global interrupt
cli
; Reset Watchdog Timer
wdr
; Start timed sequence
lds r16, WDTCSR
r16, (1<<WDCE) | (1<<WDE)

ori

sts WDTCSR, r16

; --

Got four cycles to set the new values from here -

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

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

ldi

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 7.

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.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

10.9
10.9.1

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

0x35 (0x55)

WDRF

BORF

EXTRF

PORF

Read/Write

R/W

Initial Value

MCUSR

See Bit Description

Bit 7..4: Res: Reserved Bits

These bits are unused bits in the ATmega328P, 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.
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

(0x60)

WDIF

WDIE

WDP3

WDCE

WDE

WDP2

WDP1

WDP0

Read/Write

R/W

Initial Value

WDTCSR

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 cleared by writing a logic one to the flag. When the I-bit 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 Register is set, the Watchdog Interrupt 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 Interrupt and System Reset Mode. The first time-out in the
Watchdog Timer will set WDIF.

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7810CAVR10/12

Executing the corresponding interrupt vector will clear WDIE and 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 interrupt. This should however not be done within the 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 10-2.
(1)

WDTON

Note:

Watchdog Timer Configuration

WDE

WDIE

Mode

Action on Time-out

Stopped

None

Interrupt Mode

Interrupt

System Reset Mode

Reset

Interrupt and System Reset

Mode

Interrupt, then go to System

Reset Mode

System Reset Mode

Reset

1. WDTON Fuse set to 0 means programmed and 1 means unprogrammed.

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 ensures multiple resets during conditions 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 Timer is running. The different prescaling values and their corresponding time-out periods are shown in
Table 10-3 on page 55.

Atmel ATmega328P [Preliminary]

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Atmel ATmega328P [Preliminary]

Table 10-3.

Watchdog Timer Prescale Select

WDP3

WDP2

WDP1

WDP0

Number of WDT Oscillator

Cycles

Typical Time-out at
VCC = 5.0V

2K (2048) cycles

16 ms

4K (4096) cycles

32 ms

8K (8192) cycles

64 ms

16K (16384) cycles

0.125 s

32K (32768) cycles

0.25 s

64K (65536) cycles

0.5 s

128K (131072) cycles

1.0 s

256K (262144) cycles

2.0 s

512K (524288) cycles

4.0 s

1024K (1048576) cycles

8.0 s

Reserved

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11. Interrupts
This section describes the specifics of the interrupt handling as performed in ATmega328P. For
a general explanation of the AVR interrupt handling, refer to Reset and Interrupt Handling on
page 14.
Each Interrupt Vector occupies two instruction words in ATmega328P.
In ATmega328P, the Reset Vector is affected by the BOOTRST fuse, and the Interrupt Vector
start address is affected by the IVSEL bit in MCUCR.

11.1

Interrupt Vectors in ATmega328P

Table 11-1.
Vector No.

Reset and Interrupt Vectors in ATmega328P

Program Address Source

Interrupt Definition

0x0000

RESET

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

0x002

INT0

External Interrupt Request 0

0x0004

INT1

External Interrupt Request 1

0x0006

PCINT0

Pin Change Interrupt Request 0

0x0008

PCINT1

Pin Change Interrupt Request 1

0x000A

PCINT2

Pin Change Interrupt Request 2

0x000C

WDT

Watchdog Time-out Interrupt

0x000E

TIMER2 COMPA

Timer/Counter2 Compare Match A

0x0010

TIMER2 COMPB

Timer/Counter2 Compare Match B

0x0012

TIMER2 OVF

Timer/Counter2 Overflow

0x0014

TIMER1 CAPT

Timer/Counter1 Capture Event

0x0016

TIMER1 COMPA

Timer/Counter1 Compare Match A

0x0018

TIMER1 COMPB

Timer/Counter1 Compare Match B

0x001A

TIMER1 OVF

Timer/Counter1 Overflow

0x001C

TIMER0 COMPA

Timer/Counter0 Compare Match A

0x001E

TIMER0 COMPB

Timer/Counter0 Compare Match B

0x0020

TIMER0 OVF

Timer/Counter0 Overflow

0x0022

SPI, STC

SPI Serial Transfer Complete

0x0024

USART, RX

USART Rx Complete

0x0026

USART, UDRE

USART, Data Register Empty

0x0028

USART, TX

USART, Tx Complete

0x002A

ADC

ADC Conversion Complete

0x002C

EE READY

EEPROM Ready

0x002E

ANALOG COMP

Analog Comparator

0x0030

TWI

2-wire Serial Interface

0x0032

SPM READY

Store Program Memory Ready

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Table 11-2 on page 57 shows reset and Interrupt Vectors placement for the various combinations of BOOTRST and IVSEL settings. If the program never enables an interrupt source, the
Interrupt Vectors are not used, and regular program code can be placed at these locations. This
is also the case if the Reset Vector is in the Application section while the Interrupt Vectors are in
the Boot section or vice versa.
Table 11-2.

Reset and Interrupt Vectors Placement in ATmega328P(1)

BOOTRST

IVSEL

Note:

Reset Address

Interrupt Vectors Start Address

0x000

0x002

0x000

Boot Reset Address + 0x0002

Boot Reset Address

0x002

Boot Reset Address

Boot Reset Address + 0x0002

1. 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

;
0x0033RESET:

ldi

r16, high(RAMEND); Main program start

0x0034

out

SPH,r16

; Set Stack Pointer to top of RAM

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7810CAVR10/12

0x0035

ldi

r16, low(RAMEND)

0x0036

out

SPL,r16

0x0037

sei

0x0038
...

; Enable interrupts

<instr>
...

...

xxx

...

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 Interrupt Vector Addresses in ATmega328P is:
Address Labels Code

Comments

0x0000

RESET: ldi

r16,high(RAMEND); Main program start

0x0001

out

SPH,r16

0x0002

ldi

r16,low(RAMEND)

0x0003
0x0004

out
sei

SPL,r16

0x0005

<instr>

; Set Stack Pointer to top of RAM

; Enable interrupts
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 Interrupt Vector Addresses in
ATmega328P is:
Address Labels Code

Comments

.org 0x0002
0x0002

jmp

EXT_INT0

7810CAVR10/12

Atmel ATmega328P [Preliminary]

0x3C04

jmp

EXT_INT1

; IRQ1 Handler

...

0x3C32

jmp

SPM_RDY

; Store Program Memory Ready Handler

11.2

0x3C33

RESET: ldi

r16,high(RAMEND); Main program start

0x3C34

out

SPH,r16

0x3C35

ldi

r16,low(RAMEND)

0x3C36
0x3C37

out
sei

SPL,r16

0x3C38

<instr>

; Set Stack Pointer to top of RAM

; Enable interrupts
xxx

11.2.1

Moving Interrupts Between Application and Boot Space

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

11.2.2

MCUCR MCU Control Register

Bit

0x35 (0x55)

BODS

BODSE

PUD

IVSEL

IVCE

Read/Write

R/W

Initial Value

MCUCR

Bit 1 IVSEL: Interrupt Vector Select

When the IVSEL bit is cleared (zero), the Interrupt Vectors are placed at the start of the Flash
memory. When this bit is set (one), the Interrupt Vectors are moved to the beginning of the Boot
Loader section of the Flash. The actual address of the start of the Boot Flash Section is determined by the BOOTSZ Fuses. Refer to the section Boot Loader Support Read-While-Write
Self-Programming on page 271 for details. To avoid unintentional changes of Interrupt Vector
tables, a special write procedure must be followed to change the IVSEL bit:
a. Write the Interrupt Vector Change Enable (IVCE) bit to one.
b.

Within four cycles, write 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 on page 271 for details on Boot Lock bits.

This bit is not available in ATmega328P.

Bit 0 IVCE: Interrupt Vector Change Enable

59
7810CAVR10/12

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 ATmega328P.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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 edge 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 25. Low level interrupt on INT0 and INT1 is detected asynchronously. This implies that this interrupt can be used for waking the part also from sleep modes
other than Idle mode. The I/O clock is halted in all sleep modes except Idle mode.
Note that if a level triggered interrupt is used for wake-up from Power-down, 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 25.

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
pin_lat

PCINT(0)
LE

clk

pcint_in_(0)

pin_sync
PCINT(0) in PCMSK(x)

pcint_syn

pcint_setflag
PCIF

x
clk

clk

PCINT(0)

pin_lat

pin_sync

pcint_in_(0)

pcint_syn

pcint_setflag

PCIF

61
7810CAVR10/12

12.2
12.2.1

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

(0x69)

ISC11

ISC10

ISC01

ISC00

Read/Write

R/W

Initial Value

EICRA

Bit 7..4 Res: Reserved Bits

These bits are unused bits in the ATmega328P, 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 guaranteed to generate an interrupt. If low level
interrupt is selected, the low level must be held until the completion of the currently executing
instruction to generate an interrupt.
Table 12-1.

Interrupt 1 Sense Control

ISC11

ISC10

Description

The low level of INT1 generates an interrupt request.

Any logical change on INT1 generates an interrupt request.

The falling edge of INT1 generates an interrupt request.

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 guaranteed to generate an interrupt. If low level
interrupt is selected, the low level must be held until the completion of the currently executing
instruction to generate an interrupt.
Table 12-2.

Interrupt 0 Sense Control

ISC01

ISC00

Description

The low level of INT0 generates an interrupt request.

Any logical change on INT0 generates an interrupt request.

The falling edge of INT0 generates an interrupt request.

The rising edge of INT0 generates an interrupt request.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

12.2.2

EIMSK External Interrupt Mask Register

Bit

0x1D (0x3D)

INT1

INT0

Read/Write

R/W

Initial Value

EIMSK

Bit 7..2 Res: Reserved Bits

These bits are unused bits in the ATmega328P, 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 output. The corresponding interrupt of External
Interrupt Request 1 is executed from the INT1 Interrupt Vector.
Bit 0 INT0: External Interrupt Request 0 Enable
When the INT0 bit is set (one) and the I-bit in the Status 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 output. The corresponding interrupt of External
Interrupt Request 0 is executed from the INT0 Interrupt Vector.
12.2.3

EIFR External Interrupt Flag Register

Bit

0x1C (0x3C)

INTF1

INTF0

Read/Write

R/W

Initial Value

EIFR

Bit 7..2 Res: Reserved Bits

These bits are unused bits in the ATmega328P, 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 interrupt request, INTF1 becomes set
(one). If the I-bit in SREG and the INT1 bit in EIMSK are set (one), the MCU will jump to the corresponding Interrupt Vector. The flag is cleared when the interrupt routine is executed.
Alternatively, the flag can be cleared by writing a logical one to it. This flag is always 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 interrupt request, INTF0 becomes set
(one). If the I-bit in SREG and the INT0 bit in EIMSK are set (one), the MCU will jump to the corresponding Interrupt Vector. The flag is cleared when the interrupt routine is executed.
Alternatively, the flag can be cleared by writing a logical one to it. This flag is always cleared
when INT0 is configured as a level interrupt.

63
7810CAVR10/12

12.2.4

PCICR Pin Change Interrupt Control Register

Bit

(0x68)

PCIE2

PCIE1

PCIE0

Read/Write

R/W

Initial Value

PCICR

Bit 7..3 - Res: Reserved Bits

These bits are unused bits in the ATmega328P, 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 Interrupt 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 Interrupt 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

0x1B (0x3B)

PCIF2

PCIF1

PCIF0

Read/Write

R/W

Initial Value

PCIFR

Bit 7..3 - Res: Reserved Bits

These bits are unused bits in the ATmega328P, 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.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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

PCINT23

PCINT22

PCINT21

PCINT20

PCINT19

PCINT18

PCINT17

PCINT16

Read/Write

R/W

Initial Value

(0x6D)

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 PCIE2 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

(0x6C)

PCINT14

PCINT13

PCINT12

PCINT11

PCINT10

PCINT9

PCINT8

Read/Write

R/W

Initial Value

PCMSK1

Bit 7 Res: Reserved Bit

This bit is an unused bit in the ATmega328P, 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

(0x6B)

PCINT7

PCINT6

PCINT5

PCINT4

PCINT3

PCINT2

PCINT1

0
PCINT0

Read/Write

R/W

Initial Value

PCMSK0

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 cleared, pin change interrupt on the corresponding I/O pin
is disabled.

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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 pull-up resistors (if configured as
input). Each output buffer has symmetrical drive characteristics with both high sink and source
capability. The pin driver is strong enough to drive LED displays directly. All port pins have individually selectable pull-up resistors with a supply-voltage invariant resistance. All I/O pins have
protection diodes to both VCC and Ground as indicated in Figure 13-1. Refer to Electrical Characteristics on page 304 for a complete list of parameters.
Figure 13-1. I/O Pin Equivalent Schematic

Rpu
Logic

Pxn

Cpin

See Figure
"General Digital I/O" for
Details

All registers and bit references in this section are written in general form. A lower case x represents the numbering letter for the port, and a lower case n represents the bit number. However,
when using the register or bit defines in a program, the precise form must be used. For example,
PORTB3 for bit no. 3 in Port B, here documented generally as PORTxn. The physical I/O Registers and bit locations are listed in Register Description on page 84.
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
67. Most port pins are multiplexed with alternate functions for the peripheral features on the
device. How each alternate function interferes with the port pin is described in Alternate Port
Functions on page 71. Refer to the individual module sections for a full description of the alternate functions. Note that enabling the alternate function of some of the port pins does not affect
the use of the other pins in the port as general digital I/O.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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.
Figure 13-2. General Digital I/O(1)

PUD

DDxn
Q CLR

WDx

RESET

DATA BUS

RDx

1
Q

Pxn

PORTxn
Q CLR

RESET
SLEEP

RRx

SYNCHRONIZER
D

WRx

WPx

RPx

PINxn
Q

clk I/O

PUD:
SLEEP:
clkI/O:

Note:

13.2.1

PULLUP DISABLE
SLEEP CONTROL
I/O CLOCK

WDx:
RDx:
WRx:
RRx:
RPx:
WPx:

WRITE DDRx
READ DDRx
WRITE PORTx
READ PORTx REGISTER
READ PORTx PIN
WRITE PINx REGISTER

1. WRx, WPx, WDx, RRx, RPx, and RDx are common to all pins within the same port. clkI/O,
SLEEP, and PUD are common to all ports.

Configuring the Pin

Each port pin consists of three register bits: DDxn, PORTxn, and PINxn. As shown in Register
Description on page 84, the DDxn bits are accessed at the DDRx I/O address, the PORTxn bits
at the PORTx I/O address, and the PINxn bits at the PINx I/O address.
The DDxn bit in the DDRx Register selects the direction of this pin. If DDxn is written logic one,
Pxn is configured as an output pin. If DDxn is written logic zero, Pxn is configured as an input
pin.
If PORTxn is written logic one when the pin is configured as an input pin, the pull-up resistor is
activated. To switch the pull-up resistor off, PORTxn has to be written logic zero or the pin has to
be configured as an output pin. The port pins are tri-stated when reset condition becomes active,
even if no clocks are running.
If PORTxn is written logic one when the pin is configured as an output pin, the port pin is driven
high (one). If PORTxn is written logic zero when the pin is configured as an output pin, the port
pin is driven low (zero).

67
7810CAVR10/12

13.2.2

Toggling the Pin

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

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, the PUD bit in the MCUCR Register can be set to disable all pull-ups in all ports.
Switching between input with pull-up and output low generates the same problem. The user
must use either the tri-state ({DDxn, PORTxn} = 0b00) or the output high state ({DDxn, PORTxn}
= 0b11) as an intermediate step.
Table 13-1 summarizes the control signals for the pin value.
Table 13-1.

13.2.4

Port Pin Configurations

DDxn

PORTxn

PUD
(in MCUCR)

I/O

Pull-up

Input

Tri-state (Hi-Z)

Input

Yes

Pxn will source current if ext. pulled low.

Input

Tri-state (Hi-Z)

Output

Output Low (Sink)

Output

Output High (Source)

Comment

Reading the Pin Value

Independent of the setting of Data Direction bit DDxn, the port pin can be read through the
PINxn Register bit. As shown in Figure 13-2, the PINxn Register bit and the preceding latch constitute a synchronizer. This is needed to avoid metastability if the physical pin changes value
near the edge of the internal clock, but it also introduces a delay. Figure 13-3 shows a timing diagram of the synchronization when reading an externally applied pin value. The maximum and
minimum propagation delays are denoted tpd,max and tpd,min respectively.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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

SYSTEM CLK
INSTRUCTIONS

XXX

in r17, PINx

SYNC LATCH
PINxn
r17

0x00

0xFF

t pd, max
t 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 and 1 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

0xFF
out PORTx, r16

nop

in r17, PINx

SYNC LATCH
PINxn
r17

0x00

0xFF

t pd

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.
69
7810CAVR10/12

Assembly Code Example(1)

...
; Define pull-ups and set outputs high
; Define directions for port pins
ldi

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

ldi

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

out

PORTB,r16

out

DDRB,r17

; Insert nop for synchronization

nop
; Read port pins
in

r16,PINB

...

C Code Example
unsigned char i;
...
/* Define pull-ups and set outputs high */
/* Define directions for port pins */
PORTB = (1<<PB7)|(1<<PB6)|(1<<PB1)|(1<<PB0);
DDRB = (1<<DDB3)|(1<<DDB2)|(1<<DDB1)|(1<<DDB0);
/* Insert nop for synchronization*/
__no_operation();
/* Read port pins */
i = PINB;
...
Note:

13.2.5

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.

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 Standby mode to avoid high power consumption if
some input signals are left floating, or have an analog signal level close to VCC/2.
SLEEP is overridden for port pins enabled as external interrupt pins. If the external interrupt
request is not enabled, SLEEP is active also for these pins. SLEEP is also overridden by various
other alternate functions as described in Alternate Port Functions on page 71.
If a logic high level (one) is present on an asynchronous external interrupt pin configured as
Interrupt on Rising Edge, Falling Edge, or Any Logic Change on Pin while the external interrupt
is not enabled, the corresponding External Interrupt Flag will be set when resuming from the
above mentioned Sleep mode, as the clamping in these sleep mode produces the requested
logic change.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

13.2.6

Unconnected Pins
If some pins are unused, it is recommended to ensure that these pins have a defined level. Even
though most of the digital inputs are disabled in the deep sleep modes as described above, floating inputs should be avoided to reduce current consumption in all other modes where the digital
inputs are enabled (Reset, Active mode and Idle mode).
The simplest method to ensure a defined level of an unused pin, is to enable the internal pull-up.
In this case, the pull-up will be disabled during reset. If low power consumption during reset is
important, it is recommended to use an external pull-up or pull-down. Connecting unused pins
directly to VCC or GND is not recommended, since this may cause excessive currents if the pin is
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 67 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.

71
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Figure 13-5. Alternate Port Functions(1)

PUOExn
PUOVxn
1

PUD

DDOExn
DDOVxn
1
Q D
DDxn

Q CLR

WDx

PVOExn

RESET
RDx

DATA BUS

PVOVxn

Pxn
Q

PORTxn

PTOExn

Q CLR

DIEOExn

WPx

RESET

DIEOVxn

WRx

1
0

RRx

SLEEP
SYNCHRONIZER
D

SET

RPx

PINxn
L

CLR

clk I/O

DIxn

AIOxn

PUOExn:
PUOVxn:
DDOExn:
DDOVxn:
PVOExn:
PVOVxn:
DIEOExn:
DIEOVxn:
SLEEP:
PTOExn:

Note:

Pxn PULL-UP OVERRIDE ENABLE

Pxn PULL-UP OVERRIDE VALUE
Pxn DATA DIRECTION OVERRIDE ENABLE
Pxn DATA DIRECTION OVERRIDE VALUE
Pxn PORT VALUE OVERRIDE ENABLE
Pxn PORT VALUE OVERRIDE VALUE
Pxn DIGITAL INPUT-ENABLE OVERRIDE ENABLE
Pxn DIGITAL INPUT-ENABLE OVERRIDE VALUE
SLEEP CONTROL
Pxn, PORT TOGGLE OVERRIDE ENABLE

PUD:
WDx:
RDx:
RRx:
WRx:
RPx:
WPx:
clkI/O:
DIxn:
AIOxn:

PULLUP DISABLE
WRITE DDRx
READ DDRx
READ PORTx REGISTER
WRITE PORTx
READ PORTx PIN
WRITE PINx
I/O CLOCK
DIGITAL INPUT PIN n ON PORTx
ANALOG INPUT/OUTPUT PIN n ON PORTx

1. WRx, WPx, WDx, RRx, RPx, and RDx are common to all pins within the same port. clkI/O,
SLEEP, and PUD are common to all ports. All other signals are unique for each pin.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Table 13-2 summarizes the function of the overriding signals. The pin and port indexes from Figure 13-5 on page 72 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

PUOE

Pull-up Override
Enable

If this signal is set, the pull-up enable is controlled by the PUOV

signal. If this signal is cleared, the pull-up is enabled when
{DDxn, PORTxn, PUD} = 0b010.

PUOV

Pull-up Override
Value

If PUOE is set, the pull-up is enabled/disabled when PUOV is

set/cleared, regardless of the setting of the DDxn, PORTxn,
and PUD Register bits.

DDOE

Data Direction
Override Enable

If this signal is set, the Output Driver Enable is controlled by the

DDOV signal. If this signal is cleared, the Output driver is
enabled by the DDxn Register bit.

DDOV

Data Direction
Override Value

If DDOE is set, the Output Driver is enabled/disabled when

DDOV is set/cleared, regardless of the setting of the DDxn
Register bit.

PVOE

Port Value
Override Enable

If this signal is set and the Output Driver is enabled, the port
value is controlled by the PVOV signal. If PVOE is cleared, and
the Output Driver is enabled, the port Value is controlled by the
PORTxn Register bit.

PVOV

Port Value
Override Value

If PVOE is set, the port value is set to PVOV, regardless of the

setting of the PORTxn Register bit.

PTOE

Port Toggle
Override Enable

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

DIEOE

Digital Input
Enable Override
Enable

If this bit is set, the Digital Input 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).

DIEOV

Digital Input
Enable Override
Value

If DIEOE is set, the Digital Input is enabled/disabled when

DIEOV is set/cleared, regardless of the MCU state (Normal
mode, sleep mode).

Digital Input

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.

AIO

Analog
Input/Output

This is the Analog Input/output to/from alternate functions. The

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

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

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7810CAVR10/12

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 Pin

Port B Pins Alternate Functions

Alternate Functions

PB7

XTAL2 (Chip Clock Oscillator pin 2)

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

PB6

XTAL1 (Chip Clock Oscillator pin 1 or External clock input)

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

PB5

SCK (SPI Bus Master clock Input)

PCINT5 (Pin Change Interrupt 5)

PB4

MISO (SPI Bus Master Input/Slave Output)

PCINT4 (Pin Change Interrupt 4)

PB3

MOSI (SPI Bus Master Output/Slave Input)

OC2A (Timer/Counter2 Output Compare Match A Output)
PCINT3 (Pin Change Interrupt 3)

PB2

SS (SPI Bus Master Slave select)

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

PB1

OC1A (Timer/Counter1 Output Compare Match A Output)

PCINT1 (Pin Change Interrupt 1)

PB0

ICP1 (Timer/Counter1 Input Capture Input)

CLKO (Divided System Clock Output)
PCINT0 (Pin Change Interrupt 0)

The alternate pin configuration is as follows:

XTAL2/TOSC2/PCINT7 Port B, Bit 7
XTAL2: Chip clock Oscillator pin 2. Used as clock pin for crystal Oscillator or Low-frequency
crystal Oscillator. When used as a clock pin, the pin can not be used as an I/O pin.
TOSC2: Timer Oscillator pin 2. Used only if internal calibrated RC Oscillator is selected as chip
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

Atmel ATmega328P [Preliminary]

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Atmel ATmega328P [Preliminary]

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
SS: Slave Select input. When the SPI is enabled as a Slave, this pin is configured as an input
regardless of the setting of DDB2. As a Slave, the SPI is activated when this pin is driven low.
When the SPI is enabled as a Master, the data direction of this pin is controlled by DDB2. When
the pin is forced by 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.

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OC1A/PCINT1 Port B, Bit 1

OC1A, Output Compare Match output: The PB1 pin can serve as an external output for the
Timer/Counter1 Compare Match A. The PB1 pin has to be configured as an output (DDB1 set
(one)) to serve this function. The OC1A pin is also the output pin for the PWM mode timer
function.
PCINT1: Pin Change Interrupt source 1. The PB1 pin can serve as an external interrupt source.
ICP1/CLKO/PCINT0 Port B, Bit 0
ICP1, Input Capture Pin: The PB0 pin can act as an Input Capture Pin for Timer/Counter1.
CLKO, Divided System Clock: The divided system clock can be 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 77 relate the alternate functions of Port B to the overriding
signals shown in Figure 13-5 on page 72. 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.
Signal
Name

PB7/XTAL2/
TOSC2/PCINT7(1)

PB6/XTAL1/
TOSC1/PCINT6(1)

PB5/SCK/
PCINT5

PB4/MISO/
PCINT4

PUOE

INTRC EXTCK+
AS2

INTRC + AS2

SPE MSTR

PUOV

PORTB5 PUD

PORTB4 PUD

DDOE

INTRC EXTCK+
AS2

INTRC + AS2

SPE MSTR

DDOV

PVOE

SPE MSTR

PVOV

SCK OUTPUT

SPI SLAVE
OUTPUT

DIEOE

INTRC EXTCK +
AS2 + PCINT7
PCIE0

INTRC + AS2 +
PCINT6 PCIE0

PCINT5 PCIE0

PCINT4 PCIE0

DIEOV

(INTRC + EXTCK)
AS2

INTRC AS2

PCINT7 INPUT

PCINT6 INPUT

PCINT5 INPUT
SCK INPUT

PCINT4 INPUT
SPI MSTR INPUT

AIO

Oscillator Output

Oscillator/Clock
Input

Notes:

Overriding Signals for Alternate Functions in PB7..PB4

1. INTRC means that one of the internal RC Oscillators are selected (by the CKSEL fuses),
EXTCK means that external clock is selected (by the CKSEL fuses)

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Table 13-5.

13.3.2

Overriding Signals for Alternate Functions in PB3..PB0

Signal
Name

PB3/MOSI/
OC2/PCINT3

PB2/SS/
OC1B/PCINT2

PB1/OC1A/
PCINT1

PB0/ICP1/
PCINT0

PUOE

SPE MSTR

PUOV

PORTB3 PUD

PORTB2 PUD

DDOE

SPE MSTR

DDOV

PVOE

SPE MSTR +
OC2A ENABLE

OC1B ENABLE

OC1A ENABLE

PVOV

SPI MSTR OUTPUT

+ OC2A

OC1B

OC1A

DIEOE

PCINT3 PCIE0

PCINT2 PCIE0

PCINT1 PCIE0

PCINT0 PCIE0

DIEOV

PCINT3 INPUT
SPI SLAVE INPUT

PCINT2 INPUT
SPI SS

PCINT1 INPUT

PCINT0 INPUT
ICP1 INPUT

AIO

Alternate Functions of Port C

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

Port C Pins Alternate Functions

Alternate Function

PC6

RESET (Reset pin)

PCINT14 (Pin Change Interrupt 14)

PC5

ADC5 (ADC Input Channel 5)

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

PC4

ADC4 (ADC Input Channel 4)

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

PC3

ADC3 (ADC Input Channel 3)

PCINT11 (Pin Change Interrupt 11)

PC2

ADC2 (ADC Input Channel 2)

PCINT10 (Pin Change Interrupt 10)

PC1

ADC1 (ADC Input Channel 1)

PCINT9 (Pin Change Interrupt 9)

PC0

ADC0 (ADC Input Channel 0)

PCINT8 (Pin Change Interrupt 8)

77
7810CAVR10/12

The alternate pin configuration is as follows:

RESET/PCINT14 Port C, Bit 6
RESET, Reset pin: When the RSTDISBL Fuse is programmed, this pin functions as an input 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 input 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
2-wire Serial Interface, pin PC5 is disconnected from the port and becomes the Serial Clock I/O
pin for the 2-wire Serial Interface. In this mode, there is a spike filter on the pin to suppress
spikes 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
slew-rate limitation.
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.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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 72.
Table 13-7.

Overriding Signals for Alternate Functions in PC6..PC4(1)

Signal
Name

PC6/RESET/PCINT14

PC5/SCL/ADC5/PCINT13

PC4/SDA/ADC4/PCINT12

PUOE

RSTDISBL

TWEN

PUOV

PORTC5 PUD

PORTC4 PUD

DDOE

RSTDISBL

TWEN

DDOV

SCL_OUT

SDA_OUT

PVOE

TWEN

PVOV

DIEOE

RSTDISBL + PCINT14
PCIE1

PCINT13 PCIE1 + ADC5D

PCINT12 PCIE1 + ADC4D

DIEOV

RSTDISBL

PCINT13 PCIE1

PCINT12 PCIE1

PCINT14 INPUT

PCINT13 INPUT

PCINT12 INPUT

AIO

RESET INPUT

ADC5 INPUT / SCL INPUT

ADC4 INPUT / SDA INPUT

Note:

1. When enabled, the 2-wire Serial Interface enables slew-rate controls on the output pins PC4
and PC5. This is not shown in the figure. In addition, spike filters are connected between the
AIO outputs shown in the port figure and the digital logic of the TWI module.

79
7810CAVR10/12

Table 13-8.

13.3.3

Signal
Name

PC3/ADC3/
PCINT11

PC2/ADC2/
PCINT10

PC1/ADC1/
PCINT9

PC0/ADC0/
PCINT8

PUOE

PUOV

DDOE

DDOV

PVOE

PVOV

DIEOE

PCINT11 PCIE1 +
ADC3D

PCINT10 PCIE1 +
ADC2D

PCINT9 PCIE1 +
ADC1D

PCINT8 PCIE1 +
ADC0D

DIEOV

PCINT11 PCIE1

PCINT10 PCIE1

PCINT9 PCIE1

PCINT8 PCIE1

PCINT11 INPUT

PCINT10 INPUT

PCINT9 INPUT

PCINT8 INPUT

AIO

ADC3 INPUT

ADC2 INPUT

ADC1 INPUT

ADC0 INPUT

Alternate Functions of Port D

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

Overriding Signals for Alternate Functions in PC3..PC0

Port D Pins Alternate Functions

Alternate Function

PD7

AIN1 (Analog Comparator Negative Input)

PCINT23 (Pin Change Interrupt 23)

PD6

AIN0 (Analog Comparator Positive Input)

OC0A (Timer/Counter0 Output Compare Match A Output)
PCINT22 (Pin Change Interrupt 22)

PD5

T1 (Timer/Counter 1 External Counter Input)

OC0B (Timer/Counter0 Output Compare Match B Output)
PCINT21 (Pin Change Interrupt 21)

PD4

XCK (USART External Clock Input/Output)

T0 (Timer/Counter 0 External Counter Input)
PCINT20 (Pin Change Interrupt 20)

PD3

INT1 (External Interrupt 1 Input)

OC2B (Timer/Counter2 Output Compare Match B Output)
PCINT19 (Pin Change Interrupt 19)

PD2

INT0 (External Interrupt 0 Input)

PCINT18 (Pin Change Interrupt 18)

PD1

TXD (USART Output Pin)

PCINT17 (Pin Change Interrupt 17)

PD0

RXD (USART Input Pin)

PCINT16 (Pin Change Interrupt 16)

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

The alternate pin configuration is as follows:
AIN1/OC2B/PCINT23 Port D, Bit 7
AIN1, Analog Comparator Negative Input. Configure the port pin as input with the internal pull-up
switched off to avoid the digital port function from interfering with the function of the Analog
Comparator.
PCINT23: Pin Change Interrupt source 23. The PD7 pin can serve as an external interrupt
source.
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.

81
7810CAVR10/12

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 72.
Table 13-10. Overriding Signals for Alternate Functions PD7..PD4

Signal
Name

PD7/AIN1
/PCINT23

PD6/AIN0/
OC0A/PCINT22

PD5/T1/OC0B/
PCINT21

PD4/XCK/
T0/PCINT20

PUOE

PUO

DDOE

DDOV

PVOE

OC0A ENABLE

OC0B ENABLE

UMSEL

PVOV

OC0A

OC0B

XCK OUTPUT

DIEOE

PCINT23 PCIE2

PCINT22 PCIE2

PCINT21 PCIE2

PCINT20 PCIE2

DIEOV

PCINT23 INPUT

PCINT22 INPUT

PCINT21 INPUT
T1 INPUT

PCINT20 INPUT
XCK INPUT
T0 INPUT

AIO

AIN1 INPUT

AIN0 INPUT

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

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

Signal
Name

PD3/OC2B/INT1/
PCINT19

PD2/INT0/
PCINT18

PD1/TXD/
PCINT17

PD0/RXD/
PCINT16

PUOE

TXEN

RXEN

PUO

PORTD0 PUD

DDOE

TXEN

RXEN

DDOV

PVOE

OC2B ENABLE

TXEN

PVOV

OC2B

TXD

DIEOE

INT1 ENABLE +
PCINT19 PCIE2

INT0 ENABLE +
PCINT18 PCIE1

PCINT17 PCIE2

PCINT16 PCIE2

DIEOV

PCINT19 INPUT
INT1 INPUT

PCINT18 INPUT
INT0 INPUT

PCINT17 INPUT

PCINT16 INPUT
RXD

AIO

83
7810CAVR10/12

13.4
13.4.1

0x35 (0x55)

BODS

BODSE

PUD

IVSEL

IVCE

Read/Write

R/W

Initial Value

MCUCR

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 Configuring the Pin on page 67 for more details about this feature.
13.4.2

PORTB The Port B Data Register

Bit

13.4.3

0x05 (0x25)

PORTB7

PORTB6

PORTB5

PORTB4

PORTB3

PORTB2

PORTB1

PORTB0

Read/Write

R/W

Initial Value

DDRB The Port B Data Direction Register

Bit

13.4.4

0x04 (0x24)

DDB7

DDB6

DDB5

DDB4

DDB3

DDB2

DDB1

DDB0

Read/Write

R/W

Initial Value

13.4.6

13.4.7

DDRB

PINB The Port B Input Pins Address

Bit

13.4.5

PORTB

0x03 (0x23)

PINB7

PINB6

PINB5

PINB4

PINB3

PINB2

PINB1

PINB0

Read/Write

Initial Value

N/A

PINB

PORTC The Port C Data Register

Bit

0x08 (0x28)

PORTC6

PORTC5

PORTC4

PORTC3

PORTC2

PORTC1

PORTC0

Read/Write

R/W

Initial Value

PORTC

DDRC The Port C Data Direction Register

Bit

0x07 (0x27)

DDC6

DDC5

DDC4

DDC3

DDC2

DDC1

DDC0

Read/Write

R/W

Initial Value

DDRC

PINC The Port C Input Pins Address

Bit

0x06 (0x26)

PINC6

PINC5

PINC4

PINC3

PINC2

PINC1

PINC0

Read/Write

Initial Value

N/A

PINC

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

13.4.8

PORTD The Port D Data Register

Bit

13.4.9

0x0B (0x2B)

PORTD7

PORTD6

PORTD5

PORTD4

PORTD3

PORTD2

PORTD1

PORTD0

Read/Write

R/W

Initial Value

DDRD The Port D Data Direction Register

Bit

13.4.10

PORTD

0x0A (0x2A)

DDD7

DDD6

DDD5

DDD4

DDD3

DDD2

DDD1

DDD0

Read/Write

R/W

Initial Value

DDRD

PIND The Port D Input Pins Address

Bit

0x09 (0x29)

PIND7

PIND6

PIND5

PIND4

PIND3

PIND2

PIND1

PIND0

Read/Write

Initial Value

N/A

PIND

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14. 8-bit Timer/Counter0 with PWM

14.1

Features

14.2

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)

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 program 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 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 97.
The PRTIM0 bit in Minimizing Power Consumption on page 40 must be written to zero to
enable Timer/Counter0 module.
Figure 14-1. 8-bit Timer/Counter Block Diagram
Count
Clear
Direction

TOVn
(Int.Req.)
Control Logic

clkTn

Clock Select
Edge
Detector

TOP

BOTTOM
( From Prescaler )

Timer/Counter
TCNTn

=0
OCnA
(Int.Req.)
Waveform
Generation

OCnA

DATA BUS

OCRnA
Fixed
TOP
Value

Waveform
Generation

OCnB

OCRnB

TCCRnA

OCnB
(Int.Req.)

TCCRnB

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

14.2.1

Definitions
Many register and bit references in this section are written in general form. A lower case n
replaces the Timer/Counter number, in this case 0. A lower case x replaces the Output Compare Unit, in this case Compare Unit A or Compare Unit B. However, when using the register or
bit defines in a 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.

14.2.2

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.

Registers
The Timer/Counter (TCNT0) and Output Compare Registers (OCR0A and 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 interrupts are individually masked with the Timer Interrupt Mask Register (TIMSK0). TIFR0 and TIMSK0 are not shown in the figure.
The Timer/Counter can be clocked internally, via the prescaler, or by an external clock source on
the T0 pin. The Clock Select logic block controls which clock source and edge the Timer/Counter
uses to increment (or decrement) its value. The Timer/Counter is inactive when no clock source
is selected. The output from the Clock Select logic is referred to as the timer clock (clkT0).
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 Using the Output Compare Unit on page 114. for details. The compare match
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 on clock sources and prescaler, see Timer/Counter0 and Timer/Counter1 Prescalers on page 133.

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.

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Figure 14-2. Counter Unit Block Diagram

TOVn
(Int.Req.)

DATA BUS

Clock Select
count
clear

TCNTn

Control Logic

clkTn

Edge
Detector

direction
( From Prescaler )
bottom

top

Signal description (internal signals):

count

Increment or decrement TCNT0 by 1.

direction

Select between increment and decrement.

clear

Clear TCNT0 (set all bits to zero).

clkTn

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 (clkT0). 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 clkT0 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 (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 91.
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 automatically cleared when the interrupt is executed. Alternatively, the flag can be cleared by software by writing a logical one to its I/O bit
location. The Waveform Generator uses the match signal to generate an output according to
operating mode set by the WGM02:0 bits and Compare Output mode (COM0x1:0) bits. The max
and bottom signals are used by the Waveform Generator for handling the special cases of the
extreme values in some modes of operation (Modes of Operation on page 91).
Figure 14-3 shows a block diagram of the Output Compare unit.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Figure 14-3. Output Compare Unit, Block Diagram

DATA BUS

OCRnx

TCNTn

= (8-bit Comparator )
OCFnx (Int.Req.)

top
bottom

Waveform Generator

OCnx

FOCn

WGMn1:0

COMnx1:0

The OCR0x Registers are double buffered when using any of the Pulse Width Modulation
(PWM) modes. For the normal and Clear Timer on Compare (CTC) modes of operation, the double buffering is disabled. The double buffering synchronizes the update of the OCR0x Compare
Registers to either top or bottom of the counting sequence. The synchronization prevents the
occurrence of odd-length, non-symmetrical PWM pulses, thereby making the output glitch-free.
The OCR0x Register access may seem complex, but this is not case. When the double 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 interrupt when the Timer/Counter 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.

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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 values 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 functions. The Waveform Generator uses
the COM0x1:0 bits for defining the Output Compare (OC0x) state at the next compare match.
Also, the COM0x1:0 bits control the OC0x pin output source. Figure 14-4 shows a simplified
schematic of the logic affected by the COM0x1:0 bit setting. The I/O Registers, I/O bits, and I/O
pins in the figure are shown in bold. Only the parts of the general I/O port control registers (DDR
and PORT) that are affected by the COM0x1:0 bits 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.
Figure 14-4. Compare Match Output Unit, Schematic

COMnx1
COMnx0
FOCn

Waveform
Generator

Q
1

OCnx

DATA BUS

OCnx
Pin

PORT
D

DDR
clk I/O

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 independent of the Waveform Generation mode.
The design of the Output Compare pin logic allows initialization of the OC0x state before the output is enabled. Note that some COM0x1:0 bit settings are reserved for certain modes of
operation. See Register Description on page 97.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

14.6.1

Compare Output Mode and Waveform Generation

The Waveform Generator uses the COM0x1:0 bits differently in Normal, CTC, and PWM modes.
For all modes, setting the COM0x1:0 = 0 tells the Waveform Generator that no action on the
OC0x Register is to be performed on the next compare match. For compare output actions in the
non-PWM modes refer to Table 14-2 on page 97. For fast PWM mode, refer to Table 14-3 on
page 97, and for phase correct PWM refer to Table 14-4 on page 98.
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 Generation mode (WGM02:0) and Compare Output
mode (COM0x1:0) bits. The Compare Output mode bits do not affect the counting sequence,
while the Waveform Generation mode bits do. The COM0x1:0 bits control whether the PWM output generated should be inverted or not (inverted or non-inverted PWM). For non-PWM modes
the COM0x1:0 bits control whether the output should be set, cleared, or toggled at a compare
match (See Compare Match Output Unit on page 90.).
For detailed timing information refer to Timer/Counter Timing Diagrams on page 95.

14.7.1

Normal Mode
The simplest mode of operation is the Normal mode (WGM02:0 = 0). In this mode the counting
direction is always up (incrementing), and no counter clear is performed. The counter simply
overruns when it passes its maximum 8-bit value (TOP = 0xFF) and then restarts from the bottom (0x00). In normal operation the Timer/Counter Overflow Flag (TOV0) will be set in the same
timer clock cycle as the TCNT0 becomes zero. The TOV0 Flag in this case behaves like a ninth
bit, except that it is only set, not cleared. However, combined with the timer overflow interrupt
that automatically clears the TOV0 Flag, the timer resolution can be increased by software.
There are no special cases to consider in the Normal mode, a new counter value can be written
anytime.
The Output Compare unit can be used to generate interrupts at some given time. Using the Output Compare to generate waveforms in Normal mode is not recommended, since this will
occupy too much of the CPU time.

14.7.2

Clear Timer on Compare Match (CTC) Mode

In Clear Timer on Compare or CTC mode (WGM02:0 = 2), the OCR0A Register is used to
manipulate the counter resolution. In CTC mode the counter is cleared to zero when the counter
value (TCNT0) matches the OCR0A. The OCR0A defines the top value for the counter, hence
also its resolution. This mode allows greater control of the compare match output frequency. It
also simplifies the operation of counting external events.
The timing diagram for the CTC mode is shown in Figure 14-5. The counter value (TCNT0)
increases until a compare match occurs between TCNT0 and OCR0A, and then counter
(TCNT0) is cleared.

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Figure 14-5. CTC Mode, Timing Diagram

OCnx Interrupt Flag Set

TCNTn

OCn
(Toggle)
Period

(COMnx1:0 = 1)

An interrupt can be generated each time the counter value reaches the TOP value by using the
OCF0A Flag. If the interrupt is enabled, the interrupt handler routine can be used for updating
the TOP value. However, changing TOP to a value close to BOTTOM when the counter is running with none or a low prescaler value must be done with care since the CTC mode does not
have the double buffering feature. If the new value written to OCR0A is lower than the current
value of TCNT0, the counter will miss the compare match. The counter will then have to count to
its maximum value (0xFF) and wrap around starting at 0x00 before the compare match can
occur.
For generating a waveform output in CTC mode, the OC0A output can be set to toggle its logical
level on each compare match by setting the Compare Output mode bits to toggle mode
(COM0A1:0 = 1). The OC0A value will not be visible on the port pin unless the data direction for
the pin is set to output. The waveform generated will have a maximum frequency of fOC0 =
fclk_I/O/2 when OCR0A is set to zero (0x00). The waveform frequency is defined by the following
equation:
f clk_I/O
f OCnx = ------------------------------------------------2 N ( 1 + OCRnx )
The N variable represents the prescale factor (1, 8, 64, 256, or 1024).
As for the Normal mode of operation, the TOV0 Flag is set in the same timer clock cycle that the
counter counts from MAX to 0x00.
14.7.3

Fast PWM Mode

The fast Pulse Width Modulation or fast PWM mode (WGM02:0 = 3 or 7) provides a high frequency PWM waveform generation option. The fast PWM differs from the other PWM option by
its single-slope operation. The counter counts from BOTTOM to TOP then restarts from BOTTOM. TOP is defined as 0xFF when WGM2:0 = 3, and OCR0A when WGM2:0 = 7. In
non-inverting Compare Output mode, the Output Compare (OC0x) is cleared on the compare
match between TCNT0 and OCR0x, and set at BOTTOM. In inverting Compare Output mode,
the output is set on compare match and cleared at BOTTOM. Due to the single-slope operation,
the operating frequency of the fast PWM mode can be twice as high as the phase correct PWM
mode that use dual-slope operation. This high frequency makes the fast PWM mode well suited
for power regulation, rectification, and DAC applications. High frequency allows physically small
sized external components (coils, capacitors), and therefore reduces total system cost.

Atmel ATmega328P [Preliminary]

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Atmel ATmega328P [Preliminary]

In fast PWM mode, the counter is incremented until the counter value matches the TOP value.
The counter is then cleared at the following timer clock cycle. The timing diagram for the fast
PWM mode is shown in Figure 14-6. The TCNT0 value is in the timing diagram shown as a histogram for illustrating the single-slope operation. The diagram includes non-inverted and
inverted PWM outputs. The small horizontal line marks on the TCNT0 slopes represent compare
matches between OCR0x and TCNT0.
Figure 14-6. Fast PWM Mode, Timing Diagram
OCRnx Interrupt Flag Set

OCRnx Update and

TOVn Interrupt Flag Set

TCNTn

OCnx

(COMnx1:0 = 2)

OCnx

(COMnx1:0 = 3)

Period

The Timer/Counter Overflow Flag (TOV0) is set each time the counter reaches TOP. If the interrupt is enabled, the interrupt handler routine can be used for updating the compare value.
In fast PWM mode, the compare unit allows generation of PWM waveforms on the OC0x pins.
Setting the COM0x1:0 bits to two will produce a non-inverted PWM and an inverted PWM output
can be generated by setting the COM0x1:0 to three: Setting the COM0A1:0 bits to one allows
the OC0A pin to toggle on Compare Matches if the WGM02 bit is set. This option is not available
for the OC0B pin (see Table 14-6 on page 98). The actual OC0x value will only be visible on the
port pin if the data direction for the port pin is set as output. The PWM waveform is generated by
setting (or clearing) the OC0x Register at the compare match between OCR0x and TCNT0, and
clearing (or setting) the OC0x Register at the timer clock cycle the counter is cleared (changes
from TOP to BOTTOM).
The PWM frequency for the output can be calculated by the following equation:
f clk_I/O
f OCnxPWM = ----------------N 256
The N variable represents the prescale factor (1, 8, 64, 256, or 1024).
The extreme values for the OCR0A Register represents special cases when generating a PWM
waveform output in the fast PWM mode. If the OCR0A is set equal to BOTTOM, the output will
be a narrow spike for each MAX+1 timer clock cycle. Setting the OCR0A equal to MAX will result
in a constantly high or low output (depending on the polarity of the output set by the COM0A1:0
bits.)

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A frequency (with 50% duty cycle) waveform output in fast PWM mode can be achieved by setting OC0x to toggle its logical level on each compare match (COM0x1:0 = 1). The waveform
generated will have a maximum frequency of fOC0 = fclk_I/O/2 when OCR0A is set to zero. This
feature is similar to the OC0A toggle in CTC mode, except the double buffer feature of the Output Compare unit is enabled in the fast PWM mode.
14.7.4

Phase Correct PWM Mode

The phase correct PWM mode (WGM02:0 = 1 or 5) provides a high resolution phase correct
PWM waveform generation option. The phase correct PWM mode is based on a dual-slope
operation. The counter counts repeatedly from BOTTOM to TOP and then from TOP to BOTTOM. TOP is defined as 0xFF when WGM2:0 = 1, and OCR0A when WGM2:0 = 5. In
non-inverting Compare Output mode, the Output Compare (OC0x) is cleared on the compare
match between TCNT0 and OCR0x while upcounting, and set on the compare match while
downcounting. In inverting Output Compare mode, the operation is inverted. The dual-slope
operation has lower maximum operation frequency than single slope operation. However, due to
the symmetric feature of the dual-slope PWM modes, these modes are preferred for motor control applications.
In phase correct PWM mode the counter is incremented until the counter value matches TOP.
When the counter reaches TOP, it changes the count direction. The TCNT0 value will be equal
to TOP for one timer clock cycle. The timing diagram for the phase correct PWM mode is shown
on Figure 14-7. The TCNT0 value is in the timing diagram shown as a histogram for illustrating
the dual-slope operation. The diagram includes non-inverted and inverted PWM outputs. The
small horizontal line marks on the TCNT0 slopes represent compare matches between OCR0x
and TCNT0.
Figure 14-7. Phase Correct PWM Mode, Timing Diagram
OCnx Interrupt Flag Set

OCRnx Update

TOVn Interrupt Flag Set

TCNTn

OCnx

(COMnx1:0 = 2)

OCnx

(COMnx1:0 = 3)

Period

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

Atmel ATmega328P [Preliminary]

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Atmel ATmega328P [Preliminary]

In phase correct PWM mode, the compare unit allows generation of PWM waveforms on the
OC0x pins. Setting the COM0x1:0 bits to two will produce a non-inverted PWM. An inverted
PWM output can be generated by setting the COM0x1:0 to three: Setting the COM0A0 bits to
one allows the OC0A pin to toggle on Compare Matches if the WGM02 bit is set. This option is
not available for the OC0B pin (see Table 14-7 on page 99). The actual OC0x value will only be
visible on the port pin if the data direction for the port pin is set as output. The PWM waveform is
generated by clearing (or setting) the OC0x Register at the compare match between OCR0x and
TCNT0 when the counter increments, and setting (or clearing) the OC0x Register at compare
match between OCR0x and TCNT0 when the counter decrements. The PWM frequency for the
output when using phase correct PWM can be calculated by the following equation:
f clk_I/O
f OCnxPCPWM = ----------------N 510
The N variable represents the prescale factor (1, 8, 64, 256, or 1024).
The extreme values for the OCR0A Register represent special cases when generating a PWM
waveform output in the phase correct PWM mode. If the OCR0A is set equal to BOTTOM, the
output will be continuously low and if set equal to MAX the output will be continuously high for
non-inverted PWM mode. For inverted PWM the output will have the opposite logic values.
At the very start of period 2 in Figure 14-7 OCnx has a transition from high to low even though
there is no Compare Match. The point of this transition is to guarantee symmetry around BOTTOM. There are two cases that give a transition without Compare Match.
OCRnx changes its value from MAX, like in Figure 14-7. When the OCR0A value is MAX the
OCn pin value is the same as the result of a down-counting Compare Match. To ensure
symmetry around BOTTOM the OCnx value at MAX must correspond to the result of an
up-counting Compare Match.
The timer starts counting from a value higher than the one in OCRnx, and for that reason
misses the Compare Match and hence the OCnx change that would have happened on the
way up.

14.8

Timer/Counter Timing Diagrams

The Timer/Counter is a synchronous design and the timer clock (clkT0) is therefore shown as a
clock enable signal in the following figures. The figures include information on when interrupt
flags are set. Figure 14-8 contains timing data for basic Timer/Counter operation. The figure
shows the count sequence close to the MAX value in all modes other than phase correct PWM
mode.
Figure 14-8. Timer/Counter Timing Diagram, no Prescaling
clkI/O
clkTn

(clkI/O /1)

TCNTn

MAX - 1

MAX

BOTTOM

BOTTOM + 1

TOVn

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Figure 14-9 shows the same timing data, but with the prescaler enabled.
Figure 14-9. Timer/Counter Timing Diagram, with Prescaler (fclk_I/O/8)
clkI/O
clkTn

(clkI/O /8)

TCNTn

MAX - 1

MAX

BOTTOM

BOTTOM + 1

TOVn

Figure 14-10 shows the setting of OCF0B in all modes and OCF0A in all modes except CTC
mode and PWM mode, where OCR0A is TOP.
Figure 14-10. Timer/Counter Timing Diagram, Setting of OCF0x, with Prescaler (fclk_I/O/8)
clkI/O
clkTn

(clkI/O /8)

TCNTn

OCRnx - 1

OCRnx

OCRnx + 1

OCRnx + 2

OCRnx Value

OCRnx

OCFnx

Figure 14-11 shows the setting of OCF0A and the clearing of TCNT0 in CTC mode and fast
PWM mode where OCR0A is TOP.
Figure 14-11. Timer/Counter Timing Diagram, Clear Timer on Compare Match mode, with Prescaler (fclk_I/O/8)
clkI/O
clkTn

(clkI/O /8)

TCNTn
(CTC)

TOP - 1

TOP

OCRnx

BOTTOM

BOTTOM + 1

TOP

OCFnx

Atmel ATmega328P [Preliminary]

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Atmel ATmega328P [Preliminary]

14.9
14.9.1

0x24 (0x44)

COM0A1

COM0A0

COM0B1

COM0B0

WGM01

WGM00

Read/Write

R/W

Initial Value

TCCR0A

Bits 7:6 COM0A1:0: Compare Match Output A Mode

These bits control the Output Compare pin (OC0A) behavior. If one or both of the COM0A1:0
bits are set, the OC0A output overrides the normal port functionality of the I/O pin it is connected
to. However, note that the Data Direction Register (DDR) bit corresponding to the OC0A pin
must be set in order to enable the output driver.
When OC0A is connected to the pin, the function of the COM0A1:0 bits depends on the
WGM02:0 bit setting. Table 14-2 shows the COM0A1:0 bit functionality when the WGM02:0 bits
are set to a normal or CTC mode (non-PWM).
Table 14-2.

Compare Output Mode, non-PWM Mode

COM0A1

COM0A0

Description

Normal port operation, OC0A disconnected.

Toggle OC0A on Compare Match

Clear OC0A on Compare Match

Set OC0A on Compare Match

Table 14-3 shows the COM0A1:0 bit functionality when the WGM01:0 bits are set to fast PWM
mode.
Table 14-3.

Compare Output Mode, Fast PWM Mode(1)

COM0A1

COM0A0

Normal port operation, OC0A disconnected.

WGM02 = 0: Normal Port Operation, OC0A Disconnected.

WGM02 = 1: Toggle OC0A on Compare Match.

Clear OC0A on Compare Match, set OC0A at BOTTOM,

(non-inverting mode).

Set OC0A on Compare Match, clear OC0A at BOTTOM,

(inverting mode).

Note:

Description

1. A special case occurs when OCR0A equals TOP and COM0A1 is set. In this case, the Compare Match is ignored, but the set or clear is done at BOTTOM. See Fast PWM Mode on
page 92 for more details.

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Table 14-4 shows the COM0A1:0 bit functionality when the WGM02:0 bits are set to phase correct PWM mode.
Table 14-4.

Compare Output Mode, Phase Correct PWM Mode(1)

COM0A1

COM0A0

Normal port operation, OC0A disconnected.

WGM02 = 0: Normal Port Operation, OC0A Disconnected.

WGM02 = 1: Toggle OC0A on Compare Match.

Clear OC0A on Compare Match when up-counting. Set OC0A on

Compare Match when down-counting.

Set OC0A on Compare Match when up-counting. Clear OC0A on

Compare Match when down-counting.

Note:

Description

1. A special case occurs when OCR0A equals TOP and COM0A1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See Phase Correct PWM Mode on
page 120 for more details.

Bits 5:4 COM0B1:0: Compare Match Output B Mode

These bits control the Output Compare pin (OC0B) behavior. If one or both of the COM0B1:0
bits are set, the OC0B output overrides the normal port functionality of the I/O pin it is connected
to. However, note that the Data Direction Register (DDR) bit corresponding to the OC0B pin
must be set in order to enable the output driver.
When OC0B is connected to the pin, the function of the COM0B1:0 bits depends on the
WGM02:0 bit setting. Table 14-5 shows the COM0B1:0 bit functionality when the WGM02:0 bits
are set to a normal or CTC mode (non-PWM).
Table 14-5.

Compare Output Mode, non-PWM Mode

COM0B1

COM0B0

Description

Normal port operation, OC0B disconnected.

Toggle OC0B on Compare Match

Clear OC0B on Compare Match

Set OC0B on Compare Match

Table 14-6 shows the COM0B1:0 bit functionality when the WGM02:0 bits are set to fast PWM
mode.
Table 14-6.
COM0B1

COM0B0

Normal port operation, OC0B disconnected.

Reserved

Clear OC0B on Compare Match, set OC0B at BOTTOM,

(non-inverting mode)

Set OC0B on Compare Match, clear OC0B at BOTTOM,

(inverting mode).

Note:

Compare Output Mode, Fast PWM Mode(1)

Description

1. A special case occurs when OCR0B equals TOP and COM0B1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See Fast PWM Mode on page 92
for more details.

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Table 14-7 shows the COM0B1:0 bit functionality when the WGM02:0 bits are set to phase correct PWM mode.
Table 14-7.

Compare Output Mode, Phase Correct PWM Mode(1)

COM0B1

COM0B0

Normal port operation, OC0B disconnected.

Reserved

Clear OC0B on Compare Match when up-counting. Set OC0B on

Compare Match when down-counting.

Set OC0B on Compare Match when up-counting. Clear OC0B on

Compare Match when down-counting.

Note:

Description

1. A special case occurs when OCR0B equals TOP and COM0B1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See Phase Correct PWM Mode on
page 94 for more details.

Bits 3, 2 Res: Reserved Bits

These bits are reserved bits in the ATmega328P and will always read as zero.
Bits 1:0 WGM01:0: Waveform Generation Mode
Combined with the WGM02 bit found in the TCCR0B Register, these bits control the counting
sequence of the counter, the source for maximum (TOP) counter value, and what type of waveform generation to be used, see Table 14-8. Modes of operation supported by the Timer/Counter
unit are: Normal mode (counter), Clear Timer on Compare Match (CTC) mode, and two types of
Pulse Width Modulation (PWM) modes (see Modes of Operation on page 91).
Table 14-8.

Waveform Generation Mode Bit Description

Timer/Counter
Mode of
Operation

TOP

Update of
OCRx at

TOV Flag
Set on(1)(2)

Mode

WGM02

WGM01

WGM00

Normal

0xFF

Immediate

MAX

PWM, Phase
Correct

0xFF

TOP

BOTTOM

CTC

OCRA

Immediate

MAX

Fast PWM

0xFF

BOTTOM

MAX

Reserved

PWM, Phase
Correct

OCRA

TOP

BOTTOM

Reserved

Fast PWM

OCRA

BOTTOM

TOP

Notes:

1. MAX
= 0xFF
2. BOTTOM = 0x00

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14.9.2

TCCR0B Timer/Counter Control Register B

Bit

0x25 (0x45)

FOC0A

FOC0B

WGM02

CS02

CS01

CS00

Read/Write

R/W

Initial Value

TCCR0B

Bit 7 FOC0A: Force Output Compare A

The FOC0A bit is only active when the WGM bits specify a non-PWM mode.
However, for ensuring compatibility with future devices, this bit must be set to zero when
TCCR0B is written when operating in PWM mode. When writing a logical one to the FOC0A bit,
an immediate Compare Match is forced on the Waveform Generation unit. The OC0A output is
changed according to its COM0A1:0 bits setting. Note that the FOC0A bit is implemented as a
strobe. Therefore it is the value present in the COM0A1:0 bits that determines the effect of the
forced compare.
A FOC0A strobe will not generate any interrupt, nor will it clear the timer in CTC mode using
OCR0A as TOP.
The FOC0A bit is always read as zero.
Bit 6 FOC0B: Force Output Compare B
The FOC0B bit is only active when the WGM bits specify a non-PWM mode.
However, for ensuring compatibility with future devices, this bit must be set to zero when
TCCR0B is written when operating in PWM mode. When writing a logical one to the FOC0B bit,
an immediate Compare Match is forced on the Waveform Generation unit. The OC0B output is
changed according to its COM0B1:0 bits setting. Note that the FOC0B bit is implemented as a
strobe. Therefore it is the value present in the COM0B1:0 bits that determines the effect of the
forced compare.
A FOC0B strobe will not generate any interrupt, nor will it clear the timer in CTC mode using
OCR0B as TOP.
The FOC0B bit is always read as zero.
Bits 5:4 Res: Reserved Bits
These bits are reserved bits in the ATmega328P and will always read as zero.
Bit 3 WGM02: Waveform Generation Mode
See the description in the TCCR0A Timer/Counter Control Register A on page 97.
Bits 2:0 CS02:0: Clock Select
The three Clock Select bits select the clock source to be used by the Timer/Counter.

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Table 14-9.

Clock Select Bit Description

CS02

CS01

CS00

Description

No clock source (Timer/Counter stopped)

clkI/O/(No prescaling)

clkI/O/8 (From prescaler)

clkI/O/64 (From prescaler)

clkI/O/256 (From prescaler)

clkI/O/1024 (From prescaler)

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

Initial Value

The Output Compare Register B contains an 8-bit value that is continuously compared with the
counter value (TCNT0). A match can be used to generate an Output Compare interrupt, or to
generate a waveform output on the OC0B pin.

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14.9.6

TIMSK0 Timer/Counter Interrupt Mask Register

Bit

(0x6E)

OCIE0B

OCIE0A

TOIE0

Read/Write

R/W

Initial Value

TIMSK0

Bits 7..3 Res: Reserved Bits

These bits are reserved bits in the ATmega328P and will always read as zero.
Bit 2 OCIE0B: Timer/Counter Output Compare Match B Interrupt Enable
When the OCIE0B bit is written to one, and the I-bit in the Status Register is set, the
Timer/Counter Compare Match B interrupt is enabled. The corresponding interrupt is executed if
a Compare Match in Timer/Counter occurs, i.e., when the OCF0B bit is set in the Timer/Counter
Interrupt Flag Register TIFR0.
Bit 1 OCIE0A: Timer/Counter0 Output Compare Match A Interrupt Enable
When the OCIE0A bit is written to one, and the I-bit in the Status Register is set, the
Timer/Counter0 Compare Match A interrupt is enabled. The corresponding interrupt is executed
if a Compare Match in Timer/Counter0 occurs, i.e., when the OCF0A bit is set in the
Timer/Counter 0 Interrupt Flag Register TIFR0.
Bit 0 TOIE0: Timer/Counter0 Overflow Interrupt Enable
When the TOIE0 bit is written to one, and the I-bit in the Status Register is set, the
Timer/Counter0 Overflow interrupt is enabled. The corresponding interrupt is executed if an
overflow in Timer/Counter0 occurs, i.e., when the TOV0 bit is set in the Timer/Counter 0 Interrupt Flag Register TIFR0.
14.9.7

TIFR0 Timer/Counter 0 Interrupt Flag Register

Bit

0x15 (0x35)

OCF0B

OCF0A

TOV0

Read/Write

R/W

Initial Value

TIFR0

Bits 7..3 Res: Reserved Bits

These bits are reserved bits in the ATmega328P and will always read as zero.
Bit 2 OCF0B: Timer/Counter 0 Output Compare B Match Flag
The OCF0B bit is set when a Compare Match occurs between the Timer/Counter and the data in
OCR0B Output Compare Register0 B. OCF0B is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, OCF0B is cleared by writing a logic one to
the flag. When the I-bit in SREG, OCIE0B (Timer/Counter Compare B Match Interrupt Enable),
and OCF0B are set, the Timer/Counter Compare Match Interrupt is executed.
Bit 1 OCF0A: Timer/Counter 0 Output Compare A Match Flag
The OCF0A bit is set when a Compare Match occurs between the Timer/Counter0 and the data
in OCR0A Output Compare Register0. OCF0A is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, OCF0A is cleared by writing a logic one to
the flag. When the I-bit in SREG, OCIE0A (Timer/Counter0 Compare Match Interrupt Enable),
and OCF0A are set, the Timer/Counter0 Compare Match Interrupt is executed.

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Bit 0 TOV0: Timer/Counter0 Overflow Flag
The bit TOV0 is set when an overflow occurs in Timer/Counter0. TOV0 is cleared by hardware
when executing the corresponding interrupt handling vector. Alternatively, TOV0 is cleared by
writing a logic one to the flag. When the SREG I-bit, TOIE0 (Timer/Counter0 Overflow Interrupt
Enable), and TOV0 are set, the Timer/Counter0 Overflow interrupt is executed.
The setting of this flag is dependent of the WGM02:0 bit setting. Refer to Table 14-8, Waveform
Generation Mode Bit Description on page 99.

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15. 16-bit Timer/Counter1 with PWM

15.1

Features

15.2

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

Two independent Output Compare Units
Double Buffered Output Compare Registers
One Input Capture Unit
Input Capture Noise Canceler
Clear Timer on Compare Match (Auto Reload)
Glitch-free, Phase Correct Pulse Width Modulator (PWM)
Variable PWM Period
Frequency Generator
External Event Counter
Four independent interrupt Sources (TOV1, OCF1A, OCF1B, and ICF1)

Overview
The 16-bit Timer/Counter unit allows accurate program execution timing (event management),
wave generation, and signal timing measurement.
Most register and bit references in this section are written in general form. A lower case n
replaces the Timer/Counter number, and a lower case x replaces the Output Compare unit
channel. However, when using the register or bit defines in a program, the precise form must be
used, i.e., TCNT1 for accessing Timer/Counter1 counter value and so on.
A simplified block diagram of the 16-bit Timer/Counter is shown in Figure 15-1. For the actual
placement of I/O pins, refer to Pinout 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 126.
The PRTIM1 bit in PRR Power Reduction Register on page 43 must be written to zero to
enable Timer/Counter1 module.

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Figure 15-1. 16-bit Timer/Counter Block Diagram(1)
Count
Clear
Direction

TOVn
(Int.Req.)
Control Logic

clkTn

Clock Select
Edge
Detector

TOP

BOTTOM
( From Prescaler )

Timer/Counter
TCNTn

=0
OCnA
(Int.Req.)
Waveform
Generation

OCnA

DATA BUS

OCRnA
OCnB
(Int.Req.)

Fixed
TOP
Values

Waveform
Generation

=
OCRnB

OCnB

( From Analog
Comparator Ouput )
ICFn (Int.Req.)
Edge
Detector

ICRn

Noise
Canceler
ICPn

TCCRnA

Note:

15.2.1

TCCRnB

1. Refer to Figure 1-1 on page 2, Table 13-3 on page 74 and Table 13-9 on page 80 for
Timer/Counter1 pin placement and description.

Registers
The Timer/Counter (TCNT1), Output Compare Registers (OCR1A/B), and Input Capture Register (ICR1) are all 16-bit registers. Special procedures must be followed when accessing the
16-bit registers. These procedures are described in the section Accessing 16-bit Registers on
page 106. The Timer/Counter Control Registers (TCCR1A/B) are 8-bit registers and have no
CPU access restrictions. Interrupt requests (abbreviated to Int.Req. in the figure) signals are all
visible in the Timer Interrupt Flag Register (TIFR1). All interrupts are individually masked with
the Timer Interrupt Mask Register (TIMSK1). TIFR1 and TIMSK1 are not shown in the figure.
The Timer/Counter can be clocked internally, via the prescaler, or by an external clock source on
the T1 pin. The Clock Select logic block controls which clock source and edge the Timer/Counter
uses to increment (or decrement) its value. The Timer/Counter is inactive when no clock source
is selected. The output from the Clock Select logic is referred to as the timer clock (clkT1).

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The double buffered Output Compare Registers (OCR1A/B) are compared with the Timer/Counter value at all time. The result of the compare can be used by the Waveform Generator to
generate a PWM or variable frequency output on the Output Compare pin (OC1A/B). See Output Compare Units on page 113. The compare match event will also set the Compare Match
Flag (OCF1A/B) which can be used to generate an Output Compare interrupt request.
The Input Capture Register can capture the Timer/Counter value at a given external (edge triggered) event on either the Input Capture pin (ICP1) or on the Analog Comparator pins (See
Analog Comparator on page 238) The Input Capture unit includes a digital filtering unit (Noise
Canceler) for reducing the chance of capturing noise spikes.
The TOP value, or maximum Timer/Counter value, can in some modes of operation be defined
by either the OCR1A Register, the ICR1 Register, or by a set of fixed values. When using
OCR1A as TOP value in a PWM mode, the OCR1A Register can not be used for generating a
PWM output. However, the TOP value will in this case be double buffered allowing the TOP
value to be changed in run time. If a fixed TOP value is required, the ICR1 Register can be used
as an alternative, freeing the OCR1A to be used as PWM output.
15.2.2

Definitions
The following definitions are used extensively throughout the section:

15.3

BOTTOM

The counter reaches the BOTTOM when it becomes 0x0000.

MAX

The counter reaches its MAXimum when it becomes 0xFFFF (decimal 65535).

TOP

The counter reaches the TOP when it becomes equal to the highest value in the count
sequence. The TOP value can be assigned to be one of the fixed values: 0x00FF, 0x01FF,
or 0x03FF, or to the value stored in the OCR1A or ICR1 Register. The assignment is
dependent of the mode of operation.

Accessing 16-bit Registers

The TCNT1, OCR1A/B, and ICR1 are 16-bit registers that can be accessed by the AVR CPU via
the 8-bit data bus. The 16-bit register must be byte accessed using two read or write operations.
Each 16-bit timer has a single 8-bit register for temporary storing of the high byte of the 16-bit
access. The same temporary register is shared between all 16-bit registers within each 16-bit
timer. Accessing the low byte triggers the 16-bit read or write operation. When the low byte of a
16-bit register is written by the CPU, the high byte stored in the temporary register, and the low
byte written are both copied into the 16-bit register in the same clock cycle. When the low byte of
a 16-bit register is read by the CPU, the high byte of the 16-bit register is copied into the temporary register in the same clock cycle as the low byte is read.
Not all 16-bit accesses uses the temporary register for the high byte. Reading the OCR1A/B
16-bit registers does not involve using the temporary register.
To do a 16-bit write, the high byte must be written before the low byte. For a 16-bit read, the low
byte must be read before the high byte.
The following code examples show how to access the 16-bit Timer Registers assuming that no
interrupts updates the temporary register. The same principle can be used directly for accessing
the OCR1A/B and ICR1 Registers. Note that when using C, the compiler handles the 16-bit
access.

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Assembly Code Examples(1)

...
; Set TCNT1 to 0x01FF
ldi r17,0x01
ldi r16,0xFF
out TCNT1H,r17
out TCNT1L,r16
; Read TCNT1 into r17:r16
in r16,TCNT1L
in r17,TCNT1H
...

C Code Examples(1)
unsigned int i;
...
/* Set TCNT1 to 0x01FF */
TCNT1 = 0x1FF;
/* Read TCNT1 into i */
i = TCNT1;
...
Note:

1. See About Code Examples on page 7.

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

The assembly code example returns the TCNT1 value in the r17:r16 register pair.
It is important to notice that accessing 16-bit registers are atomic operations. If an interrupt
occurs between the two instructions accessing the 16-bit register, and the interrupt code
updates the temporary register by accessing the same or any other of the 16-bit Timer Registers, then the result of the access outside the interrupt will be corrupted. Therefore, when both
the main code and the interrupt code update the temporary register, the main code must disable
the interrupts during the 16-bit access.
The following code examples show how to do an atomic read of the TCNT1 Register contents.
Reading any of the OCR1A/B or ICR1 Registers can be done by using the same principle.

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Assembly Code Example(1)

TIM16_ReadTCNT1:
; Save global interrupt flag
in r18,SREG
; Disable interrupts
cli
; Read TCNT1 into r17:r16
in r16,TCNT1L
in r17,TCNT1H
; Restore global interrupt flag
out SREG,r18
ret

C Code Example(1)
unsigned int TIM16_ReadTCNT1( void )
{
unsigned char sreg;
unsigned int i;
/* Save global interrupt flag */
sreg = SREG;
/* Disable interrupts */
_CLI();
/* Read TCNT1 into i */
i = TCNT1;
/* Restore global interrupt flag */
SREG = sreg;
return i;
}
Note:

1. See About Code Examples on page 7.

The assembly code example returns the TCNT1 value in the r17:r16 register pair.
The following code examples show how to do an atomic write of the TCNT1 Register contents.
Writing any of the OCR1A/B or ICR1 Registers can be done by using the same principle.

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Assembly Code Example(1)

TIM16_WriteTCNT1:
; Save global interrupt flag
in r18,SREG
; Disable interrupts
cli
; Set TCNT1 to r17:r16
out TCNT1H,r17
out TCNT1L,r16
; Restore global interrupt flag
out SREG,r18
ret

C Code Example(1)
void TIM16_WriteTCNT1( unsigned int i )
{
unsigned char sreg;
unsigned int i;
/* Save global interrupt flag */
sreg = SREG;
/* Disable interrupts */
_CLI();
/* Set TCNT1 to i */
TCNT1 = i;
/* Restore global interrupt flag */
SREG = sreg;
}
Note:

1. See About Code Examples on page 7.

The assembly code example requires that the r17:r16 register pair contains the value to be written to TCNT1.
15.3.1

15.4

Reusing the Temporary High Byte Register

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

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 (CS12:0) bits
located in the Timer/Counter control Register B (TCCR1B). For details on clock sources and
prescaler, see Timer/Counter0 and Timer/Counter1 Prescalers on page 133.

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15.5

Counter Unit
The main part of the 16-bit Timer/Counter is the programmable 16-bit bi-directional counter unit.
Figure 15-2 shows a block diagram of the counter and its surroundings.
Figure 15-2. Counter Unit Block Diagram
DATA BUS

(8-bit)
TOVn
(Int.Req.)

TEMP (8-bit)
Clock Select
Count
TCNTnH (8-bit)

TCNTnL (8-bit)

Clear
Direction

TCNTn (16-bit Counter)

Control Logic

clkTn

Edge
Detector

( From Prescaler )
TOP

BOTTOM

Signal description (internal signals):

Count

Increment or decrement TCNT1 by 1.

Direction

Select between increment and decrement.

Clear

Clear TCNT1 (set all bits to zero).

clkT1

Timer/Counter clock.

TOP

Signalize that TCNT1 has reached maximum value.

BOTTOM

Signalize that TCNT1 has reached minimum value (zero).

The 16-bit counter is mapped into two 8-bit I/O memory locations: Counter High (TCNT1H) containing the upper eight bits of the counter, and Counter Low (TCNT1L) containing the lower eight
bits. The TCNT1H Register can only be indirectly accessed by the CPU. When the CPU does an
access to the TCNT1H I/O location, the CPU accesses the high byte temporary register (TEMP).
The temporary register is updated with the TCNT1H value when the TCNT1L is read, and
TCNT1H is updated with the temporary register value when TCNT1L is written. This allows the
CPU to read or write the entire 16-bit counter value within one clock cycle via the 8-bit data bus.
It is important to notice that there are special cases of writing to the TCNT1 Register when the
counter is counting that will give unpredictable results. The special cases are described in the
sections where they are of importance.
Depending on the mode of operation used, the counter is cleared, incremented, or decremented
at each timer clock (clkT1). The clkT1 can be generated from an external or internal clock source,
selected by the Clock Select bits (CS12:0). When no clock source is selected (CS12:0 = 0) the
timer is stopped. However, the TCNT1 value can be accessed by the CPU, independent of
whether clkT1 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 Waveform Generation mode bits
(WGM13:0) located in the Timer/Counter Control Registers A and B (TCCR1A and TCCR1B).
There are close connections between how the counter behaves (counts) and how waveforms
are generated on the Output Compare outputs OC1x. For more details about advanced counting
sequences and waveform generation, see Modes of Operation on page 116.

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

15.6

Input Capture Unit

The Timer/Counter incorporates an Input Capture unit that can capture external events and give
them a time-stamp indicating time of occurrence. The external signal indicating an event, or multiple events, can be applied via the ICP1 pin or alternatively, via the analog-comparator unit. The
time-stamps can then be used to calculate frequency, duty-cycle, and other features of the signal applied. Alternatively the time-stamps can be used for creating a log of the events.
The Input Capture unit is illustrated by the block diagram shown in Figure 15-3. The elements of
the block diagram that are not directly a part of the Input Capture unit are gray shaded. The
small n in register and bit names indicates the Timer/Counter number.
Figure 15-3. Input Capture Unit Block Diagram

DATA BUS

(8-bit)

TEMP (8-bit)

ICRnH (8-bit)
WRITE

ICRnL (8-bit)

TCNTnH (8-bit)

ICRn (16-bit Register)

ACO*
Analog
Comparator

ACIC*

TCNTnL (8-bit)

TCNTn (16-bit Counter)

ICNC

ICES

Noise
Canceler

Edge
Detector

ICFn (Int.Req.)

ICPn

When a change of the logic level (an event) occurs on the Input Capture pin (ICP1), alternatively
on the Analog Comparator output (ACO), and this change confirms to the setting of the edge
detector, a capture will be triggered. When a capture is triggered, the 16-bit value of the counter
(TCNT1) is written to the Input Capture Register (ICR1). The Input Capture Flag (ICF1) is set at
the same system clock as the TCNT1 value is copied into ICR1 Register. If enabled (ICIE1 = 1),
the Input Capture Flag generates an Input Capture interrupt. The ICF1 Flag is automatically
cleared when the interrupt is executed. Alternatively the ICF1 Flag can be cleared by software
by writing a logical one to its I/O bit location.
Reading the 16-bit value in the Input Capture Register (ICR1) is done by first reading the low
byte (ICR1L) and then the high byte (ICR1H). When the low byte is read the high byte is copied
into the high byte temporary register (TEMP). When the CPU reads the ICR1H I/O location it will
access the TEMP Register.

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The ICR1 Register can only be written when using a Waveform Generation mode that utilizes
the ICR1 Register for defining the counters TOP value. In these cases the Waveform Generation mode (WGM13:0) bits must be set before the TOP value can be written to the ICR1
Register. When writing the ICR1 Register the high byte must be written to the ICR1H I/O location
before the low byte is written to ICR1L.
For more information on how to access the 16-bit registers refer to Accessing 16-bit Registers
on page 106.
15.6.1

Input Capture Trigger Source

The main trigger source for the Input Capture unit is the Input Capture pin (ICP1).
Timer/Counter1 can alternatively use the Analog Comparator output as trigger source for the
Input Capture unit. The Analog Comparator is selected as trigger source by setting the Analog
Comparator Input Capture (ACIC) bit in the Analog Comparator Control and Status Register
(ACSR). Be aware that changing trigger source can trigger a capture. The Input Capture Flag
must therefore be cleared after the change.
Both the Input Capture pin (ICP1) and the Analog Comparator output (ACO) inputs are sampled
using the same technique as for the T1 pin (Figure 16-1 on page 133). The edge detector is also
identical. However, when the noise canceler is enabled, additional logic is inserted before the
edge detector, which increases the delay by four system clock cycles. Note that the input of the
noise canceler and edge detector is always enabled unless the Timer/Counter is set in a Waveform Generation mode that uses ICR1 to define TOP.
An Input Capture can be triggered by software by controlling the port of the ICP1 pin.

15.6.2

Noise Canceler
The noise canceler improves noise immunity by using a simple digital filtering scheme. The
noise canceler input is monitored over four samples, and all four must be equal for changing the
output that in turn is used by the edge detector.
The noise canceler is enabled by setting the Input Capture Noise Canceler (ICNC1) bit in
Timer/Counter Control Register B (TCCR1B). When enabled the noise canceler introduces additional four system clock cycles of delay from a change applied to the input, to the update of the
ICR1 Register. The noise canceler uses the system clock and is therefore not affected by the
prescaler.

15.6.3

Using the Input Capture Unit

The main challenge when using the Input Capture unit is to assign enough processor capacity
for handling the incoming events. The time between two events is critical. If the processor has
not read the captured value in the ICR1 Register before the next event occurs, the ICR1 will be
overwritten with a new value. In this case the result of the capture will be incorrect.
When using the Input Capture interrupt, the ICR1 Register should be read as early in the interrupt handler routine as possible. Even though the Input Capture interrupt has relatively high
priority, the maximum interrupt response time is dependent on the maximum number of clock
cycles it takes to handle any of the other interrupt requests.
Using the Input Capture unit in any mode of operation when the TOP value (resolution) is
actively changed during operation, is not recommended.

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

15.7

Output Compare Units

The 16-bit comparator continuously compares TCNT1 with the Output Compare Register
(OCR1x). If TCNT equals OCR1x the comparator signals a match. A match will set the Output
Compare Flag (OCF1x) at the next timer clock cycle. If enabled (OCIE1x = 1), the Output Compare Flag generates an Output Compare interrupt. The OCF1x Flag is automatically cleared
when the interrupt is executed. Alternatively the OCF1x Flag can be cleared by software by writing a logical one to its I/O bit location. The Waveform Generator uses the match signal to
generate an output according to operating mode set by the Waveform Generation mode
(WGM13:0) bits and Compare Output mode (COM1x1:0) bits. The TOP and BOTTOM signals
are used by the Waveform Generator for handling the special cases of the extreme values in
some modes of operation (See Modes of Operation on page 116.)
A special feature of Output Compare unit A allows it to define the Timer/Counter TOP value (i.e.,
counter resolution). In addition to the counter resolution, the TOP value defines the period time
for waveforms generated by the Waveform Generator.
Figure 15-4 shows a block diagram of the Output Compare unit. The small n in the register and
bit names indicates the device number (n = 1 for Timer/Counter 1), and the x indicates Output
Compare unit (A/B). The elements of the block diagram that are not directly a part of the Output
Compare unit are gray shaded.
Figure 15-4. Output Compare Unit, Block Diagram
DATA BUS

(8-bit)

TEMP (8-bit)

OCRnxH Buf. (8-bit)

OCRnxL Buf. (8-bit)

TCNTnH (8-bit)

OCRnx Buffer (16-bit Register)

OCRnxH (8-bit)

TCNTnL (8-bit)

TCNTn (16-bit Counter)

OCRnxL (8-bit)

OCRnx (16-bit Register)

= (16-bit Comparator )
OCFnx (Int.Req.)
TOP
BOTTOM

Waveform Generator

WGMn3:0

OCnx

COMnx1:0

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The OCR1x Register is double buffered when using any of the twelve Pulse Width Modulation
(PWM) modes. For the Normal and Clear Timer on Compare (CTC) modes of operation, the
double buffering is disabled. The double buffering synchronizes the update of the OCR1x Compare Register to either TOP or BOTTOM of the counting sequence. The synchronization
prevents the occurrence of odd-length, non-symmetrical PWM pulses, thereby making the output glitch-free.
The OCR1x Register access may seem complex, but this is not case. When the double buffering
is enabled, the CPU has access to the OCR1x Buffer Register, and if double buffering is disabled the CPU will access the OCR1x directly. The content of the OCR1x (Buffer or Compare)
Register is only changed by a write operation (the Timer/Counter does not update this register
automatically as the TCNT1 and ICR1 Register). Therefore OCR1x is not read via the high byte
temporary register (TEMP). However, it is a good practice to read the low byte first as when
accessing other 16-bit registers. Writing the OCR1x Registers must be done via the TEMP Register since the compare of all 16 bits is done continuously. The high byte (OCR1xH) has to be
written first. When the high byte I/O location is written by the CPU, the TEMP Register will be
updated by the value written. Then when the low byte (OCR1xL) is written to the lower eight bits,
the high byte will be copied into the upper 8-bits of either the OCR1x buffer or OCR1x Compare
Register in the same system clock cycle.
For more information of how to access the 16-bit registers refer to Accessing 16-bit Registers
on page 106.
15.7.1

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 (FOC1x) bit. Forcing compare match will not set the
OCF1x Flag or reload/clear the timer, but the OC1x pin will be updated as if a real compare
match had occurred (the COM11:0 bits settings define whether the OC1x pin is set, cleared or
toggled).

15.7.2

Compare Match Blocking by TCNT1 Write

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

15.7.3

Using the Output Compare Unit

Since writing TCNT1 in any mode of operation will block all compare matches for one timer clock
cycle, there are risks involved when changing TCNT1 when using any of the Output Compare
channels, independent of whether the Timer/Counter is running or not. If the value written to
TCNT1 equals the OCR1x value, the compare match will be missed, resulting in incorrect waveform generation. Do not write the TCNT1 equal to TOP in PWM modes with variable TOP
values. The compare match for the TOP will be ignored and the counter will continue to 0xFFFF.
Similarly, do not write the TCNT1 value equal to BOTTOM when the counter is downcounting.
The setup of the OC1x should be performed before setting the Data Direction Register for the
port pin to output. The easiest way of setting the OC1x value is to use the Force Output Compare (FOC1x) strobe bits in Normal mode. The OC1x Register keeps its value even when
changing between Waveform Generation modes.
Be aware that the COM1x1:0 bits are not double buffered together with the compare value.
Changing the COM1x1:0 bits will take effect immediately.

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15.8

Compare Match Output Unit

The Compare Output mode (COM1x1:0) bits have two functions. The Waveform Generator uses
the COM1x1:0 bits for defining the Output Compare (OC1x) state at the next compare match.
Secondly the COM1x1:0 bits control the OC1x pin output source. Figure 15-5 shows a simplified
schematic of the logic affected by the COM1x1:0 bit setting. The I/O Registers, I/O bits, and I/O
pins in the figure are shown in bold. Only the parts of the general I/O Port Control Registers
(DDR and PORT) that are affected by the COM1x1:0 bits are shown. When referring to the
OC1x state, the reference is for the internal OC1x Register, not the OC1x pin. If a system reset
occur, the OC1x Register is reset to 0.
Figure 15-5. Compare Match Output Unit, Schematic

COMnx1
COMnx0
FOCnx

Waveform
Generator

Q
1

OCnx

DATA BUS

OCnx
Pin

PORT
D

DDR
clk I/O

The general I/O port function is overridden by the Output Compare (OC1x) from the Waveform
Generator if either of the COM1x1:0 bits are set. However, the OC1x pin direction (input or output) is still controlled by the Data Direction Register (DDR) for the port pin. The Data Direction
Register bit for the OC1x pin (DDR_OC1x) must be set as output before the OC1x value is visible on the pin. The port override function is generally independent of the Waveform Generation
mode, but there are some exceptions. Refer to Table 15-1, Table 15-2 and Table 15-3 for
details.
The design of the Output Compare pin logic allows initialization of the OC1x state before the output is enabled. Note that some COM1x1:0 bit settings are reserved for certain modes of
operation. See Register Description on page 126.
The COM1x1:0 bits have no effect on the Input Capture unit.

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When changing the TOP value the program must ensure that the new TOP value is higher or
equal to the value of all of the Compare Registers. If the TOP value is lower than any of the
Compare Registers, a compare match will never occur between the TCNT1 and the OCR1x.
Note that when using fixed TOP values the unused bits are masked to zero when any of the
OCR1x Registers are written.
The procedure for updating ICR1 differs from updating OCR1A when used for defining the TOP
value. The ICR1 Register is not double buffered. This means that if ICR1 is changed to a low
value when the counter is running with none or a low prescaler value, there is a risk that the new
ICR1 value written is lower than the current value of TCNT1. The result will then be that the
counter will miss the compare match at the TOP value. The counter will then have to count to the
MAX value (0xFFFF) and wrap around starting at 0x0000 before the compare match can occur.
The OCR1A Register however, is double buffered. This feature allows the OCR1A I/O location
to be written anytime. When the OCR1A I/O location is written the value written will be put into
the OCR1A Buffer Register. The OCR1A Compare Register will then be updated with the value
in the Buffer Register at the next timer clock cycle the TCNT1 matches TOP. The update is done
at the same timer clock cycle as the TCNT1 is cleared and the TOV1 Flag is set.
Using the ICR1 Register for defining TOP works well when using fixed TOP values. By using
ICR1, the OCR1A Register is free to be used for generating a PWM output on OC1A. However,
if the base PWM frequency is actively changed (by changing the TOP value), using the OCR1A
as TOP is clearly a better choice due to its double buffer feature.
In fast PWM mode, the compare units allow generation of PWM waveforms on the OC1x pins.
Setting the COM1x1:0 bits to two will produce a inverted PWM and an non-inverted PWM output
can be generated by setting the COM1x1:0 to three (see Table on page 126). The actual OC1x
value will only be visible on the port pin if the data direction for the port pin is set as output
(DDR_OC1x). The PWM waveform is generated by setting (or clearing) the OC1x Register at
the compare match between OCR1x and TCNT1, and clearing (or setting) the OC1x Register at
the timer clock cycle the counter is cleared (changes from TOP to BOTTOM).
The PWM frequency for the output can be calculated by the following equation:
f clk_I/O
f OCnxPWM = ---------------------------------N ( 1 + TOP )
The N variable represents the prescaler divider (1, 8, 64, 256, or 1024).
The extreme values for the OCR1x Register represents special cases when generating a PWM
waveform output in the fast PWM mode. If the OCR1x is set equal to BOTTOM (0x0000) the output will be a narrow spike for each TOP+1 timer clock cycle. Setting the OCR1x equal to TOP
will result in a constant high or low output (depending on the polarity of the output set by the
COM1x1:0 bits.)
A frequency (with 50% duty cycle) waveform output in fast PWM mode can be achieved by setting OC1A to toggle its logical level on each compare match (COM1A1:0 = 1). This applies only
if OCR1A is used to define the TOP value (WGM13:0 = 15). The waveform generated will have
a maximum frequency of fOC1A = fclk_I/O/2 when OCR1A is set to zero (0x0000). This feature is
similar to the OC1A toggle in CTC mode, except the double buffer feature of the Output Compare unit is enabled in the fast PWM mode.

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15.9.4

Phase Correct PWM Mode

The phase correct Pulse Width Modulation or phase correct PWM mode (WGM13:0 = 1, 2, 3,
10, or 11) provides a high resolution phase correct PWM waveform generation option. The
phase correct PWM mode is, like the phase and frequency correct PWM mode, based on a
dual-slope operation. The counter counts repeatedly from BOTTOM (0x0000) to TOP and then
from TOP to BOTTOM. In non-inverting Compare Output mode, the Output Compare (OC1x) is
cleared on the compare match between TCNT1 and OCR1x while upcounting, and set on the
compare match while downcounting. In inverting Output Compare mode, the operation is
inverted. The dual-slope operation has lower maximum operation frequency than single slope
operation. However, due to the symmetric feature of the dual-slope PWM modes, these modes
are preferred for motor control applications.
The PWM resolution for the phase correct PWM mode can be fixed to 8-, 9-, or 10-bit, or defined
by either ICR1 or OCR1A. The minimum resolution allowed is 2-bit (ICR1 or OCR1A set to
0x0003), and the maximum resolution is 16-bit (ICR1 or OCR1A set to MAX). The PWM resolution in bits can be calculated by using the following equation:
log ( TOP + 1 )
R PCPWM = ----------------------------------log ( 2 )
In phase correct PWM mode the counter is incremented until the counter value matches either
one of the fixed values 0x00FF, 0x01FF, or 0x03FF (WGM13:0 = 1, 2, or 3), the value in ICR1
(WGM13:0 = 10), or the value in OCR1A (WGM13:0 = 11). The counter has then reached the
TOP and changes the count direction. The TCNT1 value will be equal to TOP for one timer clock
cycle. The timing diagram for the phase correct PWM mode is shown on Figure 15-8. The figure
shows phase correct PWM mode when OCR1A or ICR1 is used to define TOP. The TCNT1
value is in the timing diagram shown as a histogram for illustrating the dual-slope operation. The
diagram includes non-inverted and inverted PWM outputs. The small horizontal line marks on
the TCNT1 slopes represent compare matches between OCR1x and TCNT1. The OC1x Interrupt Flag will be set when a compare match occurs.
Figure 15-8. Phase Correct PWM Mode, Timing Diagram
OCRnx/TOP Update and
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)

TOVn Interrupt Flag Set

(Interrupt on Bottom)

TCNTn

OCnx

(COMnx1:0 = 2)

OCnx

(COMnx1:0 = 3)

Period

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The Timer/Counter Overflow Flag (TOV1) is set each time the counter reaches BOTTOM. When
either OCR1A or ICR1 is used for defining the TOP value, the OC1A or ICF1 Flag is set accordingly at the same timer clock cycle as the OCR1x Registers are updated with the double buffer
value (at TOP). The Interrupt Flags can be used to generate an interrupt each time the counter
reaches the TOP or BOTTOM value.
When changing the TOP value the program must ensure that the new TOP value is higher or
equal to the value of all of the Compare Registers. If the TOP value is lower than any of the
Compare Registers, a compare match will never occur between the TCNT1 and the OCR1x.
Note that when using fixed TOP values, the unused bits are masked to zero when any of the
OCR1x Registers are written. As the third period shown in Figure 15-8 illustrates, changing the
TOP actively while the Timer/Counter is running in the phase correct mode can result in an
unsymmetrical output. The reason for this can be found in the time of update of the OCR1x Register. Since the OCR1x update occurs at TOP, the PWM period starts and ends at TOP. This
implies that the length of the falling slope is determined by the previous TOP value, while the
length of the rising slope is determined by the new TOP value. When these two values differ the
two slopes of the period will differ in length. The difference in length gives the unsymmetrical
result on the output.
It is recommended to use the phase and frequency correct mode instead of the phase correct
mode when changing the TOP value while the Timer/Counter is running. When using a static
TOP value there are practically no differences between the two modes of operation.
In phase correct PWM mode, the compare units allow generation of PWM waveforms on the
OC1x pins. Setting the COM1x1:0 bits to two will produce a non-inverted PWM and an inverted
PWM output can be generated by setting the COM1x1:0 to three (See Table on page 127). The
actual OC1x value will only be visible on the port pin if the data direction for the port pin is set as
output (DDR_OC1x). The PWM waveform is generated by setting (or clearing) the OC1x Register at the compare match between OCR1x and TCNT1 when the counter increments, and
clearing (or setting) the OC1x Register at compare match between OCR1x and TCNT1 when
the counter decrements. The PWM frequency for the output when using phase correct PWM can
be calculated by the following equation:
f clk_I/O
f OCnxPCPWM = --------------------------2 N TOP
The N variable represents the prescaler divider (1, 8, 64, 256, or 1024).
The extreme values for the OCR1x Register represent special cases when generating a PWM
waveform output in the phase correct PWM mode. If the OCR1x is set equal to BOTTOM the
output will be continuously low and if set equal to TOP the output will be continuously high for
non-inverted PWM mode. For inverted PWM the output will have the opposite logic values. If
OCR1A is used to define the TOP value (WGM13:0 = 11) and COM1A1:0 = 1, the OC1A output
will toggle with a 50% duty cycle.

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15.9.5

Phase and Frequency Correct PWM Mode

The phase and frequency correct Pulse Width Modulation, or phase and frequency correct PWM
mode (WGM13:0 = 8 or 9) provides a high resolution phase and frequency correct PWM waveform generation option. The phase and frequency correct PWM mode is, like the phase correct
PWM mode, based on a dual-slope operation. The counter counts repeatedly from BOTTOM
(0x0000) to TOP and then from TOP to BOTTOM. In non-inverting Compare Output mode, the
Output Compare (OC1x) is cleared on the compare match between TCNT1 and OCR1x while
upcounting, and set on the compare match while downcounting. In inverting Compare Output
mode, the operation is inverted. The dual-slope operation gives a lower maximum operation frequency compared to the single-slope operation. However, due to the symmetric feature of the
dual-slope PWM modes, these modes are preferred for motor control applications.
The main difference between the phase correct, and the phase and frequency correct PWM
mode is the time the OCR1x Register is updated by the OCR1x Buffer Register, (see Figure
15-8 and Figure 15-9).
The PWM resolution for the phase and frequency correct PWM mode can be defined by either
ICR1 or OCR1A. The minimum resolution allowed is 2-bit (ICR1 or OCR1A set to 0x0003), and
the maximum resolution is 16-bit (ICR1 or OCR1A set to MAX). The PWM resolution in bits can
be calculated using the following equation:
log ( TOP + 1 -)
R PFCPWM = ---------------------------------log ( 2 )
In phase and frequency correct PWM mode the counter is incremented until the counter value
matches either the value in ICR1 (WGM13:0 = 8), or the value in OCR1A (WGM13:0 = 9). The
counter has then reached the TOP and changes the count direction. The TCNT1 value will be
equal to TOP for one timer clock cycle. The timing diagram for the phase correct and frequency
correct PWM mode is shown on Figure 15-9. The figure shows phase and frequency correct
PWM mode when OCR1A or ICR1 is used to define TOP. The TCNT1 value is in the timing diagram shown as a histogram for illustrating the dual-slope operation. The diagram includes
non-inverted and inverted PWM outputs. The small horizontal line marks on the TCNT1 slopes
represent compare matches between OCR1x and TCNT1. The OC1x Interrupt Flag will be set
when a compare match occurs.

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Figure 15-9. Phase and Frequency Correct PWM Mode, Timing Diagram
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)

OCRnx/TOP Updateand
TOVn Interrupt Flag Set
(Interrupt on Bottom)

TCNTn

OCnx

(COMnx1:0 = 2)

OCnx

(COMnx1:0 = 3)

Period

The Timer/Counter Overflow Flag (TOV1) is set at the same timer clock cycle as the OCR1x
Registers are updated with the double buffer value (at BOTTOM). When either OCR1A or ICR1
is used for defining the TOP value, the OC1A or ICF1 Flag set when TCNT1 has reached TOP.
The Interrupt Flags can then be used to generate an interrupt each time the counter reaches the
TOP or BOTTOM value.
When changing the TOP value the program must ensure that the new TOP value is higher or
equal to the value of all of the Compare Registers. If the TOP value is lower than any of the
Compare Registers, a compare match will never occur between the TCNT1 and the OCR1x.
As Figure 15-9 shows the output generated is, in contrast to the phase correct mode, symmetrical in all periods. Since the OCR1x Registers are updated at BOTTOM, the length of the rising
and the falling slopes will always be equal. This gives symmetrical output pulses and is therefore
frequency correct.
Using the ICR1 Register for defining TOP works well when using fixed TOP values. By using
ICR1, the OCR1A Register is free to be used for generating a PWM output on OC1A. However,
if the base PWM frequency is actively changed by changing the TOP value, using the OCR1A as
TOP is clearly a better choice due to its double buffer feature.
In phase and frequency correct PWM mode, the compare units allow generation of PWM waveforms on the OC1x pins. Setting the COM1x1:0 bits to two will produce a non-inverted PWM and
an inverted PWM output can be generated by setting the COM1x1:0 to three (See Table on
page 127). The actual OC1x value will only be visible on the port pin if the data direction for the
port pin is set as output (DDR_OC1x). The PWM waveform is generated by setting (or clearing)
the OC1x Register at the compare match between OCR1x and TCNT1 when the counter increments, and clearing (or setting) the OC1x Register at compare match between OCR1x and
TCNT1 when the counter decrements. The PWM frequency for the output when using phase
and frequency correct PWM can be calculated by the following equation:
f clk_I/O
f OCnxPFCPWM = --------------------------2 N TOP

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The N variable represents the prescaler divider (1, 8, 64, 256, or 1024).
The extreme values for the OCR1x Register represents special cases when generating a PWM
waveform output in the phase correct PWM mode. If the OCR1x is set equal to BOTTOM the
output will be continuously low and if set equal to TOP the output will be set to high for
non-inverted PWM mode. For inverted PWM the output will have the opposite logic values. If
OCR1A is used to define the TOP value (WGM13:0 = 9) and COM1A1:0 = 1, the OC1A output
will toggle with a 50% duty cycle.

15.10 Timer/Counter Timing Diagrams

The Timer/Counter is a synchronous design and the timer clock (clkT1) is therefore shown as a
clock enable signal in the following figures. The figures include information on when Interrupt
Flags are set, and when the OCR1x Register is updated with the OCR1x buffer value (only for
modes utilizing double buffering). Figure 15-10 shows a timing diagram for the setting of OCF1x.
Figure 15-10. Timer/Counter Timing Diagram, Setting of OCF1x, no Prescaling
clkI/O
clkTn

(clkI/O /1)

TCNTn

OCRnx - 1

OCRnx

OCRnx + 1

OCRnx + 2

OCRnx Value

OCFnx

Figure 15-11 shows the same timing data, but with the prescaler enabled.
Figure 15-11. Timer/Counter Timing Diagram, Setting of OCF1x, with Prescaler (fclk_I/O/8)
clkI/O
clkTn

(clkI/O /8)

TCNTn

OCRnx

OCRnx - 1

OCRnx

OCRnx + 1

OCRnx + 2

OCRnx Value

OCFnx

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Figure 15-12 shows the count sequence close to TOP in various modes. When using phase and
frequency correct PWM mode the OCR1x Register is updated at BOTTOM. The timing diagrams
will be the same, but TOP should be replaced by BOTTOM, TOP-1 by BOTTOM+1 and so on.
The same renaming applies for modes that set the TOV1 Flag at BOTTOM.
Figure 15-12. Timer/Counter Timing Diagram, no Prescaling
clkI/O
clkTn

(clkI/O /1)

TCNTn
(CTC and FPWM)

TCNTn
(PC and PFC PWM)

TOP - 1

TOP

BOTTOM

BOTTOM + 1

TOP - 1

TOP

TOP - 1

TOP - 2

TOVn (FPWM)
and ICFn (if used
as TOP)

OCRnx
(Update at TOP)

Old OCRnx Value

New OCRnx Value

Figure 15-13 shows the same timing data, but with the prescaler enabled.
Figure 15-13. Timer/Counter Timing Diagram, with Prescaler (fclk_I/O/8)
clkI/O
clkTn

(clkI/O/8)

TCNTn
(CTC and FPWM)

TCNTn
(PC and PFC PWM)

TOP - 1

TOP

BOTTOM

BOTTOM + 1

TOP - 1

TOP

TOP - 1

TOP - 2

TOVn (FPWM)
and ICF n (if used
as TOP)

OCRnx
(Update at TOP)

Old OCRnx Value

New OCRnx Value

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15.11 Register Description

15.11.1

TCCR1A Timer/Counter1 Control Register A

Bit

COM1A1

COM1A0

COM1B1

COM1B0

WGM11

WGM10

Read/Write

R/W

Initial Value

(0x80)

TCCR1A

Bit 7:6 COM1A1:0: Compare Output Mode for Channel A

Bit 5:4 COM1B1:0: Compare Output Mode for Channel B
The COM1A1:0 and COM1B1:0 control the Output Compare pins (OC1A and OC1B respectively) behavior. If one or both of the COM1A1:0 bits are written to one, the OC1A output
overrides the normal port functionality of the I/O pin it is connected to. If one or both of the
COM1B1:0 bit are written to one, the OC1B output overrides the normal port functionality of the
I/O pin it is connected to. However, note that the Data Direction Register (DDR) bit corresponding to the OC1A or OC1B pin must be set in order to enable the output driver.
When the OC1A or OC1B is connected to the pin, the function of the COM1x1:0 bits is dependent of the WGM13:0 bits setting. Table 15-1 shows the COM1x1:0 bit functionality when the
WGM13:0 bits are set to a Normal or a CTC mode (non-PWM).
Table 15-1.

Compare Output Mode, non-PWM

COM1A1/COM1B1

COM1A0/COM1B0

Description

Normal port operation, OC1A/OC1B disconnected.

Toggle OC1A/OC1B on Compare Match.

Clear OC1A/OC1B on Compare Match (Set output to

low level).

Set OC1A/OC1B on Compare Match (Set output to

high level).

Table 15-2 shows the COM1x1:0 bit functionality when the WGM13:0 bits are set to the fast
PWM mode.
Table 15-2.

COM1A1/COM1B1

COM1A0/COM1B0

Normal port operation, OC1A/OC1B disconnected.

WGM13:0 = 14 or 15: Toggle OC1A on Compare

Match, OC1B disconnected (normal port operation).
For all other WGM1 settings, normal port operation,
OC1A/OC1B disconnected.

Clear OC1A/OC1B on Compare Match, set

OC1A/OC1B at BOTTOM (non-inverting mode)

Set OC1A/OC1B on Compare Match, clear

OC1A/OC1B at BOTTOM (inverting mode)

Note:

126

Compare Output Mode, Fast PWM(1)

Description

1. A special case occurs when OCR1A/OCR1B equals TOP and COM1A1/COM1B1 is set. In
this case the compare match is ignored, but the set or clear is done at BOTTOM. See Fast
PWM Mode on page 118. for more details.

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Table 15-3 shows the COM1x1:0 bit functionality when the WGM13:0 bits are set to the phase
correct or the phase and frequency correct, PWM mode.
Table 15-3.

Compare Output Mode, Phase Correct and Phase and Frequency Correct
PWM(1)

COM1A1/COM1B1

COM1A0/COM1B0

Normal port operation, OC1A/OC1B disconnected.

WGM13:0 = 9 or 11: Toggle OC1A on Compare

Match, OC1B disconnected (normal port operation).
For all other WGM1 settings, normal port operation,
OC1A/OC1B disconnected.

Clear OC1A/OC1B on Compare Match when

up-counting. Set OC1A/OC1B on Compare Match
when downcounting.

Set OC1A/OC1B on Compare Match when

up-counting. Clear OC1A/OC1B on Compare Match
when downcounting.

Note:

Description

1. A special case occurs when OCR1A/OCR1B equals TOP and COM1A1/COM1B1 is set. See
Phase Correct PWM Mode on page 120. for more details.

Bit 1:0 WGM11:0: Waveform Generation Mode

Combined with the WGM13:2 bits found in the TCCR1B Register, these bits control the counting
sequence of the counter, the source for maximum (TOP) counter value, and what type of waveform generation to be used, see Table 15-4. Modes of operation supported by the Timer/Counter
unit are: Normal mode (counter), Clear Timer on Compare match (CTC) mode, and three types
of Pulse Width Modulation (PWM) modes. (See Modes of Operation on page 116.).

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Waveform Generation Mode Bit Description(1)

Table 15-4.
Mode

WGM13

WGM12
(CTC1)

WGM11
(PWM11)

WGM10
(PWM10)

Timer/Counter Mode of
Operation

TOP

Update of
OCR1x at

TOV1 Flag
Set on

Normal

ICR1

Immediate

MAX

(Reserved)

Fast PWM

ICR1

BOTTOM

TOP

Fast PWM

OCR1A

BOTTOM

TOP

Note:

15.11.2

1. The CTC1 and PWM11:0 bit definition names are obsolete. Use the WGM12:0 definitions. However, the functionality and
location of these bits are compatible with previous versions of the timer.

TCCR1B Timer/Counter1 Control Register B

Bit

ICNC1

ICES1

WGM13

WGM12

CS12

CS11

CS10

Read/Write

R/W

Initial Value

(0x81)

TCCR1B

Bit 7 ICNC1: Input Capture Noise Canceler

Setting this bit (to one) activates the Input Capture Noise Canceler. When the noise canceler is
activated, the input from the Input Capture pin (ICP1) is filtered. The filter function requires four
successive equal valued samples of the ICP1 pin for changing its output. The Input Capture is
therefore delayed by four Oscillator cycles when the noise canceler is enabled.
Bit 6 ICES1: Input Capture Edge Select
This bit selects which edge on the Input Capture pin (ICP1) that is used to trigger a capture
event. When the ICES1 bit is written to zero, a falling (negative) edge is used as trigger, and
when the ICES1 bit is written to one, a rising (positive) edge will trigger the capture.
When a capture is triggered according to the ICES1 setting, the counter value is copied into the
Input Capture Register (ICR1). The event will also set the Input Capture Flag (ICF1), and this
can be used to cause an Input Capture Interrupt, if this interrupt is enabled.

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When the ICR1 is used as TOP value (see description of the WGM13:0 bits located in the
TCCR1A and the TCCR1B Register), the ICP1 is disconnected and consequently the Input Capture function is disabled.
Bit 5 Reserved Bit
This bit is reserved for future use. For ensuring compatibility with future devices, this bit must be
written to zero when TCCR1B is written.
Bit 4:3 WGM13:2: Waveform Generation Mode
See TCCR1A Register description.
Bit 2:0 CS12:0: Clock Select
The three Clock Select bits select the clock source to be used by the Timer/Counter, see Figure
15-10 and Figure 15-11.
Table 15-5.

Clock Select Bit Description

CS12

CS11

CS10

Description

No clock source (Timer/Counter stopped).

clkI/O/1 (No prescaling)

clkI/O/8 (From prescaler)

clkI/O/64 (From prescaler)

clkI/O/256 (From prescaler)

clkI/O/1024 (From prescaler)

External clock source on T1 pin. Clock on falling edge.

External clock source on T1 pin. Clock on rising edge.

If external pin modes are used for the Timer/Counter1, transitions on the T1 pin will clock the
counter even if the pin is configured as an output. This feature allows software control of the
counting.
15.11.3

TCCR1C Timer/Counter1 Control Register C

Bit

FOC1A

Bit

(0x8B)

OCR1B[15:8]

(0x8A)

OCR1B[7:0]

OCR1BH
OCR1BL

Read/Write

R/W

Initial Value

The Output Compare Registers contain a 16-bit value that is continuously compared with the
counter value (TCNT1). A match can be used to generate an Output Compare interrupt, or to
generate a waveform output on the OC1x pin.
The Output Compare Registers are 16-bit in size. To ensure that both the high and low bytes are
written simultaneously when the CPU writes to these registers, the access is performed using an
8-bit temporary High Byte Register (TEMP). This temporary register is shared by all the other
16-bit registers. See Accessing 16-bit Registers on page 106.

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15.11.7

ICR1H and ICR1L Input Capture Register 1

Bit

(0x87)

ICR1[15:8]

(0x86)

ICR1[7:0]

0
ICR1H
ICR1L

Read/Write

R/W

Initial Value

The Input Capture is updated with the counter (TCNT1) value each time an event occurs on the
ICP1 pin (or optionally on the Analog Comparator output for Timer/Counter1). The Input Capture
can be used for defining the counter TOP value.
The Input Capture Register is 16-bit in size. To ensure that both the high and low bytes are read
simultaneously when the CPU accesses these registers, the access is performed using an 8-bit
temporary High Byte Register (TEMP). This temporary register is shared by all the other 16-bit
registers. See Accessing 16-bit Registers on page 106.
15.11.8

TIMSK1 Timer/Counter1 Interrupt Mask Register

Bit

(0x6F)

ICIE1

OCIE1B

OCIE1A

TOIE1

Read/Write

R/W

Initial Value

TIMSK1

Bit 7, 6 Res: Reserved Bits

These bits are unused bits in the ATmega328P, and will always read as zero.
Bit 5 ICIE1: Timer/Counter1, Input Capture Interrupt Enable
When this bit is written to one, and the I-flag in the Status Register is set (interrupts globally
enabled), the Timer/Counter1 Input Capture interrupt is enabled. The corresponding Interrupt
Vector (see Interrupts on page 56) is executed when the ICF1 Flag, located in TIFR1, is set.
Bit 4, 3 Res: Reserved Bits
These bits are unused bits in the ATmega328P, and will always read as zero.
Bit 2 OCIE1B: Timer/Counter1, Output Compare B Match Interrupt Enable
When this bit is written to one, and the I-flag in the Status Register is set (interrupts globally
enabled), the Timer/Counter1 Output Compare B Match interrupt is enabled. The corresponding
Interrupt Vector (see Interrupts on page 56) is executed when the OCF1B Flag, located in
TIFR1, is set.
Bit 1 OCIE1A: Timer/Counter1, Output Compare A Match Interrupt Enable
When this bit is written to one, and the I-flag in the Status Register is set (interrupts globally
enabled), the Timer/Counter1 Output Compare A Match interrupt is enabled. The corresponding
Interrupt Vector (see Interrupts on page 56) is executed when the OCF1A Flag, located in
TIFR1, is set.
Bit 0 TOIE1: Timer/Counter1, Overflow Interrupt Enable
When this bit is written to one, and the I-flag in the Status Register is set (interrupts globally
enabled), the Timer/Counter1 Overflow interrupt is enabled. The corresponding Interrupt Vector
(See Interrupts on page 56) is executed when the TOV1 Flag, located in TIFR1, is set.

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15.11.9

TIFR1 Timer/Counter1 Interrupt Flag Register

Bit

0x16 (0x36)

ICF1

OCF1B

OCF1A

TOV1

Read/Write

R/W

Initial Value

TIFR1

Bit 7, 6 Res: Reserved Bits

These bits are unused bits in the ATmega328P, and will always read as zero.
Bit 5 ICF1: Timer/Counter1, Input Capture Flag
This flag is set when a capture event occurs on the ICP1 pin. When the Input Capture Register
(ICR1) is set by the WGM13:0 to be used as the TOP value, the ICF1 Flag is set when the counter reaches the TOP value.
ICF1 is automatically cleared when the Input Capture Interrupt Vector is executed. Alternatively,
ICF1 can be cleared by writing a logic one to its bit location.
Bit 4, 3 Res: Reserved Bits
These bits are unused bits in the ATmega328P, and will always read as zero.
Bit 2 OCF1B: Timer/Counter1, Output Compare B Match Flag
This flag is set in the timer clock cycle after the counter (TCNT1) value matches the Output
Compare Register B (OCR1B).
Note that a Forced Output Compare (FOC1B) strobe will not set the OCF1B Flag.
OCF1B is automatically cleared when the Output Compare Match B Interrupt Vector is executed. Alternatively, OCF1B can be cleared by writing a logic one to its bit location.
Bit 1 OCF1A: Timer/Counter1, Output Compare A Match Flag
This flag is set in the timer clock cycle after the counter (TCNT1) value matches the Output
Compare Register A (OCR1A).
Note that a Forced Output Compare (FOC1A) strobe will not set the OCF1A Flag.
OCF1A is automatically cleared when the Output Compare Match A Interrupt Vector is executed. Alternatively, OCF1A can be cleared by writing a logic one to its bit location.
Bit 0 TOV1: Timer/Counter1, Overflow Flag
The setting of this flag is dependent of the WGM13:0 bits setting. In Normal and CTC modes,
the TOV1 Flag is set when the timer overflows. Refer to Table 15-4 on page 128 for the TOV1
Flag behavior when using another WGM13:0 bit setting.
TOV1 is automatically cleared when the Timer/Counter1 Overflow Interrupt Vector is executed.
Alternatively, TOV1 can be cleared by writing a logic one to its bit location.

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16. Timer/Counter0 and Timer/Counter1 Prescalers
8-bit Timer/Counter0 with PWM on page 86 and 16-bit Timer/Counter1 with PWM on page
104 share the same prescaler module, but the Timer/Counters can have different prescaler settings. The description below applies to both Timer/Counter1 and Timer/Counter0.

16.1

Internal Clock Source

The Timer/Counter can be clocked directly by the system clock (by setting the CSn2:0 = 1). This
provides the fastest operation, with a maximum Timer/Counter clock frequency equal to system
clock frequency (fCLK_I/O). Alternatively, one of four taps from the prescaler can be used as a
clock source. The prescaled clock has a frequency of either fCLK_I/O/8, fCLK_I/O/64, fCLK_I/O/256, or
fCLK_I/O/1024.

16.2

Prescaler Reset
The prescaler is free running, i.e., operates independently of the Clock Select logic of the
Timer/Counter, and it is shared by Timer/Counter1 and Timer/Counter0. Since the prescaler is
not affected by the Timer/Counters clock select, the state of the prescaler will have implications
for situations where a prescaled clock is used. One example of prescaling artifacts occurs when
the timer is enabled and clocked by the prescaler (6 > CSn2:0 > 1). The number of system clock
cycles from when the timer is enabled to the first count occurs can be from 1 to N+1 system
clock cycles, where N equals the prescaler divisor (8, 64, 256, or 1024).
It is possible to use the prescaler reset for synchronizing the Timer/Counter to program execution. However, care must be taken if the other Timer/Counter that shares the same prescaler
also uses prescaling. A prescaler reset will affect the prescaler period for all Timer/Counters it is
connected to.

16.3

External Clock Source

An external clock source applied to the T1/T0 pin can be used as Timer/Counter clock
(clkT1/clkT0). The T1/T0 pin is sampled once every system clock cycle by the pin synchronization
logic. The synchronized (sampled) signal is then passed through the edge detector. Figure 16-1
shows a functional equivalent block diagram of the T1/T0 synchronization and edge detector
logic. The registers are clocked at the positive edge of the internal system clock (clkI/O). The latch
is transparent in the high period of the internal system clock.
The edge detector generates one clkT1/clkT0 pulse for each positive (CSn2:0 = 7) or negative
(CSn2:0 = 6) edge it detects.
Figure 16-1. T1/T0 Pin Sampling

Tn_sync
(To Clock
Select Logic)

LE
clk I/O
Synchronization

Edge Detector

The synchronization and edge detector logic introduces a delay of 2.5 to 3.5 system clock cycles
from an edge has been applied to the T1/T0 pin to the counter is updated.

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Enabling and disabling of the clock input must be done when T1/T0 has been stable for at least
one system clock cycle, otherwise it is a risk that a false Timer/Counter clock pulse is generated.
Each half period of the external clock applied must be longer than one system clock cycle to
ensure correct sampling. The external clock must be guaranteed to have less than half the system clock frequency (fExtClk < fclk_I/O/2) given a 50/50% duty cycle. Since the edge detector uses
sampling, the maximum frequency of an external clock it can detect is half the sampling frequency (Nyquist sampling theorem). However, due to variation of the system clock frequency
and duty cycle caused by Oscillator source (crystal, resonator, and capacitors) tolerances, it is
recommended that maximum frequency of an external clock source is less than fclk_I/O/2.5.
An external clock source can not be prescaled.
Figure 16-2. Prescaler for Timer/Counter0 and Timer/Counter1(1)
clk I/O

Clear

PSRSYNC

Synchronization
T1

Synchronization

clkT1

Note:

134

clkT0

1. The synchronization logic on the input pins (T1/T0) is shown in Figure 16-1.

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Atmel ATmega328P [Preliminary]

16.4
16.4.1

0x23 (0x43)

TSM

PSRASY

PSRSYNC

Read/Write

R/W

Initial Value

GTCCR

Bit 7 TSM: Timer/Counter Synchronization Mode

Writing the TSM bit to one activates the Timer/Counter Synchronization mode. In this mode, the
value that is written to the PSRASY and PSRSYNC bits is kept, hence keeping the corresponding prescaler reset signals asserted. This ensures that the corresponding Timer/Counters are
halted and can be configured to the same value without the risk of one of them advancing during
configuration. When the TSM bit is written to zero, the PSRASY and PSRSYNC bits are cleared
by hardware, and the Timer/Counters start counting simultaneously.
Bit 0 PSRSYNC: Prescaler Reset
When this bit is one, Timer/Counter1 and Timer/Counter0 prescaler will be Reset. This bit is normally cleared immediately by hardware, except if the TSM bit is set. Note that Timer/Counter1
and Timer/Counter0 share the same prescaler and a reset of this prescaler will affect both
timers.

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17. 8-bit Timer/Counter2 with PWM and Asynchronous Operation

17.1

Features

17.2

Single Channel Counter

Clear Timer on Compare Match (Auto Reload)
Glitch-free, Phase Correct Pulse Width Modulator (PWM)
Frequency Generator
10-bit Clock Prescaler
Overflow and Compare Match Interrupt Sources (TOV2, OCF2A and OCF2B)
Allows Clocking from External 32 kHz Watch Crystal Independent of the I/O Clock

Overview
Timer/Counter2 is a general purpose, single channel, 8-bit Timer/Counter module. A simplified
block diagram of the 8-bit Timer/Counter is shown in Figure 17-1. For the actual placement of
I/O pins, refer to Pinout 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 150.
The PRTIM2 bit in Minimizing Power Consumption on page 40 must be written to zero to
enable Timer/Counter2 module.
Figure 17-1. 8-bit Timer/Counter Block Diagram

Count
Clear
Direction

TOVn
(Int.Req.)
Control Logic

clkTn

Clock Select
Edge
Detector

TOP

BOTTOM
( From Prescaler )

Timer/Counter
TCNTn

=0
OCnA
(Int.Req.)
Waveform
Generation

OCnA

DATA BUS

OCRnA
Fixed
TOP
Value

Waveform
Generation

OCnB

OCRnB

TCCRnA

136

OCnB
(Int.Req.)

TCCRnB

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17.2.1

Registers
The Timer/Counter (TCNT2) and Output Compare Register (OCR2A and OCR2B) are 8-bit registers. Interrupt request (shorten as Int.Req.) signals are all visible in the Timer Interrupt Flag
Register (TIFR2). All interrupts are individually masked with the Timer Interrupt Mask Register
(TIMSK2). TIFR2 and TIMSK2 are not shown in the figure.
The Timer/Counter can be clocked internally, via the prescaler, or asynchronously clocked from
the TOSC1/2 pins, as detailed later in this section. The asynchronous operation is controlled by
the Asynchronous Status Register (ASSR). The Clock Select logic block controls which clock
source he Timer/Counter uses to increment (or decrement) its value. The Timer/Counter is inactive when no clock source is selected. The output from the Clock Select logic is referred to as the
timer clock (clkT2).
The double buffered Output Compare Register (OCR2A and OCR2B) 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 (OC2A and
OC2B). See Output Compare Unit on page 138. for details. The compare match event will also
set the Compare Flag (OCF2A or OCF2B) which can be used to generate an Output Compare
interrupt request.

17.2.2

Definitions
Many register and bit references in this document are written in general form. A lower case n
replaces the Timer/Counter number, in this case 2. However, when using the register or bit
defines in a program, the precise form must be used, i.e., TCNT2 for accessing Timer/Counter2
counter value and so on.
The definitions in Table 17-1 are also used extensively throughout the section.
Table 17-1.

17.3

Definitions

BOTTOM

The counter reaches the BOTTOM when it becomes zero (0x00).

MAX

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

TOP

The counter reaches the TOP when it becomes equal to the highest value in the
count sequence. The TOP value can be assigned to be the fixed value 0xFF
(MAX) or the value stored in the OCR2A Register. The assignment is dependent
on the mode of operation.

Timer/Counter Clock Sources

The Timer/Counter can be clocked by an internal synchronous or an external asynchronous
clock source. The clock source clkT2 is by default equal to the MCU clock, clkI/O. When the AS2
bit in the ASSR Register is written to logic one, the clock source is taken from the Timer/Counter
Oscillator connected to TOSC1 and TOSC2. For details on asynchronous operation, see ASSR
Asynchronous Status Register on page 156. For details on clock sources and prescaler, see
Timer/Counter Prescaler on page 149.

17.4

Counter Unit
The main part of the 8-bit Timer/Counter is the programmable bi-directional counter unit. Figure
17-2 on page 138 shows a block diagram of the counter and its surrounding environment.

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Figure 17-2. Counter Unit Block Diagram

TOVn
(Int.Req.)

DATA BUS

TOSC1
count
TCNTn

clear

clk Tn

Control Logic

Prescaler

T/C
Oscillator

direction

bottom

TOSC2

top

clkI/O

Signal description (internal signals):

count

Increment or decrement TCNT2 by 1.

direction

Selects between increment and decrement.

clear

Clear TCNT2 (set all bits to zero).

clkTn

Timer/Counter clock, referred to as clkT2 in the following.

top

Signalizes that TCNT2 has reached maximum value.

bottom

Signalizes that TCNT2 has reached minimum value (zero).

Depending on the mode of operation used, 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 WGM21 and WGM20 bits located in
the Timer/Counter Control Register (TCCR2A) and the WGM22 located in the Timer/Counter
Control Register B (TCCR2B). There are close connections between how the counter behaves
(counts) and how waveforms are generated on the Output Compare outputs OC2A and OC2B.
For more details about advanced counting sequences and waveform generation, see Modes of
Operation on page 141.
The Timer/Counter Overflow Flag (TOV2) is set according to the mode of operation selected by
the WGM22:0 bits. TOV2 can be used for generating a CPU interrupt.

17.5

Output Compare Unit

The 8-bit comparator continuously compares TCNT2 with the Output Compare Register
(OCR2A and OCR2B). Whenever TCNT2 equals OCR2A or OCR2B, the comparator signals a
match. A match will set the Output Compare Flag (OCF2A or OCF2B) 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 automatically cleared when the interrupt is executed. Alternatively, the Output Compare Flag can be cleared by software by writing a logical
one to its I/O bit location. The Waveform Generator uses the match signal to generate an output
according to operating mode set by the WGM22:0 bits and Compare Output mode (COM2x1:0)
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 141).
Figure 17-3 shows a block diagram of the Output Compare unit.

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Figure 17-3. Output Compare Unit, Block Diagram

DATA BUS

OCRnx

TCNTn

= (8-bit Comparator )
OCFnx (Int.Req.)

top
bottom

Waveform Generator

OCnx

FOCn

WGMn1:0

COMnX1:0

The OCR2x Register is double buffered when using any of the Pulse Width Modulation (PWM)
modes. For the Normal and Clear Timer on Compare (CTC) modes of operation, the double
buffering is disabled. The double buffering synchronizes the update of the OCR2x Compare
Register to either top or bottom of the counting sequence. The synchronization prevents the
occurrence of odd-length, non-symmetrical PWM pulses, thereby making the output glitch-free.
The OCR2x Register access may seem complex, but this is not case. When the double buffering
is enabled, the CPU has access to the OCR2x Buffer Register, and if double buffering is disabled the CPU will access the OCR2x directly.
17.5.1

Force Output Compare

In non-PWM waveform generation modes, the match output of the comparator can be forced by
writing a one to the Force Output Compare (FOC2x) bit. Forcing compare match will not set the
OCF2x Flag or reload/clear the timer, but the OC2x pin will be updated as if a real compare
match had occurred (the COM2x1:0 bits settings define whether the OC2x pin is set, cleared or
toggled).

17.5.2

Compare Match Blocking by TCNT2 Write

All CPU write operations to the TCNT2 Register will block any compare match that occurs in the
next timer clock cycle, even when the timer is stopped. This feature allows OCR2x to be initialized to the same value as TCNT2 without triggering an interrupt when the Timer/Counter clock is
enabled.

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17.5.3

Using the Output Compare Unit

Since writing TCNT2 in any mode of operation will block all compare matches for one 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 OCR2x 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 OC2x should be performed before setting the Data Direction Register for the
port pin to output. The easiest way of setting the OC2x value is to use the Force Output Compare (FOC2x) strobe bit in Normal mode. The OC2x Register keeps its value even when
changing between Waveform Generation modes.
Be aware that the COM2x1:0 bits are not double buffered together with the compare value.
Changing the COM2x1:0 bits will take effect immediately.

17.6

Compare Match Output Unit

The Compare Output mode (COM2x1:0) bits have two functions. The Waveform Generator uses
the COM2x1:0 bits for defining the Output Compare (OC2x) state at the next compare match.
Also, the COM2x1:0 bits control the OC2x pin output source. Figure 17-4 shows a simplified
schematic of the logic affected by the COM2x1:0 bit setting. The I/O Registers, I/O bits, and I/O
pins in the figure are shown in bold. Only the parts of the general I/O Port Control Registers
(DDR and PORT) that are affected by the COM2x1:0 bits are shown. When referring to the
OC2x state, the reference is for the internal OC2x Register, not the OC2x pin.
Figure 17-4. Compare Match Output Unit, Schematic

COMnx1
COMnx0
FOCnx

Waveform
Generator

Q
1

OCnx

DATA BUS

OCnx
Pin

PORT
D

DDR
clk I/O

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The general I/O port function is overridden by the Output Compare (OC2x) from the Waveform
Generator if either of the COM2x1:0 bits are set. However, the OC2x pin direction (input or output) is still controlled by the Data Direction Register (DDR) for the port pin. The Data Direction
Register bit for the OC2x pin (DDR_OC2x) must be set as output before the OC2x 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 OC2x state before the output is enabled. Note that some COM2x1:0 bit settings are reserved for certain modes of
operation. See Register Description on page 150.
17.6.1

Compare Output Mode and Waveform Generation

The Waveform Generator uses the COM2x1:0 bits differently in normal, CTC, and PWM modes.
For all modes, setting the COM2x1:0 = 0 tells the Waveform Generator that no action on the
OC2x Register is to be performed on the next compare match. For compare output actions in the
non-PWM modes refer to Table 17-5 on page 151. For fast PWM mode, refer to Table 17-6 on
page 151, and for phase correct PWM refer to Table 17-7 on page 152.
A change of the COM2x1:0 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
FOC2x strobe bits.

17.7

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 Generation mode (WGM22:0) and Compare Output
mode (COM2x1:0) bits. The Compare Output mode bits do not affect the counting sequence,
while the Waveform Generation mode bits do. The COM2x1:0 bits control whether the PWM output generated should be inverted or not (inverted or non-inverted PWM). For non-PWM modes
the COM2x1:0 bits control whether the output should be set, cleared, or toggled at a compare
match (See Compare Match Output Unit on page 140.).
For detailed timing information refer to Timer/Counter Timing Diagrams on page 146.

17.7.1

Normal Mode
The simplest mode of operation is the Normal mode (WGM22:0 = 0). In this mode the counting
direction is always up (incrementing), and no counter clear is performed. The counter simply
overruns when it passes its maximum 8-bit value (TOP = 0xFF) and then restarts from the bottom (0x00). In normal operation the Timer/Counter Overflow Flag (TOV2) will be set in the same
timer clock cycle as the TCNT2 becomes zero. The TOV2 Flag in this case behaves like a ninth
bit, except that it is only set, not cleared. However, combined with the timer overflow interrupt
that automatically clears the TOV2 Flag, the timer resolution can be increased by software.
There are no special cases to consider in the Normal mode, a new counter value can be written
anytime.
The Output Compare unit can be used to generate interrupts at some given time. Using the Output Compare to generate waveforms in Normal mode is not recommended, since this will
occupy too much of the CPU time.

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17.7.2

Clear Timer on Compare Match (CTC) Mode

In Clear Timer on Compare or CTC mode (WGM22:0 = 2), the OCR2A Register is used to
manipulate the counter resolution. In CTC mode the counter is cleared to zero when the counter
value (TCNT2) matches the OCR2A. The OCR2A defines the top value for the counter, hence
also its resolution. This mode allows greater control of the compare match output frequency. It
also simplifies the operation of counting external events.
The timing diagram for the CTC mode is shown in Figure 17-5. The counter value (TCNT2)
increases until a compare match occurs between TCNT2 and OCR2A, and then counter
(TCNT2) is cleared.
Figure 17-5. CTC Mode, Timing Diagram
OCnx Interrupt Flag Set

TCNTn

OCnx
(Toggle)
Period

(COMnx1:0 = 1)

An interrupt can be generated each time the counter value reaches the TOP value by using the
OCF2A Flag. If the interrupt is enabled, the interrupt handler routine can be used for updating
the TOP value. However, changing TOP to a value close to BOTTOM when the counter is running with none or a low prescaler value must be done with care since the CTC mode does not
have the double buffering feature. If the new value written to OCR2A is lower than the current
value of TCNT2, the counter will miss the compare match. The counter will then have to count to
its maximum value (0xFF) and wrap around starting at 0x00 before the compare match can
occur.
For generating a waveform output in CTC mode, the OC2A output can be set to toggle its logical
level on each compare match by setting the Compare Output mode bits to toggle mode
(COM2A1:0 = 1). The OC2A value will not be visible on the port pin unless the data direction for
the pin is set to output. The waveform generated will have a maximum frequency of fOC2A =
fclk_I/O/2 when OCR2A is set to zero (0x00). The waveform frequency is defined by the following
equation:

f clk_I/O
f OCnx = ------------------------------------------------2 N ( 1 + OCRnx )

The N variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024).
As for the Normal mode of operation, the TOV2 Flag is set in the same timer clock cycle that the
counter counts from MAX to 0x00.

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17.7.3

Fast PWM Mode

The fast Pulse Width Modulation or fast PWM mode (WGM22:0 = 3 or 7) provides a high frequency PWM waveform generation option. The fast PWM differs from the other PWM option by
its single-slope operation. The counter counts from BOTTOM to TOP then restarts from BOTTOM. TOP is defined as 0xFF when WGM2:0 = 3, and OCR2A when MGM2:0 = 7. In
non-inverting Compare Output mode, the Output Compare (OC2x) is cleared on the compare
match between TCNT2 and OCR2x, and set at BOTTOM. In inverting Compare Output mode,
the output is set on compare match and cleared at BOTTOM. Due to the single-slope operation,
the operating frequency of the fast PWM mode can be twice as high as the phase correct PWM
mode that uses dual-slope operation. This high frequency makes the fast PWM mode well suited
for power regulation, rectification, and DAC applications. High frequency allows physically small
sized external components (coils, capacitors), and therefore reduces total system cost.
In fast PWM mode, the counter is incremented until the counter value matches the TOP value.
The counter is then cleared at the following timer clock cycle. The timing diagram for the fast
PWM mode is shown in Figure 17-6. The TCNT2 value is in the timing diagram shown as a histogram for illustrating the single-slope operation. The diagram includes non-inverted and
inverted PWM outputs. The small horizontal line marks on the TCNT2 slopes represent compare
matches between OCR2x and TCNT2.
Figure 17-6. Fast PWM Mode, Timing Diagram
OCRnx Interrupt Flag Set

OCRnx Update and

TOVn Interrupt Flag Set

TCNTn

OCnx

(COMnx1:0 = 2)

OCnx

(COMnx1:0 = 3)

Period

The Timer/Counter Overflow Flag (TOV2) is set each time the counter reaches TOP. If the interrupt is enabled, the interrupt handler routine can be used for updating the compare value.
In fast PWM mode, the compare unit allows generation of PWM waveforms on the OC2x pin.
Setting the COM2x1:0 bits to two will produce a non-inverted PWM and an inverted PWM output
can be generated by setting the COM2x1:0 to three. TOP is defined as 0xFF when WGM2:0 = 3,
and OCR2A when MGM2:0 = 7. (See Table 17-3 on page 150). The actual OC2x value will only
be visible on the port pin if the data direction for the port pin is set as output. The PWM waveform is generated by setting (or clearing) the OC2x Register at the compare match between
OCR2x and TCNT2, and clearing (or setting) the OC2x Register at the timer clock cycle the
counter is cleared (changes from TOP to BOTTOM).

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The PWM frequency for the output can be calculated by the following equation:
f clk_I/O
f OCnxPWM = ----------------N 256
The N variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024).
The extreme values for the OCR2A Register represent special cases when generating a PWM
waveform output in the fast PWM mode. If the OCR2A is set equal to BOTTOM, the output will
be a narrow spike for each MAX+1 timer clock cycle. Setting the OCR2A equal to MAX will result
in a constantly high or low output (depending on the polarity of the output set by the COM2A1:0
bits.)
A frequency (with 50% duty cycle) waveform output in fast PWM mode can be achieved by setting OC2x to toggle its logical level on each compare match (COM2x1:0 = 1). The waveform
generated will have a maximum frequency of foc2 = fclk_I/O/2 when OCR2A is set to zero. This feature is similar to the OC2A toggle in CTC mode, except the double buffer feature of the Output
Compare unit is enabled in the fast PWM mode.
17.7.4

Phase Correct PWM Mode

The phase correct PWM mode (WGM22:0 = 1 or 5) provides a high resolution phase correct
PWM waveform generation option. The phase correct PWM mode is based on a dual-slope
operation. The counter counts repeatedly from BOTTOM to TOP and then from TOP to BOTTOM. TOP is defined as 0xFF when WGM2:0 = 3, and OCR2A when MGM2:0 = 7. In
non-inverting Compare Output mode, the Output Compare (OC2x) is cleared on the compare
match between TCNT2 and OCR2x while upcounting, and set on the compare match while
downcounting. In inverting Output Compare mode, the operation is inverted. The dual-slope
operation has lower maximum operation frequency than single slope operation. However, due to
the symmetric feature of the dual-slope PWM modes, these modes are preferred for motor control applications.
In phase correct PWM mode the counter is incremented until the counter value matches TOP.
When the counter reaches TOP, it changes the count direction. The TCNT2 value will be equal
to TOP for one timer clock cycle. The timing diagram for the phase correct PWM mode is shown
on Figure 17-7. The TCNT2 value is in the timing diagram shown as a histogram for illustrating
the dual-slope operation. The diagram includes non-inverted and inverted PWM outputs. The
small horizontal line marks on the TCNT2 slopes represent compare matches between OCR2x
and TCNT2.

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Figure 17-7. Phase Correct PWM Mode, Timing Diagram
OCnx Interrupt Flag Set

OCRnx Update

TOVn Interrupt Flag Set

TCNTn

OCnx

(COMnx1:0 = 2)

OCnx

(COMnx1:0 = 3)

Period

The Timer/Counter Overflow Flag (TOV2) is set each time the counter reaches BOTTOM. The
Interrupt Flag can be used to generate an interrupt each time the counter reaches the BOTTOM
value.
In phase correct PWM mode, the compare unit allows generation of PWM waveforms on the
OC2x pin. Setting the COM2x1:0 bits to two will produce a non-inverted PWM. An inverted PWM
output can be generated by setting the COM2x1:0 to three. TOP is defined as 0xFF when
WGM2:0 = 3, and OCR2A when MGM2:0 = 7 (See Table 17-4 on page 151). The actual OC2x
value will only be visible on the port pin if the data direction for the port pin is set as output. The
PWM waveform is generated by clearing (or setting) the OC2x Register at the compare match
between OCR2x and TCNT2 when the counter increments, and setting (or clearing) the OC2x
Register at compare match between OCR2x and TCNT2 when the counter decrements. The
PWM frequency for the output when using phase correct PWM can be calculated by the following equation:
f clk_I/O
f OCnxPCPWM = ----------------N 510
The N variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024).
The extreme values for the OCR2A Register represent special cases when generating a PWM
waveform output in the phase correct PWM mode. If the OCR2A is set equal to BOTTOM, the
output will be continuously low and if set equal to MAX the output will be continuously high for
non-inverted PWM mode. For inverted PWM the output will have the opposite logic values.
At the very start of period 2 in Figure 17-7 OCnx has a transition from high to low even though
there is no Compare Match. The point of this transition is to guarantee symmetry around BOTTOM. There are two cases that give a transition without Compare Match.

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OCR2A changes its value from MAX, like in Figure 17-7. When the OCR2A value is MAX the
OCn pin value is the same as the result of a down-counting compare match. To ensure
symmetry around BOTTOM the OCn value at MAX must correspond to the result of an
up-counting Compare Match.
The timer starts counting from a value higher than the one in OCR2A, and for that reason
misses the Compare Match and hence the OCn change that would have happened on the way
up.

17.8

Timer/Counter Timing Diagrams

The following figures show the Timer/Counter in synchronous mode, and the timer clock (clkT2)
is therefore shown as a clock enable signal. In asynchronous mode, clkI/O should be replaced by
the Timer/Counter Oscillator clock. The figures include information on when Interrupt Flags are
set. Figure 17-8 contains timing data for basic Timer/Counter operation. The figure shows the
count sequence close to the MAX value in all modes other than phase correct PWM mode.
Figure 17-8. Timer/Counter Timing Diagram, no Prescaling
clkI/O
clkTn

(clkI/O /1)

TCNTn

MAX - 1

MAX

BOTTOM

BOTTOM + 1

TOVn

Figure 17-9 shows the same timing data, but with the prescaler enabled.
Figure 17-9. Timer/Counter Timing Diagram, with Prescaler (fclk_I/O/8)
clkI/O
clkTn

(clkI/O /8)

TCNTn

MAX - 1

MAX

BOTTOM

BOTTOM + 1

TOVn

Figure 17-10 shows the setting of OCF2A in all modes except CTC mode.

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Figure 17-10. Timer/Counter Timing Diagram, Setting of OCF2A, with Prescaler (fclk_I/O/8)
clkI/O
clkTn

(clkI/O /8)

TCNTn

OCRnx - 1

OCRnx

OCRnx + 1

OCRnx + 2

OCRnx Value

OCRnx

OCFnx

Figure 17-11 shows the setting of OCF2A and the clearing of TCNT2 in CTC mode.
Figure 17-11. Timer/Counter Timing Diagram, Clear Timer on Compare Match mode, with Prescaler (fclk_I/O/8)
clkI/O
clkTn

(clkI/O /8)

TCNTn
(CTC)

TOP - 1

OCRnx

TOP

BOTTOM

BOTTOM + 1

TOP

OCFnx

17.9

Asynchronous Operation of Timer/Counter2

When Timer/Counter2 operates asynchronously, some considerations must be taken.
Warning: When switching between asynchronous and synchronous clocking of
Timer/Counter2, the Timer Registers TCNT2, OCR2x, and TCCR2x might be corrupted. A safe
procedure for switching clock source is:
a. Disable the Timer/Counter2 interrupts by clearing OCIE2x and TOIE2.
b.

Select clock source by setting AS2 as appropriate.

Write new values to TCNT2, OCR2x, and TCCR2x.

d. To switch to asynchronous operation: Wait for TCN2xUB, OCR2xUB, and TCR2xUB.

e. Clear the Timer/Counter2 Interrupt Flags.
f.

Enable interrupts, if needed.

The CPU main clock frequency must be more than four times the Oscillator frequency.
When writing to one of the registers TCNT2, OCR2x, or TCCR2x, the value is transferred to a
temporary register, and latched after two positive edges on TOSC1. The user should not write
a new value before the contents of the temporary register have been transferred to its
destination. Each of the five mentioned registers have their individual temporary register, which
means that e.g. writing to TCNT2 does not disturb an OCR2x write in progress. To detect that a
transfer to the destination register has taken place, the Asynchronous Status Register ASSR
has been implemented.

When entering Power-save or ADC Noise Reduction mode after having written to TCNT2,
OCR2x, or TCCR2x, the user must wait until the written register has been updated if

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Timer/Counter2 is used to wake up the device. Otherwise, the MCU will enter sleep mode
before the changes are effective. This is particularly important if any of the Output Compare2
interrupt is used to wake up the device, since the Output Compare function is disabled during
writing to OCR2x or TCNT2. If the write cycle is not finished, and the MCU enters sleep mode
before the corresponding OCR2xUB bit returns to zero, the device will never receive a
compare match interrupt, and the MCU will not wake up.
If Timer/Counter2 is used to wake the device up from Power-save or ADC Noise Reduction
mode, precautions must be taken if the user wants to re-enter one of these modes: If
re-entering sleep mode within the TOSC1 cycle, the interrupt will immidiately occur and the
device wake up again. The result is multiple interrupts and wake-ups within one TOSC1 cycle
from the first interrupt. If the user is in doubt whether the time before re-entering Power-save or
ADC Noise Reduction mode is sufficient, the following algorithm can be used to ensure that
one TOSC1 cycle has elapsed:
a. Write a value to TCCR2x, TCNT2, or OCR2x.
b.

Wait until the corresponding Update Busy Flag in ASSR returns to zero.

Enter Power-save or ADC Noise Reduction mode.

When the asynchronous operation is selected, the 32.768 kHz Oscillator for Timer/Counter2 is
always running, except in Power-down and Standby modes. After a Power-up Reset or
wake-up from Power-down or Standby mode, the user should be aware of the fact that this
Oscillator might take as long as one second to stabilize. The user is advised to wait for at least
one second before using Timer/Counter2 after power-up or wake-up from Power-down or
Standby mode. The contents of all Timer/Counter2 Registers must be considered lost after a
wake-up from Power-down or Standby mode due to unstable clock signal upon start-up, no
matter whether the Oscillator is in use or a clock signal is applied to the TOSC1 pin.
Description of wake up from Power-save or ADC Noise Reduction mode when the timer is
clocked asynchronously: When the interrupt condition is met, the wake up process is started
on the following cycle of the timer clock, that is, the timer is always advanced by at least one
before the processor can read the counter value. After wake-up, the MCU is halted for four
cycles, it executes the interrupt routine, and resumes execution from the instruction following
SLEEP.
Reading of the TCNT2 Register shortly after wake-up from Power-save may give an incorrect
result. Since TCNT2 is clocked on the asynchronous TOSC clock, reading TCNT2 must be
done through a register synchronized to the internal I/O clock domain. Synchronization takes
place for every rising TOSC1 edge. When waking up from Power-save mode, and the I/O clock
(clkI/O) again becomes active, TCNT2 will read as the previous value (before entering sleep)
until the next rising TOSC1 edge. The phase of the TOSC clock after waking up from
Power-save mode is essentially unpredictable, as it depends on the wake-up time. The
recommended procedure for reading TCNT2 is thus as follows:
a. Write any value to either of the registers OCR2x or TCCR2x.

148

Wait for the corresponding Update Busy Flag to be cleared.

Read TCNT2.

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During asynchronous operation, the synchronization of the Interrupt Flags for the asynchronous
timer takes 3 processor cycles plus one timer cycle. The timer is therefore advanced by at least
one before the processor can read the timer value causing the setting of the Interrupt Flag. The
Output Compare pin is changed on the timer clock and is not synchronized to the processor
clock.

17.10 Timer/Counter Prescaler

Figure 17-12. Prescaler for Timer/Counter2

PSRASY

clkT2S/1024

clkT2S/256

clkT2S/128

AS2

clkT2S/64

10-BIT T/C PRESCALER

Clear

clkT2S/32

TOSC1

clkT2S
clkT2S/8

clkI/O

CS20
CS21
CS22

TIMER/COUNTER2 CLOCK SOURCE

clkT2

The clock source for Timer/Counter2 is named clkT2S. clkT2S is by default connected to the main
system I/O clock clk IO. By setting the AS2 bit in ASSR, Timer/Counter2 is asynchronously
clocked from the TOSC1 pin. This enables use of Timer/Counter2 as a Real Time Counter
(RTC). When AS2 is set, pins TOSC1 and TOSC2 are disconnected from Port C. A crystal can
then be connected between the TOSC1 and TOSC2 pins to serve as an independent clock
source for Timer/Counter2. The Oscillator is optimized for use with a 32.768 kHz crystal.
For Timer/Counter2, the possible prescaled selections are: clk T2S /8, clk T2S /32, clk T2S /64,
clkT2S/128, clkT2S/256, and clkT2S/1024. Additionally, clkT2S as well as 0 (stop) may be selected.
Setting the PSRASY bit in GTCCR resets the prescaler. This allows the user to operate with a
predictable prescaler.

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17.11 Register Description

17.11.1

TCCR2A Timer/Counter Control Register A

Bit

COM2A1

COM2A0

COM2B1

COM2B0

WGM21

WGM20

Read/Write

R/W

Initial Value

(0xB0)

TCCR2A

Bits 7:6 COM2A1:0: Compare Match Output A Mode

These bits control the Output Compare pin (OC2A) behavior. If one or both of the COM2A1:0
bits are set, the OC2A output overrides the normal port functionality of the I/O pin it is connected
to. However, note that the Data Direction Register (DDR) bit corresponding to the OC2A pin
must be set in order to enable the output driver.
When OC2A is connected to the pin, the function of the COM2A1:0 bits depends on the
WGM22:0 bit setting. Table 17-2 shows the COM2A1:0 bit functionality when the WGM22:0 bits
are set to a normal or CTC mode (non-PWM).
Table 17-2.

Compare Output Mode, non-PWM Mode

COM2A1

COM2A0

Description

Normal port operation, OC0A disconnected.

Toggle OC2A on Compare Match

Clear OC2A on Compare Match

Set OC2A on Compare Match

Table 17-3 shows the COM2A1:0 bit functionality when the WGM21:0 bits are set to fast PWM
mode.
Table 17-3.
COM2A1

COM2A0

Normal port operation, OC2A disconnected.

WGM22 = 0: Normal Port Operation, OC0A Disconnected.

WGM22 = 1: Toggle OC2A on Compare Match.

Clear OC2A on Compare Match, set OC2A at BOTTOM,

(non-inverting mode).

Set OC2A on Compare Match, clear OC2A at BOTTOM,

(inverting mode).

Note:

150

Compare Output Mode, Fast PWM Mode(1)

Description

1. A special case occurs when OCR2A equals TOP and COM2A1 is set. In this case, the Compare Match is ignored, but the set or clear is done at BOTTOM. See Fast PWM Mode on
page 143 for more details.

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Table 17-4 shows the COM2A1:0 bit functionality when the WGM22:0 bits are set to phase correct PWM mode.
Table 17-4.

Compare Output Mode, Phase Correct PWM Mode(1)

COM2A1

COM2A0

Normal port operation, OC2A disconnected.

WGM22 = 0: Normal Port Operation, OC2A Disconnected.

WGM22 = 1: Toggle OC2A on Compare Match.

Clear OC2A on Compare Match when up-counting. Set OC2A on

Compare Match when down-counting.

Set OC2A on Compare Match when up-counting. Clear OC2A on

Compare Match when down-counting.

Note:

Description

1. A special case occurs when OCR2A equals TOP and COM2A1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See Phase Correct PWM Mode on
page 144 for more details.

Bits 5:4 COM2B1:0: Compare Match Output B Mode

These bits control the Output Compare pin (OC2B) behavior. If one or both of the COM2B1:0
bits are set, the OC2B output overrides the normal port functionality of the I/O pin it is connected
to. However, note that the Data Direction Register (DDR) bit corresponding to the OC2B pin
must be set in order to enable the output driver.
When OC2B is connected to the pin, the function of the COM2B1:0 bits depends on the
WGM22:0 bit setting. Table 17-5 shows the COM2B1:0 bit functionality when the WGM22:0 bits
are set to a normal or CTC mode (non-PWM).
Table 17-5.

Compare Output Mode, non-PWM Mode

COM2B1

COM2B0

Description

Normal port operation, OC2B disconnected.

Toggle OC2B on Compare Match

Clear OC2B on Compare Match

Set OC2B on Compare Match

Table 17-6 shows the COM2B1:0 bit functionality when the WGM22:0 bits are set to fast PWM
mode.
Table 17-6.

Compare Output Mode, Fast PWM Mode(1)

COM2B1

COM2B0

Normal port operation, OC2B disconnected.

Reserved

Clear OC2B on Compare Match, set OC2B at BOTTOM,

(non-inverting mode).

Set OC2B on Compare Match, clear OC2B at BOTTOM,

(inverting mode).

Note:

Description

1. A special case occurs when OCR2B equals TOP and COM2B1 is set. In this case, the Compare Match is ignored, but the set or clear is done at BOTTOM. See Phase Correct PWM
Mode on page 144 for more details.

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Table 17-7 shows the COM2B1:0 bit functionality when the WGM22:0 bits are set to phase correct PWM mode.
Compare Output Mode, Phase Correct PWM Mode(1)

Table 17-7.
COM2B1

COM2B0

Normal port operation, OC2B disconnected.

Reserved

Clear OC2B on Compare Match when up-counting. Set OC2B on

Compare Match when down-counting.

Set OC2B on Compare Match when up-counting. Clear OC2B on

Compare Match when down-counting.

Note:

Description

1. A special case occurs when OCR2B equals TOP and COM2B1 is set. In this case, the Compare Match is ignored, but the set or clear is done at TOP. See Phase Correct PWM Mode on
page 144 for more details.

Bits 3, 2 Res: Reserved Bits

These bits are reserved bits in the ATmega328P and will always read as zero.
Bits 1:0 WGM21:0: Waveform Generation Mode
Combined with the WGM22 bit found in the TCCR2B Register, these bits control the counting
sequence of the counter, the source for maximum (TOP) counter value, and what type of waveform generation to be used, see Table 17-8. Modes of operation supported by the Timer/Counter
unit are: Normal mode (counter), Clear Timer on Compare Match (CTC) mode, and two types of
Pulse Width Modulation (PWM) modes (see Modes of Operation on page 141).
Table 17-8.

Timer/Counter
Mode of
Operation

TOP

Update of
OCRx at

TOV Flag
Set on(1)(2)

Mode

WGM2

WGM1

WGM0

Normal

0xFF

Immediate

MAX

PWM, Phase
Correct

0xFF

TOP

BOTTOM

CTC

OCRA

Immediate

MAX

Fast PWM

0xFF

BOTTOM

MAX

Reserved

PWM, Phase
Correct

OCRA

TOP

BOTTOM

Reserved

Fast PWM

OCRA

BOTTOM

TOP

Notes:

152

Waveform Generation Mode Bit Description

1. MAX= 0xFF
2. BOTTOM= 0x00

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17.11.2

TCCR2B Timer/Counter Control Register B

Bit

FOC2A

FOC2B

WGM22

CS22

CS21

CS20

Read/Write

R/W

Initial Value

(0xB1)

TCCR2B

Bit 7 FOC2A: Force Output Compare A

The FOC2A bit is only active when the WGM bits specify a non-PWM mode.
However, for ensuring compatibility with future devices, this bit must be set to zero when
TCCR2B is written when operating in PWM mode. When writing a logical one to the FOC2A bit,
an immediate Compare Match is forced on the Waveform Generation unit. The OC2A output is
changed according to its COM2A1:0 bits setting. Note that the FOC2A bit is implemented as a
strobe. Therefore it is the value present in the COM2A1:0 bits that determines the effect of the
forced compare.
A FOC2A strobe will not generate any interrupt, nor will it clear the timer in CTC mode using
OCR2A as TOP.
The FOC2A bit is always read as zero.
Bit 6 FOC2B: Force Output Compare B
The FOC2B bit is only active when the WGM bits specify a non-PWM mode.
However, for ensuring compatibility with future devices, this bit must be set to zero when
TCCR2B is written when operating in PWM mode. When writing a logical one to the FOC2B bit,
an immediate Compare Match is forced on the Waveform Generation unit. The OC2B output is
changed according to its COM2B1:0 bits setting. Note that the FOC2B bit is implemented as a
strobe. Therefore it is the value present in the COM2B1:0 bits that determines the effect of the
forced compare.
A FOC2B strobe will not generate any interrupt, nor will it clear the timer in CTC mode using
OCR2B as TOP.
The FOC2B bit is always read as zero.
Bits 5:4 Res: Reserved Bits
These bits are reserved bits in the ATmega328P and will always read as zero.
Bit 3 WGM22: Waveform Generation Mode
See the description in the TCCR2A Timer/Counter Control Register A on page 150.
Bit 2:0 CS22:0: Clock Select
The three Clock Select bits select the clock source to be used by the Timer/Counter, see Table
17-9 on page 154.

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Table 17-9.

Clock Select Bit Description

CS22

CS21

CS20

Description

No clock source (Timer/Counter stopped).

clkT2S/(No prescaling)

clkT2S/8 (From prescaler)

clkT2S/32 (From prescaler)

clkT2S/64 (From prescaler)

clkT2S/128 (From prescaler)

clkT2S/256 (From prescaler)

The Output Compare Register B contains an 8-bit value that is continuously compared with the
counter value (TCNT2). A match can be used to generate an Output Compare interrupt, or to
generate a waveform output on the OC2B pin.

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17.11.6

TIMSK2 Timer/Counter2 Interrupt Mask Register

Bit

(0x70)

OCIE2B

OCIE2A

TOIE2

Read/Write

R/W

Initial Value

TIMSK2

Bit 2 OCIE2B: Timer/Counter2 Output Compare Match B Interrupt Enable

When the OCIE2B bit is written to one and the I-bit in the Status Register is set (one), the
Timer/Counter2 Compare Match B interrupt is enabled. The corresponding interrupt is executed
if a compare match in Timer/Counter2 occurs, i.e., when the OCF2B bit is set in the Timer/Counter 2 Interrupt Flag Register TIFR2.
Bit 1 OCIE2A: Timer/Counter2 Output Compare Match A Interrupt Enable
When the OCIE2A bit is written to one and the I-bit in the Status Register is set (one), the
Timer/Counter2 Compare Match A interrupt is enabled. The corresponding interrupt is executed
if a compare match in Timer/Counter2 occurs, i.e., when the OCF2A bit is set in the Timer/Counter 2 Interrupt Flag Register TIFR2.
Bit 0 TOIE2: Timer/Counter2 Overflow Interrupt Enable
When the TOIE2 bit is written to one and the I-bit in the Status Register is set (one), the
Timer/Counter2 Overflow interrupt is enabled. The corresponding interrupt is executed if an
overflow in Timer/Counter2 occurs, i.e., when the TOV2 bit is set in the Timer/Counter2 Interrupt
Flag Register TIFR2.
17.11.7

TIFR2 Timer/Counter2 Interrupt Flag Register

Bit

0x17 (0x37)

OCF2B

OCF2A

TOV2

Read/Write

R/W

Initial Value

TIFR2

Bit 2 OCF2B: Output Compare Flag 2 B

The OCF2B bit is set (one) when a compare match occurs between the Timer/Counter2 and the
data in OCR2B Output Compare Register2. OCF2B is cleared by hardware when executing
the corresponding interrupt handling vector. Alternatively, OCF2B is cleared by writing a logic
one to the flag. When the I-bit in SREG, OCIE2B (Timer/Counter2 Compare match Interrupt
Enable), and OCF2B are set (one), the Timer/Counter2 Compare match Interrupt is executed.
Bit 1 OCF2A: Output Compare Flag 2 A
The OCF2A bit is set (one) when a compare match occurs between the Timer/Counter2 and the
data in OCR2A Output Compare Register2. OCF2A is cleared by hardware when executing
the corresponding interrupt handling vector. Alternatively, OCF2A is cleared by writing a logic
one to the flag. When the I-bit in SREG, OCIE2A (Timer/Counter2 Compare match Interrupt
Enable), and OCF2A are set (one), the Timer/Counter2 Compare match Interrupt is executed.
Bit 0 TOV2: Timer/Counter2 Overflow Flag
The TOV2 bit is set (one) when an overflow occurs in Timer/Counter2. TOV2 is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, TOV2 is cleared
by writing a logic one to the flag. When the SREG I-bit, TOIE2A (Timer/Counter2 Overflow Interrupt Enable), and TOV2 are set (one), the Timer/Counter2 Overflow interrupt is executed. In
PWM mode, this bit is set when Timer/Counter2 changes counting direction at 0x00.

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17.11.8

ASSR Asynchronous Status Register

Bit

(0xB6)

EXCLK

AS2

TCN2UB

OCR2AUB

OCR2BUB

TCR2AUB

TCR2BUB

Read/Write

R/W

Initial Value

ASSR

Bit 7 RES: Reserved bit

This bit is reserved and will always read as zero.
Bit 6 EXCLK: Enable External Clock Input
When EXCLK is written to one, and asynchronous clock is selected, the external clock input buffer is enabled and an external clock can be input on Timer Oscillator 1 (TOSC1) pin instead of a
32 kHz crystal. Writing to EXCLK should be done before asynchronous operation is selected.
Note that the crystal Oscillator will only run when this bit is zero.
Bit 5 AS2: Asynchronous Timer/Counter2
When AS2 is written to zero, Timer/Counter2 is clocked from the I/O clock, clkI/O. When AS2 is
written to one, Timer/Counter2 is clocked from a crystal Oscillator connected to the Timer Oscillator 1 (TOSC1) pin. When the value of AS2 is changed, the contents of TCNT2, OCR2A,
OCR2B, TCCR2A and TCCR2B might be corrupted.
Bit 4 TCN2UB: Timer/Counter2 Update Busy
When Timer/Counter2 operates asynchronously and TCNT2 is written, this bit becomes set.
When TCNT2 has been updated from the temporary storage register, this bit is cleared by hardware. A logical zero in this bit indicates that TCNT2 is ready to be updated with a new value.
Bit 3 OCR2AUB: Output Compare Register2 Update Busy
When Timer/Counter2 operates asynchronously and OCR2A is written, this bit becomes set.
When OCR2A has been updated from the temporary storage register, this bit is cleared by hardware. A logical zero in this bit indicates that OCR2A is ready to be updated with a new value.
Bit 2 OCR2BUB: Output Compare Register2 Update Busy
When Timer/Counter2 operates asynchronously and OCR2B is written, this bit becomes set.
When OCR2B has been updated from the temporary storage register, this bit is cleared by hardware. A logical zero in this bit indicates that OCR2B is ready to be updated with a new value.
Bit 1 TCR2AUB: Timer/Counter Control Register2 Update Busy
When Timer/Counter2 operates asynchronously and TCCR2A is written, this bit becomes set.
When TCCR2A has been updated from the temporary storage register, this bit is cleared by
hardware. A logical zero in this bit indicates that TCCR2A is ready to be updated with a new
value.
Bit 0 TCR2BUB: Timer/Counter Control Register2 Update Busy
When Timer/Counter2 operates asynchronously and TCCR2B is written, this bit becomes set.
When TCCR2B has been updated from the temporary storage register, this bit is cleared by
hardware. A logical zero in this bit indicates that TCCR2B is ready to be updated with a new
value.

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If a write is performed to any of the five Timer/Counter2 Registers while its update busy flag is
set, the updated value might get corrupted and cause an unintentional interrupt to occur.
The mechanisms for reading TCNT2, OCR2A, OCR2B, TCCR2A and TCCR2B are different.
When reading TCNT2, the actual timer value is read. When reading OCR2A, OCR2B, TCCR2A
and TCCR2B the value in the temporary storage register is read.
17.11.9

GTCCR General Timer/Counter Control Register

Bit

0x23 (0x43)

TSM

PSRASY

PSRSYNC

Read/Write

R/W

Initial Value

GTCCR

Bit 1 PSRASY: Prescaler Reset Timer/Counter2

When this bit is one, the Timer/Counter2 prescaler will be reset. This bit is normally cleared
immediately by hardware. If the bit is written when Timer/Counter2 is operating in asynchronous
mode, the bit will remain one until the prescaler has been reset. The bit will not be cleared by
hardware if the TSM bit is set. Refer to the description of the Bit 7 TSM: Timer/Counter Synchronization Mode on page 135 for a description of the Timer/Counter Synchronization mode.

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18. SPI Serial Peripheral Interface

18.1

Features

18.2

Full-duplex, Three-wire Synchronous Data Transfer

Master or Slave Operation
LSB First or MSB First Data Transfer
Seven Programmable Bit Rates
End of Transmission Interrupt Flag
Write Collision Flag Protection
Wake-up from Idle Mode
Double Speed (CK/2) Master SPI Mode

Overview
The Serial Peripheral Interface (SPI) allows high-speed synchronous data transfer between the
ATmega328P and peripheral devices or between several AVR devices.
The USART can also be used in Master SPI mode, see USART in SPI Mode on page 196. The
PRSPI bit in Minimizing Power Consumption on page 40 must be written to zero to enable SPI
module.
Figure 18-1. SPI Block Diagram(1)

SPI2X

DIVIDER
/2/4/8/16/32/64/128

Note:

158

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The interconnection between Master and Slave CPUs with SPI is shown in Figure 18-2 on page
159. The system consists of two shift Registers, and a Master clock generator. The SPI Master
initiates the communication cycle when pulling low the Slave Select SS pin of the desired Slave.
Master and Slave prepare the data to be sent in their respective shift Registers, and the Master
generates the required clock pulses on the SCK line to interchange data. Data is always shifted
from Master to Slave on the Master Out Slave In, MOSI, line, and from Slave to Master on the
Master In Slave Out, MISO, line. After each data packet, the Master will synchronize the Slave
by pulling high the Slave Select, SS, line.
When configured as a Master, the SPI interface has no automatic control of the SS line. This
must be handled by user software before communication can start. When this is done, writing a
byte to the SPI Data Register starts the SPI clock generator, and the hardware shifts the eight
bits into the Slave. After shifting one byte, the SPI clock generator stops, setting the end of
Transmission Flag (SPIF). If the SPI Interrupt Enable bit (SPIE) in the SPCR Register is set, an
interrupt is requested. The Master may continue to shift the next byte by writing it into SPDR, or
signal the end of packet by pulling high the Slave Select, SS line. The last incoming byte will be
kept in the Buffer Register for later use.
When configured as a Slave, the SPI interface will remain sleeping with MISO tri-stated as long
as the SS pin is driven high. In this state, software may update the contents of the SPI Data
Register, SPDR, but the data will not be shifted out by incoming clock pulses on the SCK pin
until the SS pin is driven low. As one byte has been completely shifted, the end of Transmission
Flag, SPIF is set. If the SPI Interrupt Enable bit, SPIE, in the SPCR Register is set, an interrupt
is requested. The Slave may continue to place new data to be sent into SPDR before reading
the incoming data. The last incoming byte will be kept in the Buffer Register for later use.
Figure 18-2. SPI Master-slave Interconnection

SHIFT
ENABLE

The system is single buffered in the transmit direction and double buffered in the receive direction. This means that bytes to be transmitted cannot be written to the SPI Data Register before
the entire shift cycle is completed. When receiving data, however, a received character must be
read from the SPI Data Register before the next character has been completely shifted in. Otherwise, the first byte is lost.
In SPI Slave mode, the control logic will sample the incoming signal of the SCK pin. To ensure
correct sampling of the clock signal, the minimum low and high periods should be:
Low periods: Longer than 2 CPU clock cycles.
High periods: Longer than 2 CPU clock cycles.

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When the SPI is enabled, the data direction of the MOSI, MISO, SCK, and SS pins is overridden
according to Table 18-1 on page 160. For more details on automatic port overrides, refer to
Alternate Port Functions on page 71.
Table 18-1.
Pin

SPI Pin Overrides(Note:)

Direction, Master SPI

Direction, Slave SPI

MOSI

User Defined

Input

MISO

Input

User Defined

SCK

User Defined

Input

User Defined

Input

Note:

See Alternate Functions of Port B on page 74 for a detailed description of how to define the
direction of the user defined SPI pins.

The following code examples show how to initialize the SPI as a Master and how to perform a
simple transmission. DDR_SPI in the examples must be replaced by the actual Data Direction
Register controlling the SPI pins. DD_MOSI, DD_MISO and DD_SCK must be replaced by the
actual data direction bits for these pins. E.g. if MOSI is placed on pin PB5, replace DD_MOSI
with DDB5 and DDR_SPI with DDRB.

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Assembly Code Example(1)
SPI_MasterInit:
; Set MOSI and SCK output, all others input
ldi

r17,(1<<DD_MOSI)|(1<<DD_SCK)

out

DDR_SPI,r17

; Enable SPI, Master, set clock rate fck/16

ldi

r17,(1<<SPE)|(1<<MSTR)|(1<<SPR0)

out

SPCR,r17

ret
SPI_MasterTransmit:
; Start transmission of data (r16)
out

SPDR,r16

Wait_Transmit:
; Wait for transmission complete
in

r16, SPSR

sbrsr16, SPIF
rjmp Wait_Transmit
ret

C Code Example(1)
void SPI_MasterInit(void)
{
/* Set MOSI and SCK output, all others input */
DDR_SPI = (1<<DD_MOSI)|(1<<DD_SCK);
/* Enable SPI, Master, set clock rate fck/16 */
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
}
void SPI_MasterTransmit(char cData)
{
/* Start transmission */
SPDR = cData;
/* Wait for transmission complete */
while(!(SPSR & (1<<SPIF)))
;
}
Note:

1. See About Code Examples on page 7.

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The following code examples show how to initialize the SPI as a Slave and how to perform a
simple reception.
Assembly Code Example(1)
SPI_SlaveInit:
; Set MISO output, all others input
ldi

r17,(1<<DD_MISO)

out

DDR_SPI,r17

; Enable SPI
ldi

r17,(1<<SPE)

out

SPCR,r17

ret
SPI_SlaveReceive:
; Wait for reception complete
sbis SPSR,SPIF
rjmp SPI_SlaveReceive
; Read received data and return
in

r16,SPDR

ret

C Code Example(1)
void SPI_SlaveInit(void)
{
/* Set MISO output, all others input */
DDR_SPI = (1<<DD_MISO);
/* Enable SPI */
SPCR = (1<<SPE);
}
char SPI_SlaveReceive(void)
{
/* Wait for reception complete */
while(!(SPSR & (1<<SPIF)))
;
/* Return Data Register */
return SPDR;
}
Note:

162

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18.3
18.3.1

SS Pin Functionality
Slave Mode
When the SPI is configured as a Slave, the Slave Select (SS) pin is always input. When SS is
held low, the SPI is activated, and MISO becomes an output if configured so by the user. All
other pins are inputs. When SS is driven high, all pins are inputs, and the SPI is passive, which
means that it will not receive incoming data. Note that the SPI logic will be reset once the SS pin
is driven high.
The SS pin is useful for packet/byte synchronization to keep the slave bit counter synchronous
with the master clock generator. When the SS pin is driven high, the SPI slave will immediately
reset the send and receive logic, and drop any partially received data in the Shift Register.

18.3.2

Master Mode
When the SPI is configured as a Master (MSTR in SPCR is set), the user can determine the
direction of the SS pin.
If SS is configured as an output, the pin is a general output pin which does not affect the SPI
system. Typically, the pin will be driving the SS pin of the SPI Slave.
If SS is configured as an input, it must be held high to ensure Master SPI operation. If the SS pin
is driven low by peripheral circuitry when the SPI is configured as a Master with the SS pin
defined as an input, the SPI system interprets this as another master selecting the SPI as a
slave and starting to send data to it. To avoid bus contention, the SPI system takes the following
actions:
1. The MSTR bit in SPCR is cleared and the SPI system becomes a Slave. As a result of
the SPI becoming a Slave, the MOSI and SCK pins become inputs.
2. The SPIF Flag in SPSR is set, and if the SPI interrupt is enabled, and the I-bit in SREG is
set, the interrupt routine will be executed.
Thus, when interrupt-driven SPI transmission is used in Master mode, and there exists a possibility that SS is driven low, the interrupt should always check that the MSTR bit is still set. If the
MSTR bit has been cleared by a slave select, it must be set by the user to re-enable SPI Master
mode.

18.4

Data Modes
There are four combinations of SCK phase and polarity with respect to serial data, which are
determined by control bits CPHA and CPOL. The SPI data transfer formats are shown in Figure
18-3 and Figure 18-4 on page 164. Data bits are shifted out and latched in on opposite edges of
the SCK signal, ensuring sufficient time for data signals to stabilize. This is clearly seen by summarizing Table 18-3 on page 165 and Table 18-4 on page 165, as done in Table 18-2.
Table 18-2.

SPI Modes

SPI Mode

Conditions

Leading Edge

Trailing eDge

CPOL=0, CPHA=0

Sample (Rising)

Setup (Falling)

CPOL=0, CPHA=1

Setup (Rising)

Sample (Falling)

CPOL=1, CPHA=0

Sample (Falling)

Setup (Rising)

CPOL=1, CPHA=1

Setup (Falling)

Sample (Rising)

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Figure 18-3. SPI Transfer Format with CPHA = 0

SCK (CPOL = 0)
mode 0
SCK (CPOL = 1)
mode 2
SAMPLE I
MOSI/MISO
CHANGE 0
MOSI PIN
CHANGE 0
MISO PIN
SS

MSB first (DORD = 0) MSB

LSB first (DORD = 1) LSB

Bit 6
Bit 1

Bit 5
Bit 2

Bit 4
Bit 3

Bit 3
Bit 4

Bit 2
Bit 5

Bit 1
Bit 6

LSB
MSB

Figure 18-4. SPI Transfer Format with CPHA = 1

SCK (CPOL = 0)
mode 1
SCK (CPOL = 1)
mode 3
SAMPLE I
MOSI/MISO
CHANGE 0
MOSI PIN
CHANGE 0
MISO PIN
SS

MSB first (DORD = 0)

LSB first (DORD = 1)

18.5
18.5.1

MSB
LSB

Bit 6
Bit 1

Bit 5
Bit 2

Bit 4
Bit 3

Bit 3
Bit 4

Bit 2
Bit 5

Bit 1
Bit 6

LSB
MSB

0x2C (0x4C)

SPIE

SPE

DORD

MSTR

CPOL

CPHA

SPR1

SPR0

Read/Write

R/W

Initial Value

SPCR

Bit 7 SPIE: SPI Interrupt Enable

This bit causes the SPI interrupt to be executed if SPIF bit in the SPSR Register is set and the if
the Global Interrupt Enable bit in SREG is set.
Bit 6 SPE: SPI Enable
When the SPE bit is written to one, the SPI is enabled. This bit must be set to enable any SPI
operations.

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Bit 5 DORD: Data Order
When the DORD bit is written to one, the LSB of the data word is transmitted first.
When the DORD bit is written to zero, the MSB of the data word is transmitted first.
Bit 4 MSTR: Master/Slave Select
This bit selects Master SPI mode when written to one, and Slave SPI mode when written logic
zero. If SS is configured as an input and is driven low while MSTR is set, MSTR will be cleared,
and SPIF in SPSR will become set. The user will then have to set MSTR to re-enable SPI Master mode.
Bit 3 CPOL: Clock Polarity
When this bit is written to one, SCK is high when idle. When CPOL is written to zero, SCK is low
when idle. Refer to Figure 18-3 and Figure 18-4 for an example. The CPOL functionality is summarized below:
Table 18-3.

CPOL Functionality
CPOL

Leading Edge

Trailing Edge

Rising

Falling

Rising

Bit 2 CPHA: Clock Phase

The settings of the Clock Phase bit (CPHA) determine if data is sampled on the leading (first) or
trailing (last) edge of SCK. Refer to Figure 18-3 and Figure 18-4 for an example. The CPOL
functionality is summarized below:
Table 18-4.

CPHA Functionality
CPHA

Leading Edge

Trailing Edge

Sample

Setup

Sample

Bits 1, 0 SPR1, SPR0: SPI Clock Rate Select 1 and 0

These two bits control the SCK rate of the device configured as a Master. SPR1 and SPR0 have
no effect on the Slave.
The relationship between SCK and the Oscillator Clock frequency fosc is shown in the following
table:
Table 18-5.

Relationship Between SCK and the Oscillator Frequency

SPI2X

SPR1

SPR0

SCK Frequency

fosc/4
fosc/16
fosc/64
fosc/128
fosc/2
fosc/8
fosc/32
fosc/64

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18.5.2

SPSR SPI Status Register

Bit

SPIF

WCOL

SPI2X

Read/Write

R/W

Initial Value

0x2D (0x4D)

SPSR

Bit 7 SPIF: SPI Interrupt Flag

When a serial transfer is complete, the SPIF Flag is set. An interrupt is generated if SPIE in
SPCR is set and global interrupts are enabled. If SS is an input and is driven low when the SPI is
in Master mode, this will also set the SPIF Flag. SPIF is cleared by hardware when executing the
corresponding interrupt handling vector. Alternatively, the SPIF bit is cleared by first reading the
SPI Status Register with SPIF set, then accessing the SPI Data Register (SPDR).
Bit 6 WCOL: Write COLlision Flag
The WCOL bit is set if the SPI Data Register (SPDR) is written during a data transfer. The
WCOL bit (and the SPIF bit) are cleared by first reading the SPI Status Register with WCOL set,
and then accessing the SPI Data Register.
Bit 5..1 Res: Reserved Bits
These bits are reserved bits in the ATmega328P and will always read as zero.
Bit 0 SPI2X: Double SPI Speed Bit
When this bit is written logic one the SPI speed (SCK Frequency) will be doubled when the SPI
is in Master mode (see Table 18-5). This means that the minimum SCK period will be two CPU
clock periods. When the SPI is configured as Slave, the SPI is only guaranteed to work at fosc/4
or lower.
The SPI interface on the ATmega328P is also used for program memory and EEPROM downloading or uploading. See page 299 for serial programming and verification.
18.5.3

SPDR SPI Data Register

Bit

0x2E (0x4E)

MSB

LSB

Read/Write

R/W

Initial Value

SPDR

Undefined

The SPI Data Register is a read/write register used for data transfer between the Register File
and the SPI Shift Register. Writing to the register initiates data transmission. Reading the register causes the Shift Register Receive buffer to be read.

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19. USART0
19.1

Features

19.2

Full Duplex Operation (Independent Serial Receive and Transmit Registers)

Asynchronous or Synchronous Operation
Master or Slave Clocked Synchronous Operation
High Resolution Baud Rate Generator
Supports Serial Frames with 5, 6, 7, 8, or 9 Data Bits and 1 or 2 Stop Bits
Odd or Even Parity Generation and Parity Check Supported by Hardware
Data OverRun Detection
Framing Error Detection
Noise Filtering Includes False Start Bit Detection and Digital Low Pass Filter
Three Separate Interrupts on TX Complete, TX Data Register Empty and RX Complete
Multi-processor Communication Mode
Double Speed Asynchronous Communication Mode

Overview
The Universal Synchronous and Asynchronous serial Receiver and Transmitter (USART) is a
highly flexible serial communication device.
The USART0 can also be used in Master SPI mode, see USART in SPI Mode on page 196.
The Power Reduction USART bit, PRUSART0, in Minimizing Power Consumption on page 40
must be disabled by writing a logical zero to it.
A simplified block diagram of the USART Transmitter is shown in Figure 19-1 on page 168. CPU
accessible I/O Registers and I/O pins are shown in bold.
The dashed boxes in the block diagram separate the three main parts of the USART (listed from
the top): Clock Generator, Transmitter and Receiver. Control Registers are shared by all units.
The Clock Generation logic consists of synchronization logic for external clock input used by
synchronous slave operation, and the baud rate generator. The XCKn (Transfer Clock) pin is
only used by synchronous transfer mode. The Transmitter consists of a single write buffer, a
serial Shift Register, Parity Generator and Control logic for handling different serial frame formats. The write buffer allows a continuous transfer of data without any delay between frames.
The Receiver is the most complex part of the USART module due to its clock and data recovery
units. The recovery units are used for asynchronous data reception. In addition to the recovery
units, the Receiver includes a Parity Checker, Control logic, a Shift Register and a two level
receive buffer (UDRn). The Receiver supports the same frame formats as the Transmitter, and
can detect Frame Error, Data OverRun and Parity Errors.

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Figure 19-1. USART Block Diagram(1)

Clock Generator
UBRRn [H:L]

OSC

BAUD RATE GENERATOR

SYNC LOGIC

PIN
CONTROL

XCKn

Transmitter
TX
CONTROL

DATA BUS

UDRn(Transmit)
PARITY
GENERATOR

19.3

TxDn

Receiver
CLOCK
RECOVERY

RX
CONTROL

RECEIVE SHIFT REGISTER

DATA
RECOVERY

PIN
CONTROL

UDRn (Receive)

PARITY
CHECKER

UCSRnA

Note:

PIN
CONTROL

TRANSMIT SHIFT REGISTER

UCSRnB

RxDn

UCSRnC

1. Refer to Figure 1-1 on page 2 and Table 13-9 on page 80 for USART0 pin placement.

Clock Generation
The Clock Generation logic generates the base clock for the Transmitter and Receiver. The
USART supports four modes of clock operation: Normal asynchronous, Double Speed asynchronous, Master synchronous and Slave synchronous mode. The UMSELn bit in USART
Control and Status Register C (UCSRnC) selects between asynchronous and synchronous
operation. Double Speed (asynchronous mode only) is controlled by the U2Xn found in the
UCSRnA Register. When using synchronous mode (UMSELn = 1), the Data Direction Register
for the XCKn pin (DDR_XCKn) controls whether the clock source is internal (Master mode) or
external (Slave mode). The XCKn pin is only active when using synchronous mode.

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Figure 19-2 shows a block diagram of the clock generation logic.
Figure 19-2. Clock Generation Logic, Block Diagram
UBRRn

U2Xn

foscn
Prescaling
Down-Counter

UBRRn+1

0
1
0

OSC
DDR_XCKn

xcki
XCKn
Pin

Sync
Register

Edge
Detector

UCPOLn

txclk

UMSELn

xcko

DDR_XCKn

1
0

rxclk

Signal description:
txclk

Transmitter clock (Internal Signal).

rxclk

Receiver base clock (Internal Signal).

xcki
operation.

19.3.1

Input from XCK pin (internal Signal). Used for synchronous slave

xcko

Clock output to XCK pin (Internal Signal). Used for synchronous master
operation.

fosc

XTAL pin frequency (System Clock).

Internal Clock Generation The Baud Rate Generator

Internal clock generation is used for the asynchronous and the synchronous master modes of
operation. The description in this section refers to Figure 19-2.
The USART Baud Rate Register (UBRRn) and the down-counter connected to it function as a
programmable prescaler or baud rate generator. The down-counter, running at system clock
(fosc), is loaded with the UBRRn value each time the counter has counted down to zero or when
the UBRRnL Register is written. A clock is generated each time the counter reaches zero. This
clock is the baud rate generator clock output (= fosc/(UBRRn+1)). The Transmitter divides the
baud rate generator clock output by 2, 8 or 16 depending on mode. The baud rate generator output is used directly by the Receivers clock and data recovery units. However, the recovery units
use a state machine that uses 2, 8 or 16 states depending on mode set by the state of the
UMSELn, U2Xn and DDR_XCKn bits.

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Table 19-1 contains equations for calculating the baud rate (in bits per second) and for calculating the UBRRn value for each mode of operation using an internally generated clock source.
Table 19-1.

Equations for Calculating Baud Rate Register Setting

Equation for Calculating Baud
Rate(1)

Operating Mode

Equation for Calculating

UBRRn Value

f OSC
UBRRn = -----------------------1
16BAUD
Asynchronous Normal mode
(U2Xn = 0)

f OSC
BAUD = ----------------------------------------16 ( UBRRn + 1 )

f OSC
-1
UBRRn = ------------------8BAUD
Asynchronous Double Speed
mode (U2Xn = 1)

f OSC
BAUD = -------------------------------------8 ( UBRRn + 1 )

f OSC
-1
UBRRn = ------------------2BAUD
Synchronous Master mode

Note:

f OSC
BAUD = -------------------------------------2 ( UBRRn + 1 )

1. The baud rate is defined to be the transfer rate in bit per second (bps)

BAUD

Baud rate (in bits per second, bps)

fOSC

System Oscillator clock frequency

UBRRn

Contents of the UBRRnH and UBRRnL Registers, (0-4095)

Some examples of UBRRn values for some system clock frequencies are found in Table 19-9
(see page 192).
19.3.2

Double Speed Operation (U2Xn)

The transfer rate can be doubled by setting the U2Xn bit in UCSRnA. Setting this bit only has
effect for the asynchronous operation. Set this bit to zero when using synchronous operation.
Setting this bit will reduce the divisor of the baud rate divider from 16 to 8, effectively doubling
the transfer rate for asynchronous communication. Note however that the Receiver will in this
case only use half the number of samples (reduced from 16 to 8) for data sampling and clock
recovery, and therefore a more accurate baud rate setting and system clock are required when
this mode is used. For the Transmitter, there are no downsides.

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19.3.3

External Clock
External clocking is used by the synchronous slave modes of operation. The description in this
section refers to Figure 19-2 for details.
External clock input from the XCKn pin is sampled by a synchronization register to minimize the
chance of meta-stability. The output from the synchronization register must then pass through
an edge detector before it can be used by the Transmitter and Receiver. This process introduces a two CPU clock period delay and therefore the maximum external XCKn clock frequency
is limited by the following equation:
f OSC
f XCK < ----------4
Note that fosc depends on the stability of the system clock source. It is therefore recommended to
add some margin to avoid possible loss of data due to frequency variations.

19.3.4

Synchronous Clock Operation

When synchronous mode is used (UMSELn = 1), the XCKn pin will be used as either clock input
(Slave) or clock output (Master). The dependency between the clock edges and data sampling
or data change is the same. The basic principle is that data input (on RxDn) is sampled at the
opposite XCKn clock edge of the edge the data output (TxDn) is changed.
Figure 19-3. Synchronous Mode XCKn Timing.
UCPOL = 1

XCK
RxD / TxD
Sample

UCPOL = 0

XCK
RxD / TxD
Sample

The UCPOLn bit UCRSC selects which XCKn clock edge is used for data sampling and which is
used for data change. As Figure 19-3 shows, when UCPOLn is zero the data will be changed at
rising XCKn edge and sampled at falling XCKn edge. If UCPOLn is set, the data will be changed
at falling XCKn edge and sampled at rising XCKn edge.

19.4

Frame Formats
A serial frame is defined to be one character of data bits with synchronization bits (start and stop
bits), and optionally a parity bit for error checking. The USART accepts all 30 combinations of
the following as valid frame formats:
1 start bit
5, 6, 7, 8, or 9 data bits
no, even or odd parity bit
1 or 2 stop bits

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A frame starts with the start bit followed by the least significant data bit. Then the next data bits,
up to a total of nine, are succeeding, ending with the most significant bit. If enabled, the parity bit
is inserted after the data bits, before the stop bits. When a complete frame is transmitted, it can
be directly followed by a new frame, or the communication line can be set to an idle (high) state.
Figure 19-4 illustrates the possible combinations of the frame formats. Bits inside brackets are
optional.
Figure 19-4. Frame Formats
FRAME

(IDLE)

[5]

[6]

[7]

[8]

[P]

Sp1 [Sp2]

(St / IDLE)

Start bit, always low.

(n)

Data bits (0 to 8).

Parity bit. Can be odd or even.

Stop bit, always high.

IDLE

No transfers on the communication line (RxDn or TxDn). An IDLE line

must be high.

The frame format used by the USART is set by the UCSZn2:0, UPMn1:0 and USBSn bits in
UCSRnB and UCSRnC. The Receiver and Transmitter use the same setting. Note that changing
the setting of any of these bits will corrupt all ongoing communication for both the Receiver and
Transmitter.
The USART Character SiZe (UCSZn2:0) bits select the number of data bits in the frame. The
USART Parity mode (UPMn1:0) bits enable and set the type of parity bit. The selection between
one or two stop bits is done by the USART Stop Bit Select (USBSn) bit. The Receiver ignores
the second stop bit. An FE (Frame Error) will therefore only be detected in the cases where the
first stop bit is zero.
19.4.1

Parity Bit Calculation

The parity bit is calculated by doing an exclusive-or of all the data bits. If odd parity is used, the
result of the exclusive or is inverted. The relation between the parity bit and data bits is as
follows:
P even = d n 1 d 3 d 2 d 1 d 0 0
P odd = d n 1 d 3 d 2 d 1 d 0 1
Peven
odd

Parity bit using even parity

Parity bit using odd parity

Data bit n of the character

If used, the parity bit is located between the last data bit and first stop bit of a serial frame.

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19.5

USART Initialization
The USART has to be initialized before any communication can take place. The initialization process normally consists of setting the baud rate, setting frame format and enabling the
Transmitter or the Receiver depending on the usage. For interrupt driven USART operation, the
Global Interrupt Flag should be cleared (and interrupts globally disabled) when doing the
initialization.
Before doing a re-initialization with changed baud rate or frame format, be sure that there are no
ongoing transmissions during the period the registers are changed. The TXCn Flag can be used
to check that the Transmitter has completed all transfers, and the RXC Flag can be used to
check that there are no unread data in the receive buffer. Note that the TXCn Flag must be
cleared before each transmission (before UDRn is written) if it is used for this purpose.
The following simple USART initialization code examples show one assembly and one C function that are equal in functionality. The examples assume asynchronous operation using polling
(no interrupts enabled) and a fixed frame format. The baud rate is given as a function parameter.
For the assembly code, the baud rate parameter is assumed to be stored in the r17:r16
Registers.

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Assembly Code Example(1)

USART_Init:
; Set baud rate
out

UBRRnH, r17

out

UBRRnL, r16

; Enable receiver and transmitter

ldi

r16, (1<<RXENn)|(1<<TXENn)

out

UCSRnB,r16

; Set frame format: 8data, 2stop bit

ldi

r16, (1<<USBSn)|(3<<UCSZn0)

out

UCSRnC,r16

ret

C Code Example(1)
#define FOSC 1843200 // Clock Speed
#define BAUD 9600
#define MYUBRR FOSC/16/BAUD-1
void main( void )
{
...
USART_Init(MYUBRR)
...
}
void USART_Init( unsigned int ubrr)
{
/*Set baud rate */
UBRR0H = (unsigned char)(ubrr>>8);
UBRR0L = (unsigned char)ubrr;
Enable receiver and transmitter */
UCSR0B = (1<<RXEN0)|(1<<TXEN0);
/* Set frame format: 8data, 2stop bit */
UCSR0C = (1<<USBS0)|(3<<UCSZ00);
}
Note:

1. See About Code Examples on page 7.

More advanced initialization routines can be made that include frame format as parameters, disable interrupts and so on. However, many applications use a fixed setting of the baud and
control registers, and for these types of applications the initialization code can be placed directly
in the main routine, or be combined with initialization code for other I/O modules.

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19.6

Data Transmission The USART Transmitter

The USART Transmitter is enabled by setting the Transmit Enable (TXEN) bit in the UCSRnB
Register. When the Transmitter is enabled, the normal port operation of the TxDn pin is overridden by the USART and given the function as the Transmitters serial output. The baud rate,
mode of operation and frame format must be set up once before doing any transmissions. If synchronous operation is used, the clock on the XCKn pin will be overridden and used as
transmission clock.

19.6.1

Sending Frames with 5 to 8 Data Bit

A data transmission is initiated by loading the transmit buffer with the data to be transmitted. The
CPU can load the transmit buffer by writing to the UDRn I/O location. The buffered data in the
transmit buffer will be moved to the Shift Register when the Shift Register is ready to send a new
frame. The Shift Register is loaded with new data if it is in idle state (no ongoing transmission) or
immediately after the last stop bit of the previous frame is transmitted. When the Shift Register is
loaded with new data, it will transfer one complete frame at the rate given by the Baud Register,
U2Xn bit or by XCKn depending on mode of operation.
The following code examples show a simple USART transmit function based on polling of the
Data Register Empty (UDREn) Flag. When using frames with less than eight bits, the most significant bits written to the UDRn are ignored. The USART has to be initialized before the function
can be used. For the assembly code, the data to be sent is assumed to be stored in Register
R16
Assembly Code Example(1)
USART_Transmit:
; Wait for empty transmit buffer
sbis UCSRnA,UDREn
rjmp USART_Transmit
; Put data (r16) into buffer, sends the data
out

UDRn,r16

ret

C Code Example(1)
void USART_Transmit( unsigned char data )
{
/* Wait for empty transmit buffer */
while ( !( UCSRnA & (1<<UDREn)) )
;
/* Put data into buffer, sends the data */
UDRn = data;
}
Note:

1. See About Code Examples on page 7.

The function simply waits for the transmit buffer to be empty by checking the UDREn Flag,
before loading it with new data to be transmitted. If the Data Register Empty interrupt is utilized,
the interrupt routine writes the data into the buffer.

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19.6.2

Sending Frames with 9 Data Bit

If 9-bit characters are used (UCSZn = 7), the ninth bit must be written to the TXB8 bit in UCSRnB before the low byte of the character is written to UDRn. The following code examples show
a transmit function that handles 9-bit characters. For the assembly code, the data to be sent is
assumed to be stored in registers R17:R16.
Assembly Code Example(1)(2)
USART_Transmit:
; Wait for empty transmit buffer
sbis UCSRnA,UDREn
rjmp USART_Transmit
; Copy 9th bit from r17 to TXB8
cbi

UCSRnB,TXB8

sbrc r17,0
sbi

UCSRnB,TXB8

; Put LSB data (r16) into buffer, sends the data

out

UDRn,r16

ret

C Code Example(1)(2)
void USART_Transmit( unsigned int data )
{
/* Wait for empty transmit buffer */
while ( !( UCSRnA & (1<<UDREn))) )
;
/* Copy 9th bit to TXB8 */
UCSRnB &= ~(1<<TXB8);
if ( data & 0x0100 )
UCSRnB |= (1<<TXB8);
/* Put data into buffer, sends the data */
UDRn = data;
}
Notes:

1. These transmit functions are written to be general functions. They can be optimized if the contents of the UCSRnB is static. For example, only the TXB8 bit of the UCSRnB Register is used
after initialization.
2. See About Code Examples on page 7.

The ninth bit can be used for indicating an address frame when using multi processor communication mode or for other protocol handling as for example synchronization.
19.6.3

Transmitter Flags and Interrupts

The USART Transmitter has two flags that indicate its state: USART Data Register Empty
(UDREn) and Transmit Complete (TXCn). Both flags can be used for generating interrupts.
The Data Register Empty (UDREn) Flag indicates whether the transmit buffer is ready to receive
new data. This bit is set when the transmit buffer is empty, and cleared when the transmit buffer
contains data to be transmitted that has not yet been moved into the Shift Register. For compatibility with future devices, always write this bit to zero when writing the UCSRnA Register.

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When the Data Register Empty Interrupt Enable (UDRIEn) bit in UCSRnB is written to one, the
USART Data Register Empty Interrupt will be executed as long as UDREn is set (provided that
global interrupts are enabled). UDREn is cleared by writing UDRn. When interrupt-driven data
transmission is used, the Data Register Empty interrupt routine must either write new data to
UDRn in order to clear UDREn or disable the Data Register Empty interrupt, otherwise a new
interrupt will occur once the interrupt routine terminates.
The Transmit Complete (TXCn) Flag bit is set one when the entire frame in the Transmit Shift
Register has been shifted out and there are no new data currently present in the transmit buffer.
The TXCn Flag bit is automatically cleared when a transmit complete interrupt is executed, or it
can be cleared by writing a one to its bit location. The TXCn Flag is useful in half-duplex communication interfaces (like the RS-485 standard), where a transmitting application must enter
receive mode and free the communication bus immediately after completing the transmission.
When the Transmit Compete Interrupt Enable (TXCIEn) bit in UCSRnB is set, the USART
Transmit Complete Interrupt will be executed when the TXCn Flag becomes set (provided that
global interrupts are enabled). When the transmit complete interrupt is used, the interrupt handling routine does not have to clear the TXCn Flag, this is done automatically when the interrupt
is executed.
19.6.4

Parity Generator
The Parity Generator calculates the parity bit for the serial frame data. When parity bit is enabled
(UPMn1 = 1), the transmitter control logic inserts the parity bit between the last data bit and the
first stop bit of the frame that is sent.

19.6.5

Disabling the Transmitter

The disabling of the Transmitter (setting the TXEN to zero) will not become effective until ongoing and pending transmissions are completed, i.e., when the Transmit Shift Register and
Transmit Buffer Register do not contain data to be transmitted. When disabled, the Transmitter
will no longer override the TxDn pin.

19.7

Data Reception The USART Receiver

The USART Receiver is enabled by writing the Receive Enable (RXENn) bit in the
UCSRnB Register to one. When the Receiver is enabled, the normal pin operation of the RxDn
pin is overridden by the USART and given the function as the Receivers serial input. The baud
rate, mode of operation and frame format must be set up once before any serial reception can
be done. If synchronous operation is used, the clock on the XCKn pin will be used as transfer
clock.

19.7.1

Receiving Frames with 5 to 8 Data Bits

The Receiver starts data reception when it detects a valid start bit. Each bit that follows the start
bit will be sampled at the baud rate or XCKn clock, and shifted into the Receive Shift Register
until the first stop bit of a frame is received. A second stop bit will be ignored by the Receiver.
When the first stop bit is received, i.e., a complete serial frame is present in the Receive Shift
Register, the contents of the Shift Register will be moved into the receive buffer. The receive
buffer can then be read by reading the UDRn I/O location.

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The following code example shows a simple USART receive function based on polling of the
Receive Complete (RXCn) Flag. When using frames with less than eight bits the most significant
bits of the data read from the UDRn will be masked to zero. The USART has to be initialized
before the function can be used.
Assembly Code Example(1)
USART_Receive:
; Wait for data to be received
sbis UCSRnA, RXCn
rjmp USART_Receive
; Get and return received data from buffer
in

r16, UDRn

ret

C Code Example(1)
unsigned char USART_Receive( void )
{
/* Wait for data to be received */
while ( !(UCSRnA & (1<<RXCn)) )
;
/* Get and return received data from buffer */
return UDRn;
}
Note:

1. See About Code Examples on page 7.

The function simply waits for data to be present in the receive buffer by checking the RXCn Flag,
before reading the buffer and returning the value.
19.7.2

Receiving Frames with 9 Data Bits

If 9-bit characters are used (UCSZn=7) the ninth bit must be read from the RXB8n bit in UCSRnB before reading the low bits from the UDRn. This rule applies to the FEn, DORn and UPEn
Status Flags as well. Read status from UCSRnA, then data from UDRn. Reading the UDRn I/O
location will change the state of the receive buffer FIFO and consequently the TXB8n, FEn,
DORn and UPEn bits, which all are stored in the FIFO, will change.
The following code example shows a simple USART receive function that handles both nine bit
characters and the status bits.

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Assembly Code Example(1)
USART_Receive:
; Wait for data to be received
sbis UCSRnA, RXCn
rjmp USART_Receive
; Get status and 9th bit, then data from buffer
in

r18, UCSRnA

r17, UCSRnB

r16, UDRn

; If error, return -1
andi r18,(1<<FEn)|(1<<DORn)|(1<<UPEn)
breq USART_ReceiveNoError
ldi

r17, HIGH(-1)

ldi

r16, LOW(-1)

USART_ReceiveNoError:
; Filter the 9th bit, then return
lsr

r17

andi r17, 0x01

ret

C Code Example(1)
unsigned int USART_Receive( void )
{
unsigned char status, resh, resl;
/* Wait for data to be received */
while ( !(UCSRnA & (1<<RXCn)) )
;
/* Get status and 9th bit, then data */
/* from buffer */
status = UCSRnA;
resh = UCSRnB;
resl = UDRn;
/* If error, return -1 */
if ( status & (1<<FEn)|(1<<DORn)|(1<<UPEn) )
return -1;
/* Filter the 9th bit, then return */
resh = (resh >> 1) & 0x01;
return ((resh << 8) | resl);
}
Note:

1. See About Code Examples on page 7.

The receive function example reads all the I/O Registers into the Register File before any computation is done. This gives an optimal receive buffer utilization since the buffer location read will
be free to accept new data as early as possible.

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19.7.3

Receive Compete Flag and Interrupt

The USART Receiver has one flag that indicates the Receiver state.
The Receive Complete (RXCn) Flag indicates if there are unread data present in the receive buffer. This flag is one when unread data exist in the receive buffer, and zero when the receive
buffer is empty (i.e., does not contain any unread data). If the Receiver is disabled (RXENn = 0),
the receive buffer will be flushed and consequently the RXCn bit will become zero.
When the Receive Complete Interrupt Enable (RXCIEn) in UCSRnB is set, the USART Receive
Complete interrupt will be executed as long as the RXCn Flag is set (provided that global interrupts are enabled). When interrupt-driven data reception is used, the receive complete routine
must read the received data from UDRn in order to clear the RXCn Flag, otherwise a new interrupt will occur once the interrupt routine terminates.

19.7.4

Receiver Error Flags

The USART Receiver has three Error Flags: Frame Error (FEn), Data OverRun (DORn) and
Parity Error (UPEn). All can be accessed by reading UCSRnA. Common for the Error Flags is
that they are located in the receive buffer together with the frame for which they indicate the
error status. Due to the buffering of the Error Flags, the UCSRnA must be read before the
receive buffer (UDRn), since reading the UDRn I/O location changes the buffer read location.
Another equality for the Error Flags is that they can not be altered by software doing a write to
the flag location. However, all flags must be set to zero when the UCSRnA is written for upward
compatibility of future USART implementations. None of the Error Flags can generate interrupts.
The Frame Error (FEn) Flag indicates the state of the first stop bit of the next readable frame
stored in the receive buffer. The FEn Flag is zero when the stop bit was correctly read (as one),
and the FEn Flag will be one when the stop bit was incorrect (zero). This flag can be used for
detecting out-of-sync conditions, detecting break conditions and protocol handling. The FEn
Flag is not affected by the setting of the USBSn bit in UCSRnC since the Receiver ignores all,
except for the first, stop bits. For compatibility with future devices, always set this bit to zero
when writing to UCSRnA.
The Data OverRun (DORn) Flag indicates data loss due to a receiver buffer full condition. A
Data OverRun occurs when the receive buffer is full (two characters), it is a new character waiting in the Receive Shift Register, and a new start bit is detected. If the DORn Flag is set there
was one or more serial frame lost between the frame last read from UDRn, and the next frame
read from UDRn. For compatibility with future devices, always write this bit to zero when writing
to UCSRnA. The DORn Flag is cleared when the frame received was successfully moved from
the Shift Register to the receive buffer.
The Parity Error (UPEn) Flag indicates that the next frame in the receive buffer had a Parity
Error when received. If Parity Check is not enabled the UPEn bit will always be read zero. For
compatibility with future devices, always set this bit to zero when writing to UCSRnA. For more
details see Parity Bit Calculation on page 172 and Parity Checker on page 181.

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19.7.5

Parity Checker
The Parity Checker is active when the high USART Parity mode (UPMn1) bit is set. Type of Parity Check to be performed (odd or even) is selected by the UPMn0 bit. When enabled, the Parity
Checker calculates the parity of the data bits in incoming frames and compares the result with
the parity bit from the serial frame. The result of the check is stored in the receive buffer together
with the received data and stop bits. The Parity Error (UPEn) Flag can then be read by software
to check if the frame had a Parity Error.
The UPEn bit is set if the next character that can be read from the receive buffer had a Parity
Error when received and the Parity Checking was enabled at that point (UPMn1 = 1). This bit is
valid until the receive buffer (UDRn) is read.

19.7.6

Disabling the Receiver

In contrast to the Transmitter, disabling of the Receiver will be immediate. Data from ongoing
receptions will therefore be lost. When disabled (i.e., the RXENn is set to zero) the Receiver will
no longer override the normal function of the RxDn port pin. The Receiver buffer FIFO will be
flushed when the Receiver is disabled. Remaining data in the buffer will be lost

19.7.7

Flushing the Receive Buffer

The receiver buffer FIFO will be flushed when the Receiver is disabled, i.e., the buffer will be
emptied of its contents. Unread data will be lost. If the buffer has to be flushed during normal
operation, due to for instance an error condition, read the UDRn I/O location until the RXCn Flag
is cleared. The following code example shows how to flush the receive buffer.
Assembly Code Example(1)
USART_Flush:
sbis UCSRnA, RXCn
ret
in

r16, UDRn

rjmp USART_Flush

C Code Example(1)
void USART_Flush( void )
{
unsigned char dummy;
while ( UCSRnA & (1<<RXCn) ) dummy = UDRn;
}
Note:

1. See About Code Examples on page 7.

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19.8

Asynchronous Data Reception

The USART includes a clock recovery and a data recovery unit for handling asynchronous data
reception. The clock recovery logic is used for synchronizing the internally generated baud rate
clock to the incoming asynchronous serial frames at the RxDn pin. The data recovery logic samples and low pass filters each incoming bit, thereby improving the noise immunity of the
Receiver. The asynchronous reception operational range depends on the accuracy of the internal baud rate clock, the rate of the incoming frames, and the frame size in number of bits.

19.8.1

Asynchronous Clock Recovery

The clock recovery logic synchronizes internal clock to the incoming serial frames. Figure 19-5
illustrates the sampling process of the start bit of an incoming frame. The sample rate is 16 times
the baud rate for Normal mode, and eight times the baud rate for Double Speed mode. The horizontal arrows illustrate the synchronization variation due to the sampling process. Note the
larger time variation when using the Double Speed mode (U2Xn = 1) of operation. Samples
denoted zero are samples done when the RxDn line is idle (i.e., no communication activity).
Figure 19-5. Start Bit Sampling
RxD

IDLE

START

BIT 0

Sample
(U2X = 0)

Sample
(U2X = 1)

When the clock recovery logic detects a high (idle) to low (start) transition on the RxDn line, the
start bit detection sequence is initiated. Let sample 1 denote the first zero-sample as shown in
the figure. The clock recovery logic then uses samples 8, 9, and 10 for Normal mode, and samples 4, 5, and 6 for Double Speed mode (indicated with sample numbers inside boxes on the
figure), to decide if a valid start bit is received. If two or more of these three samples have logical
high levels (the majority wins), the start bit is rejected as a noise spike and the Receiver starts
looking for the next high to low-transition. If however, a valid start bit is detected, the clock recovery logic is synchronized and the data recovery can begin. The synchronization process is
repeated for each start bit.
19.8.2

182

Asynchronous Data Recovery

When the receiver clock is synchronized to the start bit, the data recovery can begin. The data
recovery unit uses a state machine that has 16 states for each bit in Normal mode and eight
states for each bit in Double Speed mode. Figure 19-6 shows the sampling of the data bits and
the parity bit. Each of the samples is given a number that is equal to the state of the recovery
unit.

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Figure 19-6. Sampling of Data and Parity Bit
RxD

BIT n

Sample
(U2X = 0)

Sample
(U2X = 1)

The decision of the logic level of the received bit is taken by doing a majority voting of the logic
value to the three samples in the center of the received bit. The center samples are emphasized
on the figure by having the sample number inside boxes. The majority voting process is done as
follows: If two or all three samples have high levels, the received bit is registered to be a logic 1.
If two or all three samples have low levels, the received bit is registered to be a logic 0. This
majority voting process acts as a low pass filter for the incoming signal on the RxDn pin. The
recovery process is then repeated until a complete frame is received. Including the first stop bit.
Note that the Receiver only uses the first stop bit of a frame.
Figure 19-7 on page 183 shows the sampling of the stop bit and the earliest possible beginning
of the start bit of the next frame.
Figure 19-7. Stop Bit Sampling and Next Start Bit Sampling
RxD

STOP 1

(A)

(B)

(C)

Sample
(U2X = 0)

0/1

Sample
(U2X = 1)

0/1

The same majority voting is done to the stop bit as done for the other bits in the frame. If the stop
bit is registered to have a logic 0 value, the Frame Error (FEn) Flag will be set.
A new high to low transition indicating the start bit of a new frame can come right after the last of
the bits used for majority voting. For Normal Speed mode, the first low level sample can be at
point marked (A) in Figure 19-7. For Double Speed mode the first low level must be delayed to
(B). (C) marks a stop bit of full length. The early start bit detection influences the operational
range of the Receiver.
19.8.3

Asynchronous Operational Range

The operational range of the Receiver is dependent on the mismatch between the received bit
rate and the internally generated baud rate. If the Transmitter is sending frames at too fast or too
slow bit rates, or the internally generated baud rate of the Receiver does not have a similar (see
Table 19-2 on page 184) base frequency, the Receiver will not be able to synchronize the
frames to the start bit.

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The following equations can be used to calculate the ratio of the incoming data rate and internal
receiver baud rate.
( D + 2 )S
R fast = ----------------------------------( D + 1 )S + S M
( D + 1 )S
R slow = ------------------------------------------S 1 + D S + SF

Sum of character size and parity size (D = 5 to 10 bit)

Samples per bit. S = 16 for Normal Speed mode and S = 8 for Double Speed
mode.

First sample number used for majority voting. SF = 8 for normal speed and
SF = 4 for Double Speed mode.

Middle sample number used for majority voting. SM = 9 for normal speed and
SM = 5 for Double Speed mode.

Rslow

is the ratio of the slowest incoming data rate that can be accepted in relation to
the receiver baud rate. Rfast is the ratio of the fastest incoming data rate that can
be accepted in relation to the receiver baud rate.

Table 19-2 on page 184 and Table 19-3 on page 185 list the maximum receiver baud rate error
that can be tolerated. Note that Normal Speed mode has higher toleration of baud rate
variations.
Table 19-2.

184

Recommended Maximum Receiver Baud Rate Error for Normal Speed Mode
(U2Xn = 0)

D
# (Data+Parity Bit)

Rslow (%)

Rfast (%)

Max Total Error (%)

Recommended Max
Receiver Error (%)

93.20

106.67

+6.67/-6.8

3.0

94.12

105.79

+5.79/-5.88

2.5

94.81

105.11

+5.11/-5.19

2.0

95.36

104.58

+4.58/-4.54

2.0

95.81

104.14

+4.14/-4.19

1.5

96.17

103.78

+3.78/-3.83

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Table 19-3.

Recommended Maximum Receiver Baud Rate Error for Double Speed Mode
(U2Xn = 1)

D
# (Data+Parity Bit)

Rslow (%)

Rfast (%)

Max Total Error (%)

Recommended Max
Receiver Error (%)

94.12

105.66

+5.66/-5.88

2.5

94.92

104.92

+4.92/-5.08

2.0

95.52

104,35

+4.35/-4.48

1.5

96.00

103.90

+3.90/-4.00

1.5

96.39

103.53

+3.53/-3.61

1.5

96.70

103.23

+3.23/-3.30

1.0

The recommendations of the maximum receiver baud rate error was made under the assumption that the Receiver and Transmitter equally divides the maximum total error.
There are two possible sources for the receivers baud rate error. The Receivers system clock
(XTAL) will always have some minor instability over the supply voltage range and the temperature range. When using a crystal to generate the system clock, this is rarely a problem, but for a
resonator the system clock may differ more than 2% depending of the resonators tolerance. The
second source for the error is more controllable. The baud rate generator can not always do an
exact division of the system frequency to get the baud rate wanted. In this case an UBRRn value
that gives an acceptable low error can be used if possible.

19.9

Multi-processor Communication Mode

Setting the Multi-processor Communication mode (MPCMn) bit in UCSRnA enables a filtering
function of incoming frames received by the USART Receiver. Frames that do not contain
address information will be ignored and not put into the receive buffer. This effectively reduces
the number of incoming frames that has to be handled by the CPU, in a system with multiple
MCUs that communicate via the same serial bus. The Transmitter is unaffected by the MPCMn
setting, but has to be used differently when it is a part of a system utilizing the Multi-processor
Communication mode.
If the Receiver is set up to receive frames that contain 5 to 8 data bits, then the first stop bit indicates if the frame contains data or address information. If the Receiver is set up for frames with
nine data bits, then the ninth bit (RXB8n) is used for identifying address and data frames. When
the frame type bit (the first stop or the ninth bit) is one, the frame contains an address. When the
frame type bit is zero the frame is a data frame.
The Multi-processor Communication mode enables several slave MCUs to receive data from a
master MCU. This is done by first decoding an address frame to find out which MCU has been
addressed. If a particular slave MCU has been addressed, it will receive the following data
frames as normal, while the other slave MCUs will ignore the received frames until another
address frame is received.

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19.9.1

Using MPCMn
For an MCU to act as a master MCU, it can use a 9-bit character frame format (UCSZn = 7). The
ninth bit (TXB8n) must be set when an address frame (TXB8n = 1) or cleared when a data frame
(TXB = 0) is being transmitted. The slave MCUs must in this case be set to use a 9-bit character
frame format.
The following procedure should be used to exchange data in Multi-processor Communication
mode:
1. All Slave MCUs are in Multi-processor Communication mode (MPCMn in
UCSRnA is set).
2. The Master MCU sends an address frame, and all slaves receive and read this frame. In
the Slave MCUs, the RXCn Flag in UCSRnA will be set as normal.
3. Each Slave MCU reads the UDRn Register and determines if it has been selected. If so,
it clears the MPCMn bit in UCSRnA, otherwise it waits for the next address byte and
keeps the MPCMn setting.
4. The addressed MCU will receive all data frames until a new address frame is received.
The other Slave MCUs, which still have the MPCMn bit set, will ignore the data frames.
5. When the last data frame is received by the addressed MCU, the addressed MCU sets
the MPCMn bit and waits for a new address frame from master. The process then
repeats from 2.
Using any of the 5- to 8-bit character frame formats is possible, but impractical since the
Receiver must change between using n and n+1 character frame formats. This makes
full-duplex operation difficult since the Transmitter and Receiver uses the same character size
setting. If 5- to 8-bit character frames are used, the Transmitter must be set to use two stop bit
(USBSn = 1) since the first stop bit is used for indicating the frame type.
Do not use Read-Modify-Write instructions (SBI and CBI) to set or clear the MPCMn bit. The
MPCMn bit shares the same I/O location as the TXCn Flag and this might accidentally be
cleared when using SBI or CBI instructions.

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19.10 Register Description
19.10.1

UDRn USART I/O Data Register n

Bit

RXB[7:0]

UDRn (Read)

TXB[7:0]

UDRn (Write)

Read/Write

R/W

Initial Value

The USART Transmit Data Buffer Register and USART Receive Data Buffer Registers share the
same I/O address referred to as USART Data Register or UDRn. The Transmit Data Buffer Register (TXB) will be the destination for data written to the UDRn Register location. Reading the
UDRn Register location will return the contents of the Receive Data Buffer Register (RXB).
For 5-, 6-, or 7-bit characters the upper unused bits will be ignored by the Transmitter and set to
zero by the Receiver.
The transmit buffer can only be written when the UDREn Flag in the UCSRnA Register is set.
Data written to UDRn when the UDREn Flag is not set, will be ignored by the USART Transmitter. When data is written to the transmit buffer, and the Transmitter is enabled, the Transmitter
will load the data into the Transmit Shift Register when the Shift Register is empty. Then the
data will be serially transmitted on the TxDn pin.
The receive buffer consists of a two level FIFO. The FIFO will change its state whenever the
receive buffer is accessed. Due to this behavior of the receive buffer, do not use Read-Modify-Write instructions (SBI and CBI) on this location. Be careful when using bit test instructions
(SBIC and SBIS), since these also will change the state of the FIFO.
19.10.2

UCSRnA USART Control and Status Register n A

Bit

RXCn

TXCn

UDREn

FEn

DORn

UPEn

U2Xn

MPCMn

Read/Write

R/W

Initial Value

UCSRnA

Bit 7 RXCn: USART Receive Complete

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Bit 5 UDREn: USART Data Register Empty

The UDREn Flag indicates if the transmit buffer (UDRn) is ready to receive new data. If UDREn
is one, the buffer is empty, and therefore ready to be written. The UDREn Flag can generate a
Data Register Empty interrupt (see description of the UDRIEn bit). UDREn is set after a reset to
indicate that the Transmitter is ready.
Bit 4 FEn: Frame Error
This bit is set if the next character in the receive buffer had a Frame Error when received. I.e.,
when the first stop bit of the next character in the receive buffer is zero. This bit is valid until the
receive buffer (UDRn) is read. The FEn bit is zero when the stop bit of received data is one.
Always set this bit to zero when writing to UCSRnA.
Bit 3 DORn: Data OverRun
This bit is set if a Data OverRun condition is detected. A Data OverRun occurs when the receive
buffer is full (two characters), it is a new character waiting in the Receive Shift Register, and a
new start bit is detected. This bit is valid until the receive buffer (UDRn) is read. Always set this
bit to zero when writing to UCSRnA.
Bit 2 UPEn: USART Parity Error
This bit is set if the next character in the receive buffer had a Parity Error when received and the
Parity Checking was enabled at that point (UPMn1 = 1). This bit is valid until the receive buffer
(UDRn) is read. Always set this bit to zero when writing to UCSRnA.
Bit 1 U2Xn: Double the USART Transmission Speed
This bit only has effect for the asynchronous operation. Write this bit to zero when using synchronous operation.
Writing this bit to one will reduce the divisor of the baud rate divider from 16 to 8 effectively doubling the transfer rate for asynchronous communication.
Bit 0 MPCMn: Multi-processor Communication Mode
This bit enables the Multi-processor Communication mode. When the MPCMn bit is written to
one, all the incoming frames received by the USART Receiver that do not contain address information will be ignored. The Transmitter is unaffected by the MPCMn setting. For more detailed
information see Multi-processor Communication Mode on page 185.
19.10.3

UCSRnB USART Control and Status Register n B

Bit

RXCIEn

TXCIEn

UDRIEn

RXENn

TXENn

UCSZn2

RXB8n

TXB8n

Read/Write

R/W

Initial Value

UCSRnB

Bit 7 RXCIEn: RX Complete Interrupt Enable n

Writing this bit to one enables interrupt on the RXCn Flag. A USART Receive Complete interrupt
will be generated only if the RXCIEn bit is written to one, the Global Interrupt Flag in SREG is
written to one and the RXCn bit in UCSRnA is set.

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Bit 6 TXCIEn: TX Complete Interrupt Enable n
Writing this bit to one enables interrupt on the TXCn Flag. A USART Transmit Complete interrupt
will be generated only if the TXCIEn bit is written to one, the Global Interrupt Flag in SREG is
written to one and the TXCn bit in UCSRnA is set.
Bit 5 UDRIEn: USART Data Register Empty Interrupt Enable n
Writing this bit to one enables interrupt on the UDREn Flag. A Data Register Empty interrupt will
be generated only if the UDRIEn bit is written to one, the Global Interrupt Flag in SREG is written
to one and the UDREn bit in UCSRnA is set.
Bit 4 RXENn: Receiver Enable n
Writing this bit to one enables the USART Receiver. The Receiver will override normal port operation for the RxDn pin when enabled. Disabling the Receiver will flush the receive buffer
invalidating the FEn, DORn, and UPEn Flags.
Bit 3 TXENn: Transmitter Enable n
Writing this bit to one enables the USART Transmitter. The Transmitter will override normal port
operation for the TxDn pin when enabled. The disabling of the Transmitter (writing TXENn to
zero) will not become effective until ongoing and pending transmissions are completed, i.e.,
when the Transmit Shift Register and Transmit Buffer Register do not contain data to be transmitted. When disabled, the Transmitter will no longer override the TxDn port.
Bit 2 UCSZn2: Character Size n
The UCSZn2 bits combined with the UCSZn1:0 bit in UCSRnC sets the number of data bits
(Character SiZe) in a frame the Receiver and Transmitter use.
Bit 1 RXB8n: Receive Data Bit 8 n
RXB8n is the ninth data bit of the received character when operating with serial frames with nine
data bits. Must be read before reading the low bits from UDRn.
Bit 0 TXB8n: Transmit Data Bit 8 n
TXB8n is the ninth data bit in the character to be transmitted when operating with serial frames
with nine data bits. Must be written before writing the low bits to UDRn.
19.10.4

UCSRnC USART Control and Status Register n C

Bit

UMSELn1

UMSELn0

UPMn1

UPMn0

USBSn

UCSZn1

UCSZn0

UCPOLn

Read/Write

R/W

Initial Value

UCSRnC

Bits 7:6 UMSELn1:0 USART Mode Select

These bits select the mode of operation of the USARTn as shown in Table 19-4.

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Table 19-4.

Note:

UMSELn Bits Settings

UMSELn1

UMSELn0

Mode

Asynchronous USART

Synchronous USART

(Reserved)

Master SPI (MSPIM)(1)

1. See USART in SPI Mode on page 196 for full description of the Master SPI Mode (MSPIM)
operation

Bits 5:4 UPMn1:0: Parity Mode

These bits enable and set type of parity generation and check. If enabled, the Transmitter will
automatically generate and send the parity of the transmitted data bits within each frame. The
Receiver will generate a parity value for the incoming data and compare it to the UPMn setting.
If a mismatch is detected, the UPEn Flag in UCSRnA will be set.
Table 19-5.

UPMn Bits Settings

UPMn1

UPMn0

Parity Mode

Disabled

Reserved

Enabled, Even Parity

Enabled, Odd Parity

Bit 3 USBSn: Stop Bit Select

This bit selects the number of stop bits to be inserted by the Transmitter. The Receiver ignores
this setting.
Table 19-6.

USBS Bit Settings

USBSn

Stop Bit(s)

1-bit

2-bit

Bit 2:1 UCSZn1:0: Character Size

The UCSZn1:0 bits combined with the UCSZn2 bit in UCSRnB sets the number of data bits
(Character SiZe) in a frame the Receiver and Transmitter use.

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Table 19-7.

UCSZn Bits Settings

UCSZn2

UCSZn1

UCSZn0

Character Size

5-bit

6-bit

7-bit

8-bit

Reserved

9-bit

Bit 0 UCPOLn: Clock Polarity

This bit is used for synchronous mode only. Write this bit to zero when asynchronous mode is
used. The UCPOLn bit sets the relationship between data output change and data input sample,
and the synchronous clock (XCKn).

Table 19-8.

Transmitted Data Changed (Output of

TxDn Pin)

Received Data Sampled (Input on RxDn

Pin)

Rising XCKn Edge

Falling XCKn Edge

Rising XCKn Edge

UCPOLn

19.10.5

UCPOLn Bit Settings

UBRRnL and UBRRnH USART Baud Rate Registers

Bit

UBRRn[11:8]

UBRRnH

UBRRn[7:0]
7
Read/Write

Initial Value

UBRRnL

R/W

Bit 15:12 Reserved Bits

These bits are reserved for future use. For compatibility with future devices, these bit must be
written to zero when UBRRnH is written.
Bit 11:0 UBRR11:0: USART Baud Rate Register
This is a 12-bit register which contains the USART baud rate. The UBRRnH contains the four
most significant bits, and the UBRRnL contains the eight least significant bits of the USART
baud rate. Ongoing transmissions by the Transmitter and Receiver will be corrupted if the baud
rate is changed. Writing UBRRnL will trigger an immediate update of the baud rate prescaler.

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19.11 Examples of Baud Rate Setting

For standard crystal and resonator frequencies, the most commonly used baud rates for asynchronous operation can be generated by using the UBRRn settings in Table 19-9. UBRRn
values which yield an actual baud rate differing less than 0.5% from the target baud rate, are
bold in the table. Higher error ratings are acceptable, but the Receiver will have less noise resistance when the error ratings are high, especially for large serial frames (see Asynchronous
Operational Range on page 183). The error values are calculated using the following equation:

BaudRate Closest Match

Error[%] = ------------------------------------------------------- 1 100%
BaudRate

Table 19-9.

Examples of UBRRn Settings for Commonly Used Oscillator Frequencies

fosc = 1.0000 MHz

fosc = 1.8432 MHz

Baud
Rate
(bps)

UBRRn

2400

0.2%

4800

0.2%

9600

-7.0%

14.4k

8.5%

19.2k

28.8k

U2Xn = 0

U2Xn = 1

UBRRn

Error

0.0%

0.2%

103

0.2%

0.0%

0.2%

0.0%

0.2%

-3.5%

0.0%

-3.5%

2.1%

8.5%

-7.0%

0.0%

-7.0%

0.2%

8.5%

0.0%

8.5%

-3.5%

38.4k

-18.6%

8.5%

0.0%

8.5%

-7.0%

57.6k

8.5%

0.0%

8.5%

76.8k

-18.6%

-25.0%

0.0%

-18.6%

8.5%

115.2k

8.5%

0.0%

8.5%

230.4k

0.0%

250k

0.0%

Note:

192

125 kbps

UBRRn

Error

U2Xn = 1
UBRRn

62.5 kbps

Error

U2Xn = 0

Error

Max.

UBRRn

U2Xn = 1
UBRRn

(1)

Error

U2Xn = 0

fosc = 2.0000 MHz

115.2 kbps

230.4 kbps

Error

125 kbps

250 kbps

1. UBRRn = 0, Error = 0.0%

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Atmel ATmega328P [Preliminary]

Table 19-10. Examples of UBRRn Settings for Commonly Used Oscillator Frequencies (Continued)
fosc = 3.6864 MHz
Baud
Rate
(bps)

U2Xn = 0

fosc = 4.0000 MHz

U2Xn = 1

U2Xn = 0

fosc = 7.3728 MHz

U2Xn = 1

U2Xn = 0

U2Xn = 1

UBRRn

Error

UBRRn

Error

UBRRn

Error

UBRRn

Error

UBRRn

Error

UBRRn

Error

2400

0.0%

191

0.0%

103

0.2%

207

0.2%

191

0.0%

383

0.0%

4800

0.0%

0.2%

103

0.2%

0.0%

191

0.0%

9600

0.0%

0.2%

0.0%

14.4k

0.0%

2.1%

-0.8%

0.0%

19.2k

0.0%

0.2%

0.0%

28.8k

0.0%

-3.5%

2.1%

0.0%

38.4k

0.0%

-7.0%

0.2%

0.0%

57.6k

0.0%

8.5%

-3.5%

0.0%

76.8k

0.0%

8.5%

-7.0%

0.0%

115.2k

0.0%

8.5%

0.0%

230.4k

0.0%

8.5%

0.0%

250k

-7.8%

0.0%

-7.8%

0.5M

-7.8%

0.0%

-7.8%

Max. (1)

230.4 kbps

460.8 kbps

250 kbps

0.5 Mbps

460.8 kbps

921.6 kbps

UBRRn = 0, Error = 0.0%

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Table 19-11. Examples of UBRRn Settings for Commonly Used Oscillator Frequencies (Continued)
fosc = 11.0592 MHz

fosc = 8.0000 MHz

fosc = 14.7456 MHz

Baud
Rate
(bps)

UBRRn

Error

UBRRn

Error

UBRRn

Error

UBRRn

Error

UBRRn

Error

UBRRn

Error

2400

207

0.2%

416

-0.1%

287

0.0%

575

0.0%

383

0.0%

767

0.0%

4800

103

0.2%

207

0.2%

143

0.0%

287

0.0%

191

0.0%

383

0.0%

9600

0.2%

103

0.2%

0.0%

143

0.0%

191

0.0%

14.4k

-0.8%

0.6%

0.0%

127

0.0%

19.2k

0.2%

0.0%

28.8k

2.1%

-0.8%

0.0%

38.4k

0.2%

0.0%

57.6k

-3.5%

2.1%

0.0%

76.8k

-7.0%

0.2%

0.0%

115.2k

8.5%

-3.5%

0.0%

230.4k

8.5%

0.0%

250k

0.0%

-7.8%

5.3%

0.5M

0.0%

-7.8%

0.0%

-7.8%

Max. (1)

0.5 Mbps

194

U2Xn = 0

U2Xn = 1

1 Mbps

U2Xn = 0

U2Xn = 1

691.2 kbps

U2Xn = 0

1.3824 Mbps

921.6 kbps

U2Xn = 1

1.8432 Mbps

UBRRn = 0, Error = 0.0%

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Atmel ATmega328P [Preliminary]

Table 19-12. Examples of UBRRn Settings for Commonly Used Oscillator Frequencies
(Continued)
fosc = 16.0000 MHz
U2Xn = 0
Baud Rate (bps)

UBRRn

U2Xn = 1

Error

UBRRn

Error

2400

416

-0.1%

832

0.0%

4800

207

0.2%

416

-0.1%

9600

103

0.2%

207

0.2%

14.4k

0.6%

138

-0.1%

19.2k

0.2%

103

0.2%

28.8k

-0.8%

0.6%

38.4k

0.2%

57.6k

2.1%

-0.8%

76.8k

0.2%

115.2k

-3.5%

2.1%

230.4k

8.5%

-3.5%

250k

0.0%

0.5M

0.0%

Max. (1)
1.

1 Mbps

2 Mbps

UBRRn = 0, Error = 0.0%

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20. USART in SPI Mode

20.1

Features

20.2

Full Duplex, Three-wire Synchronous Data Transfer

Master Operation
Supports all four SPI Modes of Operation (Mode 0, 1, 2, and 3)
LSB First or MSB First Data Transfer (Configurable Data Order)
Queued Operation (Double Buffered)
High Resolution Baud Rate Generator
High Speed Operation (fXCKmax = fCK/2)
Flexible Interrupt Generation

Overview
The Universal Synchronous and Asynchronous serial Receiver and Transmitter (USART) can be
set to a master SPI compliant mode of operation.
Setting both UMSELn1:0 bits to one enables the USART in MSPIM logic. In this mode of operation the SPI master control logic takes direct control over the USART resources. These
resources include the transmitter and receiver shift register and buffers, and the baud rate generator. The parity generator and checker, the data and clock recovery logic, and the RX and TX
control logic is disabled. The USART RX and TX control logic is replaced by a common SPI
transfer control logic. However, the pin control logic and interrupt generation logic is identical in
both modes of operation.
The I/O register locations are the same in both modes. However, some of the functionality of the
control registers changes when using MSPIM.

20.3

Clock Generation
The Clock Generation logic generates the base clock for the Transmitter and Receiver. For
USART MSPIM mode of operation only internal clock generation (i.e. master operation) is supported. The Data Direction Register for the XCKn pin (DDR_XCKn) must therefore be set to one
(i.e. as output) for the USART in MSPIM to operate correctly. Preferably the DDR_XCKn should
be set up before the USART in MSPIM is enabled (i.e. TXENn and RXENn bit set to one).
The internal clock generation used in MSPIM mode is identical to the USART synchronous master mode. The baud rate or UBRRn setting can therefore be calculated using the same
equations, see Table 20-1:

Table 20-1.

Equations for Calculating Baud Rate Register Setting

Operating Mode

Synchronous Master
mode

196

Equation for Calculating Baud

Rate(1)

Equation for Calculating UBRRn

Value

f OSC
BAUD = -------------------------------------2 ( UBRRn + 1 )

f OSC
UBRRn = -------------------1
2BAUD

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Note:

20.4

1. The baud rate is defined to be the transfer rate in bit per second (bps)

BAUD

Baud rate (in bits per second, bps)

fOSC

System Oscillator clock frequency

UBRRn

Contents of the UBRRnH and UBRRnL Registers, (0-4095)

SPI Data Modes and Timing

There are four combinations of XCKn (SCK) phase and polarity with respect to serial data, which
are determined by control bits UCPHAn and UCPOLn. The data transfer timing diagrams are
shown in Figure 20-1. Data bits are shifted out and latched in on opposite edges of the XCKn
signal, ensuring sufficient time for data signals to stabilize. The UCPOLn and UCPHAn functionality is summarized in Table 20-2. Note that changing the setting of any of these bits will corrupt
all ongoing communication for both the Receiver and Transmitter.
Table 20-2.

UCPOLn and UCPHAn Functionality-

UCPOLn

UCPHAn

SPI Mode

Leading Edge

Trailing Edge

Sample (Rising)

Setup (Falling)

Setup (Rising)

Sample (Falling)

Setup (Rising)

Setup (Falling)

Sample (Rising)

Figure 20-1. UCPHAn and UCPOLn data transfer timing diagrams.

UCPHA=0

UCPHA=1

UCPOL=0

20.5

UCPOL=1

XCK

Data setup (TXD)

Data sample (RXD)

XCK

Data setup (TXD)

Data sample (RXD)

Frame Formats
A serial frame for the MSPIM is defined to be one character of 8 data bits. The USART in MSPIM
mode has two valid frame formats:
8-bit data with MSB first
8-bit data with LSB first
A frame starts with the least or most significant data bit. Then the next data bits, up to a total of
eight, are succeeding, ending with the most or least significant bit accordingly. When a complete
frame is transmitted, a new frame can directly follow it, or the communication line can be set to
an idle (high) state.

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The UDORDn bit in UCSRnC sets the frame format used by the USART in MSPIM mode. The
Receiver and Transmitter use the same setting. Note that changing the setting of any of these
bits will corrupt all ongoing communication for both the Receiver and Transmitter.
16-bit data transfer can be achieved by writing two data bytes to UDRn. A UART transmit complete interrupt will then signal that the 16-bit value has been shifted out.
20.5.1

USART MSPIM Initialization

The USART in MSPIM mode has to be initialized before any communication can take place. The
initialization process normally consists of setting the baud rate, setting master mode of operation
(by setting DDR_XCKn to one), setting frame format and enabling the Transmitter and the
Receiver. Only the transmitter can operate independently. For interrupt driven USART operation, the Global Interrupt Flag should be cleared (and thus interrupts globally disabled) when
doing the initialization.
Note:

To ensure immediate initialization of the XCKn output the baud-rate register (UBRRn) must be
zero at the time the transmitter is enabled. Contrary to the normal mode USART operation the
UBRRn must then be written to the desired value after the transmitter is enabled, but before the
first transmission is started. Setting UBRRn to zero before enabling the transmitter is not necessary if the initialization is done immediately after a reset since UBRRn is reset to zero.

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Assembly Code Example(1)
USART_MSPIM_Transfer:
; Wait for empty transmit buffer
sbis UCSRnA, UDREn
rjmp USART_MSPIM_Transfer
; Put data (r16) into buffer, sends the data
out UDRn,r16
; Wait for data to be received
USART_MSPIM_Wait_RXCn:
sbis UCSRnA, RXCn
rjmp USART_MSPIM_Wait_RXCn
; Get and return received data from buffer
in r16, UDRn
ret

C Code Example(1)
unsigned char USART_Receive( void )
{
/* Wait for empty transmit buffer */
while ( !( UCSRnA & (1<<UDREn)) );
/* Put data into buffer, sends the data */
UDRn = data;
/* Wait for data to be received */
while ( !(UCSRnA & (1<<RXCn)) );
/* Get and return received data from buffer */
return UDRn;
}
Note:

1. See About Code Examples on page 7.

20.6.1

Transmitter and Receiver Flags and Interrupts

The RXCn, TXCn, and UDREn flags and corresponding interrupts in USART in MSPIM mode
are identical in function to the normal USART operation. However, the receiver error status flags
(FE, DOR, and PE) are not in use and is always read as zero.

20.6.2

Disabling the Transmitter or Receiver

The disabling of the transmitter or receiver in USART in MSPIM mode is identical in function to
the normal USART operation.

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20.7

AVR USART MSPIM vs. AVR SPI

The USART in MSPIM mode is fully compatible with the AVR SPI regarding:
Master mode timing diagram.
The UCPOLn bit functionality is identical to the SPI CPOL bit.
The UCPHAn bit functionality is identical to the SPI CPHA bit.
The UDORDn bit functionality is identical to the SPI DORD bit.
However, since the USART in MSPIM mode reuses the USART resources, the use of the
USART in MSPIM mode is somewhat different compared to the SPI. In addition to differences of
the control register bits, and that only master operation is supported by the USART in MSPIM
mode, the following features differ between the two modules:
The USART in MSPIM mode includes (double) buffering of the transmitter. The SPI has no
buffer.
The USART in MSPIM mode receiver includes an additional buffer level.
The SPI WCOL (Write Collision) bit is not included in USART in MSPIM mode.
The SPI double speed mode (SPI2X) bit is not included. However, the same effect is achieved
by setting UBRRn accordingly.
Interrupt timing is not compatible.
Pin control differs due to the master only operation of the USART in MSPIM mode.
A comparison of the USART in MSPIM mode and the SPI pins is shown in Table 20-3 on page
202.
Table 20-3.

202

Comparison of USART in MSPIM mode and SPI pins.

USART_MSPIM

SPI

Comment

TxDn

MOSI

Master Out only

RxDn

MISO

Master In only

XCKn

SCK

(Functionally identical)

(N/A)

Not supported by USART in

MSPIM

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20.8

20.8.1

UDRn USART MSPIM I/O Data Register

The function and bit description of the USART data register (UDRn) in MSPI mode is identical to
normal USART operation. See UDRn USART I/O Data Register n on page 187.

20.8.2

UCSRnA USART MSPIM Control and Status Register n A

Bit

RXCn

TXCn

UDREn

0
-

Read/Write

R/W

Initial Value

UCSRnA

Bit 7 - RXCn: USART Receive Complete

This flag bit is set when there are unread data in the receive buffer and cleared when the receive
buffer is empty (i.e., does not contain any unread data). If the Receiver is disabled, the receive
buffer will be flushed and consequently the RXCn bit will become zero. The RXCn Flag can be
used to generate a Receive Complete interrupt (see description of the RXCIEn bit).
Bit 6 - TXCn: USART Transmit Complete
This flag bit is set when the entire frame in the Transmit Shift Register has been shifted out and
there are no new data currently present in the transmit buffer (UDRn). The TXCn Flag bit is automatically cleared when a transmit complete interrupt is executed, or it can be cleared by writing
a one to its bit location. The TXCn Flag can generate a Transmit Complete interrupt (see
description of the TXCIEn bit).
Bit 5 - UDREn: USART Data Register Empty
The UDREn Flag indicates if the transmit buffer (UDRn) is ready to receive new data. If UDREn
is one, the buffer is empty, and therefore ready to be written. The UDREn Flag can generate a
Data Register Empty interrupt (see description of the UDRIE bit). UDREn is set after a reset to
indicate that the Transmitter is ready.
Bit 4:0 - Reserved Bits in MSPI mode
When in MSPI mode, these bits are reserved for future use. For compatibility with future devices,
these bits must be written to zero when UCSRnA is written.
20.8.3

UCSRnB USART MSPIM Control and Status Register n B

Bit

RXCIEn

TXCIEn

UDRIE

RXENn

TXENn

0
-

Read/Write

R/W

Initial Value

UCSRnB

Bit 7 - RXCIEn: RX Complete Interrupt Enable

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Bit 6 - TXCIEn: TX Complete Interrupt Enable

Writing this bit to one enables interrupt on the TXCn Flag. A USART Transmit Complete interrupt
will be generated only if the TXCIEn bit is written to one, the Global Interrupt Flag in SREG is
written to one and the TXCn bit in UCSRnA is set.
Bit 5 - UDRIE: USART Data Register Empty Interrupt Enable
Writing this bit to one enables interrupt on the UDREn Flag. A Data Register Empty interrupt will
be generated only if the UDRIE bit is written to one, the Global Interrupt Flag in SREG is written
to one and the UDREn bit in UCSRnA is set.
Bit 4 - RXENn: Receiver Enable
Writing this bit to one enables the USART Receiver in MSPIM mode. The Receiver will override
normal port operation for the RxDn pin when enabled. Disabling the Receiver will flush the
receive buffer. Only enabling the receiver in MSPI mode (i.e. setting RXENn=1 and TXENn=0)
has no meaning since it is the transmitter that controls the transfer clock and since only master
mode is supported.
Bit 3 - TXENn: Transmitter Enable
Writing this bit to one enables the USART Transmitter. The Transmitter will override normal port
operation for the TxDn pin when enabled. The disabling of the Transmitter (writing TXENn to
zero) will not become effective until ongoing and pending transmissions are completed, i.e.,
when the Transmit Shift Register and Transmit Buffer Register do not contain data to be transmitted. When disabled, the Transmitter will no longer override the TxDn port.
Bit 2:0 - Reserved Bits in MSPI mode
When in MSPI mode, these bits are reserved for future use. For compatibility with future devices,
these bits must be written to zero when UCSRnB is written.
20.8.4

UCSRnC USART MSPIM Control and Status Register n C

Bit

UMSELn1

UMSELn0

UDORDn

UCPHAn

UCPOLn

Read/Write

R/W

Initial Value

UCSRnC

Bit 7:6 - UMSELn1:0: USART Mode Select

These bits select the mode of operation of the USART as shown in Table 20-4. See UCSRnC
USART Control and Status Register n C on page 189 for full description of the normal USART
operation. The MSPIM is enabled when both UMSELn bits are set to one. The UDORDn,
UCPHAn, and UCPOLn can be set in the same write operation where the MSPIM is enabled.

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Table 20-4.

UMSELn Bits Settings

UMSELn1

UMSELn0

Mode

Asynchronous USART

Synchronous USART

Reserved

Master SPI (MSPIM)

Bit 5:3 - Reserved Bits in MSPI mode

When in MSPI mode, these bits are reserved for future use. For compatibility with future devices,
these bits must be written to zero when UCSRnC is written.
Bit 2 - UDORDn: Data Order
When set to one the LSB of the data word is transmitted first. When set to zero the MSB of the
data word is transmitted first. Refer to the Frame Formats section page 4 for details.
Bit 1 - UCPHAn: Clock Phase
The UCPHAn bit setting determine if data is sampled on the leasing edge (first) or tailing (last)
edge of XCKn. Refer to the SPI Data Modes and Timing section page 4 for details.
Bit 0 - UCPOLn: Clock Polarity
The UCPOLn bit sets the polarity of the XCKn clock. The combination of the UCPOLn and
UCPHAn bit settings determine the timing of the data transfer. Refer to the SPI Data Modes and
Timing section page 4 for details.
20.8.5

USART MSPIM Baud Rate Registers - UBRRnL and UBRRnH

The function and bit description of the baud rate registers in MSPI mode is identical to normal
USART operation. See UBRRnL and UBRRnH USART Baud Rate Registers on page 191.

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21. 2-wire Serial Interface

21.1

Features

21.2

Simple Yet Powerful and Flexible Communication Interface, only two Bus Lines Needed
Both Master and Slave Operation Supported
Device can Operate as Transmitter or Receiver
7-bit Address Space Allows up to 128 Different Slave Addresses
Multi-master Arbitration Support
Up to 400 kHz Data Transfer Speed
Slew-rate Limited Output Drivers
Noise Suppression Circuitry Rejects Spikes on Bus Lines
Fully Programmable Slave Address with General Call Support
Address Recognition Causes Wake-up When AVR is in Sleep Mode
Compatible with Philips I2C protocol

2-wire Serial Interface Bus Definition

The 2-wire Serial Interface (TWI) is ideally suited for typical microcontroller applications. The
TWI protocol allows the systems designer to interconnect up to 128 different devices using only
two bi-directional bus lines, one for clock (SCL) and one for data (SDA). The only external hardware needed to implement the bus is a single pull-up resistor for each of the TWI bus lines. All
devices connected to the bus have individual addresses, and mechanisms for resolving bus
contention are inherent in the TWI protocol.
Figure 21-1. TWI Bus Interconnection
VCC

Device 1

Device 2

Device 3

........

Device n

SDA

SCL

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21.2.1

TWI Terminology
The following definitions are frequently encountered in this section.
Table 21-1.

TWI Terminology

Term

Description

Master

The device that initiates and terminates a transmission. The Master also generates the
SCL clock.

Slave

The device addressed by a Master.

Transmitter

The device placing data on the bus.

Receiver

The device reading data from the bus.

The PRTWI bit in Minimizing Power Consumption on page 40 must be written to zero to enable
the 2-wire Serial Interface.
21.2.2

Electrical Interconnection
As depicted in Figure 21-1, both bus lines are connected to the positive supply voltage through
pull-up resistors. The bus drivers of all TWI-compliant devices are open-drain or open-collector.
This implements a wired-AND function which is essential to the operation of the interface. A low
level on a TWI bus line is generated when one or more TWI devices output a zero. A high level
is output when all TWI devices tri-state their outputs, allowing the pull-up resistors to pull the line
high. Note that all AVR devices connected to the TWI bus must be powered in order to allow any
bus operation.
The number of devices that can be connected to the bus is only limited by the bus capacitance
limit of 400 pF and the 7-bit slave address space. A detailed specification of the electrical characteristics of the TWI is given in 2-wire Serial Interface Characteristics on page 311. Two
different sets of specifications are presented there, one relevant for bus speeds below 100 kHz,
and one valid for bus speeds up to 400 kHz.

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21.3
21.3.1

Data Transfer and Frame Format

Transferring Bits
Each data bit transferred on the TWI bus is accompanied by a pulse on the clock line. The level
of the data line must be stable when the clock line is high. The only exception to this rule is for
generating start and stop conditions.
Figure 21-2. Data Validity

SDA

SCL
Data Stable

Data Stable

Data Change
21.3.2

START and STOP Conditions

The Master initiates and terminates a data transmission. The transmission is initiated when the
Master issues a START condition on the bus, and it is terminated when the Master issues a
STOP condition. Between a START and a STOP condition, the bus is considered busy, and no
other master should try to seize control of the bus. A special case occurs when a new START
condition is issued between a START and STOP condition. This is referred to as a REPEATED
START condition, and is used when the Master wishes to initiate a new transfer without relinquishing control of the bus. After a REPEATED START, the bus is considered busy until the next
STOP. This is identical to the START behavior, and therefore START is used to describe both
START and REPEATED START for the remainder of this datasheet, unless otherwise noted. As
depicted below, START and STOP conditions are signalled by changing the level of the SDA
line when the SCL line is high.
Figure 21-3. START, REPEATED START and STOP conditions

SDA

SCL

START

208

STOP

START

REPEATED START

STOP

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21.3.3

Address Packet Format

All address packets transmitted on the TWI bus are 9 bits long, consisting of 7 address bits, one
READ/WRITE control bit and an acknowledge bit. If the READ/WRITE bit is set, a read operation is to be performed, otherwise a write operation should be performed. When a Slave
recognizes that it is being addressed, it should acknowledge by pulling SDA low in the ninth SCL
(ACK) cycle. If the addressed Slave is busy, or for some other reason can not service the Masters request, the SDA line should be left high in the ACK clock cycle. The Master can then
transmit a STOP condition, or a REPEATED START condition to initiate a new transmission. An
address packet consisting of a slave address and a READ or a WRITE bit is called SLA+R or
SLA+W, respectively.
The MSB of the address byte is transmitted first. Slave addresses can freely be allocated by the
designer, but the address 0000 000 is reserved for a general call.
When a general call is issued, all slaves should respond by pulling the SDA line low in the ACK
cycle. A general call is used when a Master wishes to transmit the same message to several
slaves in the system. When the general call address followed by a Write bit is transmitted on the
bus, all slaves set up to acknowledge the general call will pull the SDA line low in the ack cycle.
The following data packets will then be received by all the slaves that acknowledged the general
call. Note that transmitting the general call address followed by a Read bit is meaningless, as
this would cause contention if several slaves started transmitting different data.
All addresses of the format 1111 xxx should be reserved for future purposes.
Figure 21-4. Address Packet Format
Addr MSB

Addr LSB

R/W

ACK

SDA

SCL
1

START

21.3.4

Data Packet Format

All data packets transmitted on the TWI bus are nine bits long, consisting of one data byte and
an acknowledge bit. During a data transfer, the Master generates the clock and the START and
STOP conditions, while the Receiver is responsible for acknowledging the reception. An
Acknowledge (ACK) is signalled by the Receiver pulling the SDA line low during the ninth SCL
cycle. If the Receiver leaves the SDA line high, a NACK is signalled. When the Receiver has
received the last byte, or for some reason cannot receive any more bytes, it should inform the
Transmitter by sending a NACK after the final byte. The MSB of the data byte is transmitted first.

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Figure 21-5. Data Packet Format

Data MSB

Data LSB

ACK

Aggregate
SDA
SDA from
Transmitter
SDA from
Receiver
SCL from
Master
1

SLA+R/W

21.3.5

STOP, REPEATED
START or Next
Data Byte

Data Byte

Combining Address and Data Packets into a Transmission

A transmission basically consists of a START condition, a SLA+R/W, one or more data packets
and a STOP condition. An empty message, consisting of a START followed by a STOP condition, is illegal. Note that the Wired-ANDing of the SCL line can be used to implement
handshaking between the Master and the Slave. The Slave can extend the SCL low period by
pulling the SCL line low. This is useful if the clock speed set up by the Master is too fast for the
Slave, or the Slave needs extra time for processing between the data transmissions. The Slave
extending the SCL low period will not affect the SCL high period, which is determined by the
Master. As a consequence, the Slave can reduce the TWI data transfer speed by prolonging the
SCL duty cycle.
Figure 21-6 shows a typical data transmission. Note that several data bytes can be transmitted
between the SLA+R/W and the STOP condition, depending on the software protocol implemented by the application software.

Figure 21-6. Typical Data Transmission

Addr MSB

Addr LSB

R/W

ACK

Data MSB

Data LSB

ACK

SDA

SCL
1
START

210

SLA+R/W

7
Data Byte

STOP

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21.4

Multi-master Bus Systems, Arbitration and Synchronization

The TWI protocol allows bus systems with several masters. Special concerns have been taken
in order to ensure that transmissions will proceed as normal, even if two or more masters initiate
a transmission at the same time. Two problems arise in multi-master systems:
An algorithm must be implemented allowing only one of the masters to complete the
transmission. All other masters should cease transmission when they discover that they have
lost the selection process. This selection process is called arbitration. When a contending
master discovers that it has lost the arbitration process, it should immediately switch to Slave
mode to check whether it is being addressed by the winning master. The fact that multiple
masters have started transmission at the same time should not be detectable to the slaves, i.e.
the data being transferred on the bus must not be corrupted.
Different masters may use different SCL frequencies. A scheme must be devised to
synchronize the serial clocks from all masters, in order to let the transmission proceed in a
lockstep fashion. This will facilitate the arbitration process.
The wired-ANDing of the bus lines is used to solve both these problems. The serial clocks from
all masters will be wired-ANDed, yielding a combined clock with a high period equal to the one
from the Master with the shortest high period. The low period of the combined clock is equal to
the low period of the Master with the longest low period. Note that all masters listen to the SCL
line, effectively starting to count their SCL high and low time-out periods when the combined
SCL line goes high or low, respectively.
Figure 21-7. SCL Synchronization Between Multiple Masters

TA low

TA high

SCL from
Master A

SCL from
Master B

SCL Bus
Line
TBlow
Masters Start
Counting Low Period

TBhigh
Masters Start
Counting High Period

Arbitration is carried out by all masters continuously monitoring the SDA line after outputting
data. If the value read from the SDA line does not match the value the Master had output, it has
lost the arbitration. Note that a Master can only lose arbitration when it outputs a high SDA value
while another Master outputs a low value. The losing Master should immediately go to Slave
mode, checking if it is being addressed by the winning Master. The SDA line should be left high,
but losing masters are allowed to generate a clock signal until the end of the current data or
address packet.

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Arbitration will continue until only one Master remains, and this may take many bits. If several
masters are trying to address the same Slave, arbitration will continue into the data packet.
Figure 21-8. Arbitration Between Two Masters
START
SDA from
Master A

Master A Loses
Arbitration, SDAA SDA

SDA from
Master B

SDA Line

Synchronized
SCL Line

Note that arbitration is not allowed between:

A REPEATED START condition and a data bit.
A STOP condition and a data bit.
A REPEATED START and a STOP condition.
It is the user softwares responsibility to ensure that these illegal arbitration conditions never
occur. This implies that in multi-master systems, all data transfers must use the same composition of SLA+R/W and data packets. In other words: All transmissions must contain the same
number of data packets, otherwise the result of the arbitration is undefined.

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21.5

Overview of the TWI Module

The TWI module is comprised of several submodules, as shown in Figure 21-9. All registers
drawn in a thick line are accessible through the AVR data bus.
Figure 21-9. Overview of the TWI Module

Slew-rate
Control

SDA

Spike
Filter

Slew-rate
Control

Spike
Filter

Bus Interface Unit

START / STOP
Control

Spike Suppression

Arbitration detection

Address/Data Shift
Register (TWDR)

Address Match Unit

Address Register
(TWAR)

Address Comparator

21.5.1

Bit Rate Generator

Prescaler

Bit Rate Register

(TWBR)

Ack

Control Unit
Status Register
(TWSR)

Control Register
(TWCR)

State Machine and

Status control

TWI Unit

SCL

SCL and SDA Pins

These pins interface the AVR TWI with the rest of the MCU system. The output drivers contain a
slew-rate limiter in order to conform to the TWI specification. The input stages contain a spike
suppression unit removing spikes shorter than 50 ns. Note that the internal pull-ups in the AVR
pads can be enabled by setting the PORT bits corresponding to the SCL and SDA pins, as
explained in the I/O Port section. The internal pull-ups can in some systems eliminate the need
for external ones.

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21.5.2

Bit Rate Generator Unit

This unit controls the period of SCL when operating in a Master mode. The SCL period is controlled by settings in the TWI Bit Rate Register (TWBR) and the Prescaler bits in the TWI Status
Register (TWSR). Slave operation does not depend on Bit Rate or Prescaler settings, but the
CPU clock frequency in the Slave must be at least 16 times higher than the SCL frequency. Note
that slaves may prolong the SCL low period, thereby reducing the average TWI bus clock
period. The SCL frequency is generated according to the following equation:
CPU Clock frequency
SCL frequency = ----------------------------------------------------------------------------------------16 + 2(TWBR) ( PrescalerValue )
TWBR = Value of the TWI Bit Rate Register.
PrescalerValue = Value of the prescaler, see Table 21-7 on page 235.
Note:

21.5.3

Pull-up resistor values should be selected according to the SCL frequency and the capacitive bus
line load. See Table 28-7 on page 311 for value of pull-up resistor.

Bus Interface Unit

This unit contains the Data and Address Shift Register (TWDR), a START/STOP Controller and
Arbitration detection hardware. The TWDR contains the address or data bytes to be transmitted,
or the address or data bytes received. In addition to the 8-bit TWDR, the Bus Interface Unit also
contains a register containing the (N)ACK bit to be transmitted or received. This (N)ACK Register is not directly accessible by the application software. However, when receiving, it can be set
or cleared by manipulating the TWI Control Register (TWCR). When in Transmitter mode, the
value of the received (N)ACK bit can be determined by the value in the TWSR.
The START/STOP Controller is responsible for generation and detection of START, REPEATED
START, and STOP conditions. The START/STOP controller is able to detect START and STOP
conditions even when the AVR MCU is in one of the sleep modes, enabling the MCU to wake up
if addressed by a Master.
If the TWI has initiated a transmission as Master, the Arbitration Detection hardware continuously monitors the transmission trying to determine if arbitration is in process. If the TWI has lost
an arbitration, the Control Unit is informed. Correct action can then be taken and appropriate
status codes generated.

21.5.4

Address Match Unit

The Address Match unit checks if received address bytes match the seven-bit address in the
TWI Address Register (TWAR). If the TWI General Call Recognition Enable (TWGCE) bit in the
TWAR is written to one, all incoming address bits will also be compared against the General Call
address. Upon an address match, the Control Unit is informed, allowing correct action to be
taken. The TWI may or may not acknowledge its address, depending on settings in the TWCR.
The Address Match unit is able to compare addresses even when the AVR MCU is in sleep
mode, enabling the MCU to wake up if addressed by a Master.
If another interrupt (e.g., INT0) occurs during TWI Power-down address match and wakes up the
CPU, the TWI aborts operation and return to its idle state. If this cause any problems, ensure
that TWI Address Match is the only enabled interrupt when entering Power-down.

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21.5.5

Control Unit
The Control unit monitors the TWI bus and generates responses corresponding to settings in the
TWI Control Register (TWCR). When an event requiring the attention of the application occurs
on the TWI bus, the TWI Interrupt Flag (TWINT) is asserted. In the next clock cycle, the TWI Status Register (TWSR) is updated with a status code identifying the event. The TWSR only
contains relevant status information when the TWI Interrupt Flag is asserted. At all other times,
the TWSR contains a special status code indicating that no relevant status information is available. As long as the TWINT Flag is set, the SCL line is held low. This allows the application
software to complete its tasks before allowing the TWI transmission to continue.
The TWINT Flag is set in the following situations:
After the TWI has transmitted a START/REPEATED START condition.
After the TWI has transmitted SLA+R/W.
After the TWI has transmitted an address byte.
After the TWI has lost arbitration.
After the TWI has been addressed by own slave address or general call.
After the TWI has received a data byte.
After a STOP or REPEATED START has been received while still addressed as a Slave.
When a bus error has occurred due to an illegal START or STOP condition.

21.6

Using the TWI

The AVR TWI is byte-oriented and interrupt based. Interrupts are issued after all bus events, like
reception of a byte or transmission of a START condition. Because the TWI is interrupt-based,
the application software is free to carry on other operations during a TWI byte transfer. Note that
the TWI Interrupt Enable (TWIE) bit in TWCR together with the Global Interrupt Enable bit in
SREG allow the application to decide whether or not assertion of the TWINT Flag should generate an interrupt request. If the TWIE bit is cleared, the application must poll the TWINT Flag in
order to detect actions on the TWI bus.
When the TWINT Flag is asserted, the TWI has finished an operation and awaits application
response. In this case, the TWI Status Register (TWSR) contains a value indicating the current
state of the TWI bus. The application software can then decide how the TWI should behave in
the next TWI bus cycle by manipulating the TWCR and TWDR Registers.
Figure 21-10 is a simple example of how the application can interface to the TWI hardware. In
this example, a Master wishes to transmit a single data byte to a Slave. This description is quite
abstract, a more detailed explanation follows later in this section. A simple code example implementing the desired behavior is also presented.

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Application
Action

Figure 21-10. Interfacing the Application to the TWI in a Typical Transmission

1. Application
writes to TWCR to
initiate
transmission of
START

TWI
Hardware
Action

TWI bus

3. Check TWSR to see if START was

sent. Application loads SLA+W into
TWDR, and loads appropriate control
signals into TWCR, makin sure that
TWINT is written to one,
and TWSTA is written to zero.

START

SLA+W

2. TWINT set.
Status code indicates
START condition sent

5. Check TWSR to see if SLA+W was

sent and ACK received.
Application loads data into TWDR, and
loads appropriate control signals into
TWCR, making sure that TWINT is
written to one

Data

4. TWINT set.
Status code indicates
SLA+W sent, ACK
received

7. Check TWSR to see if data was sent

and ACK received.
Application loads appropriate control
signals to send STOP into TWCR,
making sure that TWINT is written to one

6. TWINT set.
Status code indicates
data sent, ACK received

STOP

Indicates
TWINT set

1. The first step in a TWI transmission is to transmit a START condition. This is done by
writing a specific value into TWCR, instructing the TWI hardware to transmit a START
condition. Which value to write is described later on. However, it is important that the
TWINT bit is set in the value written. Writing a one to TWINT clears the flag. The TWI will
not start any operation as long as the TWINT bit in TWCR is set. Immediately after the
application has cleared TWINT, the TWI will initiate transmission of the START condition.
2. When the START condition has been transmitted, the TWINT Flag in TWCR is set, and
TWSR is updated with a status code indicating that the START condition has successfully been sent.
3. The application software should now examine the value of TWSR, to make sure that the
START condition was successfully transmitted. If TWSR indicates otherwise, the application software might take some special action, like calling an error routine. Assuming that
the status code is as expected, the application must load SLA+W into TWDR. Remember
that TWDR is used both for address and data. After TWDR has been loaded with the
desired SLA+W, a specific value must be written to TWCR, instructing the TWI hardware
to transmit the SLA+W present in TWDR. Which value to write is described later on.
However, it is important that the TWINT bit is set in the value written. Writing a one to
TWINT clears the flag. The TWI will not start any operation as long as the TWINT bit in
TWCR is set. Immediately after the application has cleared TWINT, the TWI will initiate
transmission of the address packet.
4. When the address packet has been transmitted, the TWINT Flag in TWCR is set, and
TWSR is updated with a status code indicating that the address packet has successfully
been sent. The status code will also reflect whether a Slave acknowledged the packet or
not.
5. The application software should now examine the value of TWSR, to make sure that the
address packet was successfully transmitted, and that the value of the ACK bit was as
expected. If TWSR indicates otherwise, the application software might take some special
action, like calling an error routine. Assuming that the status code is as expected, the
application must load a data packet into TWDR. Subsequently, a specific value must be
written to TWCR, instructing the TWI hardware to transmit the data packet present in
TWDR. Which value to write is described later on.

216

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

However, it is important that the TWINT bit is set in the value written. Writing a one to
TWINT clears the flag. The TWI will not start any operation as long as the TWINT bit in
TWCR is set. Immediately after the application has cleared TWINT, the TWI will initiate
transmission of the data packet.
6. When the data packet has been transmitted, the TWINT Flag in TWCR is set, and TWSR
is updated with a status code indicating that the data packet has successfully been sent.
The status code will also reflect whether a Slave acknowledged the packet or not.
7. The application software should now examine the value of TWSR, to make sure that the
data packet was successfully transmitted, and that the value of the ACK bit was as
expected. If TWSR indicates otherwise, the application software might take some special
action, like calling an error routine. Assuming that the status code is as expected, the
application must write a specific value to TWCR, instructing the TWI hardware to transmit
a STOP condition. Which value to write is described later on. However, it is important that
the TWINT bit is set in the value written. Writing a one to TWINT clears the flag. The TWI
will not start any operation as long as the TWINT bit in TWCR is set. Immediately after
the application has cleared TWINT, the TWI will initiate transmission of the STOP condition. Note that TWINT is NOT set after a STOP condition has been sent.
Even though this example is simple, it shows the principles involved in all TWI transmissions.
These can be summarized as follows:
When the TWI has finished an operation and expects application response, the TWINT Flag is
set. The SCL line is pulled low until TWINT is cleared.
When the TWINT Flag is set, the user must update all TWI Registers with the value relevant for
the next TWI bus cycle. As an example, TWDR must be loaded with the value to be transmitted
in the next bus cycle.
After all TWI Register updates and other pending application software tasks have been
completed, TWCR is written. When writing TWCR, the TWINT bit should be set. Writing a one
to TWINT clears the flag. The TWI will then commence executing whatever operation was
specified by the TWCR setting.
In the following an assembly and C implementation of the example is given. Note that the code
below assumes that several definitions have been made, for example by using include-files.

217
7810CAVR10/12

Assembly Code Example

ldi r16,
(1<<TWINT)|(1<<TWSTA)|
1

r16,TWCR

andi r16, 0xF8

cpi
3

TWDR, r16

ldi r16, (1<<TWINT) |

(1<<TWEN)
out TWCR, r16
wait2:
in

r16,TWCR

andi r16, 0xF8

cpi
5

r16, MT_SLA_ACK

brne ERROR
ldi r16, DATA
out

TWDR, r16

ldi r16, (1<<TWINT) |

(1<<TWEN)
out TWCR, r16
wait3:
6

r16,TWCR

if ((TWSR & 0xF8) != START)

ERROR();

andi r16, 0xF8

cpi

r16, MT_DATA_ACK

brne ERROR
ldi r16,
(1<<TWINT)|(1<<TWEN)|

TWCR = (1<<TWINT) |
(1<<TWEN);

while (!(TWCR & (1<<TWINT)))

;

if ((TWSR & 0xF8) !=

MT_SLA_ACK)
ERROR();

218

Check value of TWI Status

Register. Mask prescaler bits. If
status different from START go to
ERROR
Load SLA_W into TWDR
Register. Clear TWINT bit in
TWCR to start transmission of
address
Wait for TWINT Flag set. This
indicates that the SLA+W has
been transmitted, and
ACK/NACK has been received.
Check value of TWI Status
Register. Mask prescaler bits. If
status different from
MT_SLA_ACK go to ERROR

TWDR = DATA;
TWCR = (1<<TWINT) |
(1<<TWEN);

Load DATA into TWDR Register.

Clear TWINT bit in TWCR to
start transmission of data

while (!(TWCR & (1<<TWINT)))

Wait for TWINT Flag set. This

indicates that the DATA has been
transmitted, and ACK/NACK has
been received.

if ((TWSR & 0xF8) !=

MT_DATA_ACK)
ERROR();

Check value of TWI Status

TWCR = (1<<TWINT)|(1<<TWEN)|
(1<<TWSTO);

(1<<TWSTO)
out

Wait for TWINT Flag set. This

indicates that the START
condition has been transmitted

TWDR = SLA_W;

sbrs r16,TWINT
rjmp wait3
in
r16,TWSR

sbrs r16,TWINT
rjmp wait2
in
r16,TWSR

Send START condition

while (!(TWCR & (1<<TWINT)))

r16, START

brne ERROR
ldi r16, SLA_W
out

(1<<TWEN)

sbrs r16,TWINT
rjmp wait1
in
r16,TWSR

Comments

TWCR = (1<<TWINT)|(1<<TWSTA)|

(1<<TWEN)
out TWCR, r16
wait1:

C Example

Transmit STOP condition

TWCR, r16

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

21.7

Transmission Modes
The TWI can operate in one of four major modes. These are named Master Transmitter (MT),
Master Receiver (MR), Slave Transmitter (ST) and Slave Receiver (SR). Several of these
modes can be used in the same application. As an example, the TWI can use MT mode to write
data into a TWI EEPROM, MR mode to read the data back from the EEPROM. If other masters
are present in the system, some of these might transmit data to the TWI, and then SR mode
would be used. It is the application software that decides which modes are legal.
The following sections describe each of these modes. Possible status codes are described
along with figures detailing data transmission in each of the modes. These figures contain the
following abbreviations:
S: START condition
Rs: REPEATED START condition
R: Read bit (high level at SDA)
W: Write bit (low level at SDA)
A: Acknowledge bit (low level at SDA)
A: Not acknowledge bit (high level at SDA)
Data: 8-bit data byte
P: STOP condition
SLA: Slave Address
In Figure 21-12 to Figure 21-18, circles are used to indicate that the TWINT Flag is set. The
numbers in the circles show the status code held in TWSR, with the prescaler bits masked to
zero. At these points, actions must be taken by the application to continue or complete the TWI
transfer. The TWI transfer is suspended until the TWINT Flag is cleared by software.
When the TWINT Flag is set, the status code in TWSR is used to determine the appropriate software action. For each status code, the required software action and details of the following serial
transfer are given in Table 21-2 to Table 21-5. Note that the prescaler bits are masked to zero in
these tables.

21.7.1

Master Transmitter Mode

In the Master Transmitter mode, a number of data bytes are transmitted to a Slave Receiver
(see Figure 21-11). In order to enter a Master mode, a START condition must be transmitted.
The format of the following address packet determines whether Master Transmitter or Master
Receiver mode is to be entered. If SLA+W is transmitted, MT mode is entered, if SLA+R is transmitted, MR mode is entered. All the status codes mentioned in this section assume that the
prescaler bits are zero or are masked to zero.

219
7810CAVR10/12

Figure 21-11. Data Transfer in Master Transmitter Mode

VCC

Device 1

Device 2

MASTER
TRANSMITTER

SLAVE
RECEIVER

Device 3

........

Device n

SDA

SCL

A START condition is sent by writing the following value to TWCR:

TWCR
value

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

TWEN must be set to enable the 2-wire Serial Interface, TWSTA must be written to one to transmit a START condition and TWINT must be written to one to clear the TWINT Flag. The TWI will
then test the 2-wire Serial Bus and generate a START condition as soon as the bus becomes
free. After a START condition has been transmitted, the TWINT Flag is set by hardware, and the
status code in TWSR will be 0x08 (see Table 21-2). In order to enter MT mode, SLA+W must be
transmitted. This is done by writing SLA+W to TWDR. Thereafter the TWINT bit should be
cleared (by writing it to one) to continue the transfer. This is accomplished by writing the following value to TWCR:
TWCR
value

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

When SLA+W have been transmitted and an acknowledgement bit has been received, TWINT is
set again and a number of status codes in TWSR are possible. Possible status codes in Master
mode are 0x18, 0x20, or 0x38. The appropriate action to be taken for each of these status codes
is detailed in Table 21-2.
When SLA+W has been successfully transmitted, a data packet should be transmitted. This is
done by writing the data byte to TWDR. TWDR must only be written when TWINT is high. If not,
the access will be discarded, and the Write Collision bit (TWWC) will be set in the TWCR Register. After updating TWDR, the TWINT bit should be cleared (by writing it to one) to continue the
transfer. This is accomplished by writing the following value to TWCR:
TWCR
value

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

This scheme is repeated until the last byte has been sent and the transfer is ended by generating a STOP condition or a repeated START condition. A STOP condition is generated by writing
the following value to TWCR:
TWCR
value

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

A REPEATED START condition is generated by writing the following value to TWCR:

TWCR
value

220

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

After a repeated START condition (state 0x10) the 2-wire Serial Interface can access the same
Slave again, or a new Slave without transmitting a STOP condition. Repeated START enables
the Master to switch between Slaves, Master Transmitter mode and Master Receiver mode without losing control of the bus.
Table 21-2.
Status Code
(TWSR)
Prescaler Bits
are 0

Status codes for Master Transmitter Mode

Application Software Response
Status of the 2-wire Serial Bus
and 2-wire Serial Interface
Hardware

To/from TWDR

0x08

A START condition has been

transmitted

0x10

A repeated START condition

has been transmitted

0x18

0x20

0x28

0x30

0x38

SLA+W has been transmitted;

ACK has been received

SLA+W has been transmitted;

NOT ACK has been received

Data byte has been transmitted;

ACK has been received

Data byte has been transmitted;

NOT ACK has been received

Arbitration lost in SLA+W or

data bytes

To TWCR
STA

STO

TWIN
T

TWE
A

Load SLA+W

SLA+W will be transmitted;

1
0

0
1

1
1

X
X

No TWDR action

No TWDR action or

No TWDR action

Next Action Taken by TWI Hardware

Data byte will be transmitted and ACK or NOT ACK will

be received
Repeated START will be transmitted
STOP condition will be transmitted and
TWSTO Flag will be reset
STOP condition followed by a START condition will be
transmitted and TWSTO Flag will be reset
Data byte will be transmitted and ACK or NOT ACK will
be received
Repeated START will be transmitted
STOP condition will be transmitted and
TWSTO Flag will be reset
STOP condition followed by a START condition will be
transmitted and TWSTO Flag will be reset
Data byte will be transmitted and ACK or NOT ACK will
be received
Repeated START will be transmitted
STOP condition will be transmitted and
TWSTO Flag will be reset
STOP condition followed by a START condition will be
transmitted and TWSTO Flag will be reset
Data byte will be transmitted and ACK or NOT ACK will
be received
Repeated START will be transmitted
STOP condition will be transmitted and
TWSTO Flag will be reset
STOP condition followed by a START condition will be
transmitted and TWSTO Flag will be reset
2-wire Serial Bus will be released and not addressed
Slave mode entered
A START condition will be transmitted when the bus
becomes free

221
7810CAVR10/12

Figure 21-12. Formats and States in the Master Transmitter Mode

Successfull
transmission
to a slave
receiver

SLA

$08

DATA

$18

$28

Next transfer
started with a
repeated start
condition

SLA

$10
Not acknowledge
received after the
slave address

$20
MR

Not acknowledge
received after a data
byte

$30
Arbitration lost in slave
address or data byte

A or A

Other master
continues

$38
Arbitration lost and
addressed as slave

$68

From master to slave

From slave to master

21.7.2

222

A or A

Other master
continues

$38
Other master
continues

$78

DATA

To corresponding
states in slave mode

$B0

Any number of data bytes

and their associated acknowledge bits
This number (contained in TWSR) corresponds
to a defined state of the 2-Wire Serial Bus. The
prescaler bits are zero or masked to zero

Master Receiver Mode

In the Master Receiver mode, a number of data bytes are received from a Slave Transmitter
(Slave see Figure 21-13). In order to enter a Master mode, a START condition must be transmitted. The format of the following address packet determines whether Master Transmitter or
Master Receiver mode is to be entered. If SLA+W is transmitted, MT mode is entered, if SLA+R
is transmitted, MR mode is entered. All the status codes mentioned in this section assume that
the prescaler bits are zero or are masked to zero.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Figure 21-13. Data Transfer in Master Receiver Mode
VCC

Device 1

Device 2

MASTER
RECEIVER

SLAVE
TRANSMITTER

Device 3

........

Device n

SDA

SCL

A START condition is sent by writing the following value to TWCR:

TWCR
value

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

TWEN must be written to one to enable the 2-wire Serial Interface, TWSTA must be written to
one to transmit a START condition and TWINT must be set to clear the TWINT Flag. The TWI
will then test the 2-wire Serial Bus and generate a START condition as soon as the bus
becomes free. After a START condition has been transmitted, the TWINT Flag is set by hardware, and the status code in TWSR will be 0x08 (See Table 21-2). In order to enter MR mode,
SLA+R must be transmitted. This is done by writing SLA+R to TWDR. Thereafter the TWINT bit
should be cleared (by writing it to one) to continue the transfer. This is accomplished by writing
the following value to TWCR:
TWCR
value

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

When SLA+R have been transmitted and an acknowledgement bit has been received, TWINT is
set again and a number of status codes in TWSR are possible. Possible status codes in Master
mode are 0x38, 0x40, or 0x48. The appropriate action to be taken for each of these status codes
is detailed in Table 21-3. Received data can be read from the TWDR Register when the TWINT
Flag is set high by hardware. This scheme is repeated until the last byte has been received.
After the last byte has been received, the MR should inform the ST by sending a NACK after the
last received data byte. The transfer is ended by generating a STOP condition or a repeated
START condition. A STOP condition is generated by writing the following value to TWCR:
TWCR
value

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

A REPEATED START condition is generated by writing the following value to TWCR:

TWCR
value

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

223
7810CAVR10/12

Table 21-3.
Status Code
(TWSR)
Prescaler Bits
are 0

Status codes for Master Receiver Mode

Application Software Response
Status of the 2-wire Serial Bus
and 2-wire Serial Interface
Hardware

To TWCR
To/from TWDR

STA

STO

TWIN
T

TWE
A

Next Action Taken by TWI Hardware

0x08

A START condition has been

transmitted

Load SLA+R

SLA+R will be transmitted

ACK or NOT ACK will be received

0x10

A repeated START condition

has been transmitted

Load SLA+R or

Load SLA+W

SLA+R will be transmitted

ACK or NOT ACK will be received
SLA+W will be transmitted
Logic will switch to Master Transmitter mode

No TWDR action or

No TWDR action

No TWDR action or

No TWDR action

No TWDR action or
No TWDR action or

1
0

0
1

1
1

X
X

No TWDR action

0x38

0x40

0x48

Arbitration lost in SLA+R or

NOT ACK bit

SLA+R has been transmitted;

ACK has been received

SLA+R has been transmitted;

NOT ACK has been received

0x50

Data byte has been received;

ACK has been returned

Read data byte or

Read data byte

0x58

Data byte has been received;

NOT ACK has been returned

Read data byte or

1
0

0
1

1
1

X
X

Read data byte

224

2-wire Serial Bus will be released and not addressed

Slave mode will be entered
A START condition will be transmitted when the bus
becomes free
Data byte will be received and NOT ACK will be
returned
Data byte will be received and ACK will be returned
Repeated START will be transmitted
STOP condition will be transmitted and TWSTO Flag
will be reset
STOP condition followed by a START condition will be
transmitted and TWSTO Flag will be reset
Data byte will be received and NOT ACK will be
returned
Data byte will be received and ACK will be returned
Repeated START will be transmitted
STOP condition will be transmitted and TWSTO Flag
will be reset
STOP condition followed by a START condition will be
transmitted and TWSTO Flag will be reset

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Figure 21-14. Formats and States in the Master Receiver Mode
MR

Successfull
reception
from a slave
receiver

SLA

$08

DATA

$40

DATA

$50

$58

Next transfer
started with a
repeated start
condition

SLA

$10
Not acknowledge
received after the
slave address

$48
MT

Arbitration lost in slave

address or data byte

A or A

Other master
continues

$38
Arbitration lost and
addressed as slave

$68

From master to slave

21.7.3

$38
Other master
continues

$78

DATA

From slave to master

Other master
continues

To corresponding
states in slave mode

$B0

Any number of data bytes

and their associated acknowledge bits
This number (contained in TWSR) corresponds
to a defined state of the 2-Wire Serial Bus. The
prescaler bits are zero or masked to zero

Slave Receiver Mode

In the Slave Receiver mode, a number of data bytes are received from a Master Transmitter
(see Figure 21-15). All the status codes mentioned in this section assume that the prescaler bits
are zero or are masked to zero.
Figure 21-15. Data transfer in Slave Receiver mode
VCC

Device 1

Device 2

SLAVE
RECEIVER

MASTER
TRANSMITTER

Device 3

........

Device n

SDA

SCL

225
7810CAVR10/12

To initiate the Slave Receiver mode, TWAR and TWCR must be initialized as follows:
TWAR

TWA6

TWA5

value

TWA4

TWA3

TWA2

TWA1

TWA0

TWGCE

Devices Own Slave Address

The upper 7 bits are the address to which the 2-wire Serial Interface will respond when
addressed by a Master. If the LSB is set, the TWI will respond to the general call address (0x00),
otherwise it will ignore the general call address.
TWCR
value

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

TWEN must be written to one to enable the TWI. The TWEA bit must be written to one to enable
the acknowledgement of the devices own slave address or the general call address. TWSTA
and TWSTO must be written to zero.
When TWAR and TWCR have been initialized, the TWI waits until it is addressed by its own
slave address (or the general call address if enabled) followed by the data direction bit. If the
direction bit is 0 (write), the TWI will operate in SR mode, otherwise ST mode is entered. After
its own slave address and the write bit have been received, the TWINT Flag is set and a valid
status code can be read from TWSR. The status code is used to determine the appropriate software action. The appropriate action to be taken for each status code is detailed in Table 21-4.
The Slave Receiver mode may also be entered if arbitration is lost while the TWI is in the Master
mode (see states 0x68 and 0x78).
If the TWEA bit is reset during a transfer, the TWI will return a Not Acknowledge (1) to SDA
after the next received data byte. This can be used to indicate that the Slave is not able to
receive any more bytes. While TWEA is zero, the TWI does not acknowledge its own slave
address. However, the 2-wire Serial Bus is still monitored and address recognition may resume
at any time by setting TWEA. This implies that the TWEA bit may be used to temporarily isolate
the TWI from the 2-wire Serial Bus.
In all sleep modes other than Idle mode, the clock system to the TWI is turned off. If the TWEA
bit is set, the interface can still acknowledge its own slave address or the general call address by
using the 2-wire Serial Bus clock as a clock source. The part will then wake up from sleep and
the TWI will hold the SCL clock low during the wake up and until the TWINT Flag is cleared (by
writing it to one). Further data reception will be carried out as normal, with the AVR clocks running as normal. Observe that if the AVR is set up with a long start-up time, the SCL line may be
held low for a long time, blocking other data transmissions.
Note that the 2-wire Serial Interface Data Register TWDR does not reflect the last byte present
on the bus when waking up from these Sleep modes.

226

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Table 21-4.
Status Code
(TWSR)
Prescaler Bits
are 0

Status Codes for Slave Receiver Mode

Application Software Response
Status of the 2-wire Serial Bus
and 2-wire Serial Interface Hardware

To TWCR
To/from TWDR

STA

STO

TWIN
T

TWE
A

No TWDR action or

0x60

A STOP condition or repeated

START condition has been
received while still addressed as
Slave

Next Action Taken by TWI Hardware

Data byte will be received and NOT ACK will be
returned
Data byte will be received and ACK will be returned
Data byte will be received and NOT ACK will be
returned
Data byte will be received and ACK will be returned
Data byte will be received and NOT ACK will be
returned
Data byte will be received and ACK will be returned
Data byte will be received and NOT ACK will be
returned
Data byte will be received and ACK will be returned
Data byte will be received and NOT ACK will be
returned
Data byte will be received and ACK will be returned
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = 1
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = 1;
a START condition will be transmitted when the bus
becomes free
Data byte will be received and NOT ACK will be
returned
Data byte will be received and ACK will be returned
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = 1
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = 1;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = 1
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = 1;
a START condition will be transmitted when the bus
becomes free

227
7810CAVR10/12

Figure 21-16. Formats and States in the Slave Receiver Mode

Reception of the own
slave address and one or
more data bytes. All are
acknowledged

SLA

DATA

$60

DATA

$80

P or S

$80

$A0

P or S

Last data byte received

is not acknowledged

$88
Arbitration lost as master
and addressed as slave

$68
Reception of the general call
address and one or more data
bytes

General Call

DATA

$70

DATA

$90

P or S

$90

$A0

P or S

Last data byte received is

not acknowledged

$98
Arbitration lost as master and
addressed as slave by general call

$78

DATA

From master to slave

From slave to master

21.7.4

Any number of data bytes

and their associated acknowledge bits
This number (contained in TWSR) corresponds
to a defined state of the 2-Wire Serial Bus. The
prescaler bits are zero or masked to zero

Slave Transmitter Mode

In the Slave Transmitter mode, a number of data bytes are transmitted to a Master Receiver
(see Figure 21-17). All the status codes mentioned in this section assume that the prescaler bits
are zero or are masked to zero.
Figure 21-17. Data Transfer in Slave Transmitter Mode
VCC

Device 1

Device 2

SLAVE
TRANSMITTER

MASTER
RECEIVER

Device 3

........

Device n

SDA

SCL

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To initiate the Slave Transmitter mode, TWAR and TWCR must be initialized as follows:
TWAR

TWA6

TWA5

value

TWA4

TWA3

TWA2

TWA1

TWA0

TWGCE

Devices Own Slave Address

The upper seven bits are the address to which the 2-wire Serial Interface will respond when
addressed by a Master. If the LSB is set, the TWI will respond to the general call address (0x00),
otherwise it will ignore the general call address.
TWCR
value

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

TWEN must be written to one to enable the TWI. The TWEA bit must be written to one to enable
the acknowledgement of the devices own slave address or the general call address. TWSTA
and TWSTO must be written to zero.
When TWAR and TWCR have been initialized, the TWI waits until it is addressed by its own
slave address (or the general call address if enabled) followed by the data direction bit. If the
direction bit is 1 (read), the TWI will operate in ST mode, otherwise SR mode is entered. After
its own slave address and the write bit have been received, the TWINT Flag is set and a valid
status code can be read from TWSR. The status code is used to determine the appropriate software action. The appropriate action to be taken for each status code is detailed in Table 21-5.
The Slave Transmitter mode may also be entered if arbitration is lost while the TWI is in the
Master mode (see state 0xB0).
If the TWEA bit is written to zero during a transfer, the TWI will transmit the last byte of the transfer. State 0xC0 or state 0xC8 will be entered, depending on whether the Master Receiver
transmits a NACK or ACK after the final byte. The TWI is switched to the not addressed Slave
mode, and will ignore the Master if it continues the transfer. Thus the Master Receiver receives
all 1 as serial data. State 0xC8 is entered if the Master demands additional data bytes (by
transmitting ACK), even though the Slave has transmitted the last byte (TWEA zero and expecting NACK from the Master).
While TWEA is zero, the TWI does not respond to its own slave address. However, the 2-wire
Serial Bus is still monitored and address recognition may resume at any time by setting TWEA.
This implies that the TWEA bit may be used to temporarily isolate the TWI from the 2-wire Serial
Bus.
In all sleep modes other than Idle mode, the clock system to the TWI is turned off. If the TWEA
bit is set, the interface can still acknowledge its own slave address or the general call address by
using the 2-wire Serial Bus clock as a clock source. The part will then wake up from sleep and
the TWI will hold the SCL clock will low during the wake up and until the TWINT Flag is cleared
(by writing it to one). Further data transmission will be carried out as normal, with the AVR clocks
running as normal. Observe that if the AVR is set up with a long start-up time, the SCL line may
be held low for a long time, blocking other data transmissions.
Note that the 2-wire Serial Interface Data Register TWDR does not reflect the last byte present
on the bus when waking up from these sleep modes.

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Table 21-5.
Status Code
(TWSR)
Prescaler
Bits
are 0
0xA8

0xB0

0xB8

0xC0

0xC8

230

Status Codes for Slave Transmitter Mode

Application Software Response
Status of the 2-wire Serial Bus
and 2-wire Serial Interface Hardware

To TWCR
To/from TWDR

STA

STO

Data byte in TWDR has been

transmitted; NOT ACK has been
received

No TWDR action or

No TWDR action

No TWDR action or

No TWDR action

Own SLA+R has been received;

ACK has been returned

Last data byte in TWDR has been

transmitted (TWEA = 0); ACK
has been received

Next Action Taken by TWI Hardware

Last data byte will be transmitted and NOT ACK should
be received
Data byte will be transmitted and ACK should be received
Last data byte will be transmitted and NOT ACK should
be received
Data byte will be transmitted and ACK should be received
Last data byte will be transmitted and NOT ACK should
be received
Data byte will be transmitted and ACK should be received
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = 1
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = 1;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = 1
Switched to the not addressed Slave mode;
no recognition of own SLA or GCA;
a START condition will be transmitted when the bus
becomes free
Switched to the not addressed Slave mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = 1;
a START condition will be transmitted when the bus
becomes free

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Figure 21-18. Formats and States in the Slave Transmitter Mode
Reception of the own
slave address and one or
more data bytes

SLA

DATA

$A8
Arbitration lost as master
and addressed as slave

DATA

$B8

P or S

$C0

$B0
Last data byte transmitted.
Switched to not addressed
slave (TWEA = '0')

All 1's

P or S

$C8

DATA

From master to slave

From slave to master

21.7.5

Any number of data bytes

and their associated acknowledge bits

This number (contained in TWSR) corresponds

to a defined state of the 2-Wire Serial Bus. The
prescaler bits are zero or masked to zero

Miscellaneous States
There are two status codes that do not correspond to a defined TWI state, see Table 21-6.
Status 0xF8 indicates that no relevant information is available because the TWINT Flag is not
set. This occurs between other states, and when the TWI is not involved in a serial transfer.
Status 0x00 indicates that a bus error has occurred during a 2-wire Serial Bus transfer. A bus
error occurs when a START or STOP condition occurs at an illegal position in the format frame.
Examples of such illegal positions are during the serial transfer of an address byte, a data byte,
or an acknowledge bit. When a bus error occurs, TWINT is set. To recover from a bus error, the
TWSTO Flag must set and TWINT must be cleared by writing a logic one to it. This causes the
TWI to enter the not addressed Slave mode and to clear the TWSTO Flag (no other bits in
TWCR are affected). The SDA and SCL lines are released, and no STOP condition is
transmitted.

Table 21-6.

Miscellaneous States

Status Code
(TWSR)
Prescaler Bits
are 0

Status of the 2-wire Serial Bus

and 2-wire Serial Interface
Hardware

Application Software Response

To TWCR
To/from TWDR

0xF8

No relevant state information

available; TWINT = 0

No TWDR action

0x00

Bus error due to an illegal

START or STOP condition

No TWDR action

21.7.6

STA

STO

TWIN
T

TWE
A

No TWCR action
0

Next Action Taken by TWI Hardware

Wait or proceed current transfer

Only the internal hardware is affected, no STOP condition is sent on the bus. In all cases, the bus is released
and TWSTO is cleared.

Combining Several TWI Modes

In some cases, several TWI modes must be combined in order to complete the desired action.
Consider for example reading data from a serial EEPROM. Typically, such a transfer involves
the following steps:
1. The transfer must be initiated.
2. The EEPROM must be instructed what location should be read.
3. The reading must be performed.
4. The transfer must be finished.
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Note that data is transmitted both from Master to Slave and vice versa. The Master must instruct
the Slave what location it wants to read, requiring the use of the MT mode. Subsequently, data
must be read from the Slave, implying the use of the MR mode. Thus, the transfer direction must
be changed. The Master must keep control of the bus during all these steps, and the steps
should be carried out as an atomical operation. If this principle is violated in a multi master system, another Master can alter the data pointer in the EEPROM between steps 2 and 3, and the
Master will read the wrong data location. Such a change in transfer direction is accomplished by
transmitting a REPEATED START between the transmission of the address byte and reception
of the data. After a REPEATED START, the Master keeps ownership of the bus. The following
figure shows the flow in this transfer.
Figure 21-19. Combining Several TWI Modes to Access a Serial EEPROM
Master Transmitter

SLA+W

ADDRESS

S = START

Master Receiver

DATA

Rs = REPEATED START

Transmitted from master to slave

21.8

SLA+R

P = STOP

Transmitted from slave to master

Multi-master Systems and Arbitration

If multiple masters are connected to the same bus, transmissions may be initiated simultaneously by one or more of them. The TWI standard ensures that such situations are handled in
such a way that one of the masters will be allowed to proceed with the transfer, and that no data
will be lost in the process. An example of an arbitration situation is depicted below, where two
masters are trying to transmit data to a Slave Receiver.
Figure 21-20. An Arbitration Example
VCC

Device 1

Device 2

Device 3

MASTER
TRANSMITTER

SLAVE
RECEIVER

........

Device n

SDA

SCL

Several different scenarios may arise during arbitration, as described below:

Two or more masters are performing identical communication with the same Slave. In this
case, neither the Slave nor any of the masters will know about the bus contention.
Two or more masters are accessing the same Slave with different data or direction bit. In this
case, arbitration will occur, either in the READ/WRITE bit or in the data bits. The masters trying
to output a one on SDA while another Master outputs a zero will lose the arbitration. Losing
masters will switch to not addressed Slave mode or wait until the bus is free and transmit a new
START condition, depending on application software action.

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Two or more masters are accessing different slaves. In this case, arbitration will occur in the
SLA bits. Masters trying to output a one on SDA while another Master outputs a zero will lose
the arbitration. Masters losing arbitration in SLA will switch to Slave mode to check if they are
being addressed by the winning Master. If addressed, they will switch to SR or ST mode,
depending on the value of the READ/WRITE bit. If they are not being addressed, they will
switch to not addressed Slave mode or wait until the bus is free and transmit a new START
condition, depending on application software action.
This is summarized in Figure 21-21. Possible status values are given in circles.
Figure 21-21. Possible Status Codes Caused by Arbitration
START

SLA

Data

Arbitration lost in SLA

Own
Address / General Call
received

STOP

Arbitration lost in Data

TWI bus will be released and not addressed slave mode will be entered
A START condition will be transmitted when the bus becomes free

Yes

Direction

68/78

Write

Read
B0

21.9
21.9.1

Data byte will be received and NOT ACK will be returned

Data byte will be received and ACK will be returned

Last data byte will be transmitted and NOT ACK should be received
Data byte will be transmitted and ACK should be received

TWBR7

TWBR6

TWBR5

TWBR4

TWBR3

TWBR2

TWBR1

TWBR0

Read/Write

R/W

Initial Value

(0xB8)

TWBR

Bits 7..0 TWI Bit Rate Register

TWBR selects the division factor for the bit rate generator. The bit rate generator is a frequency
divider which generates the SCL clock frequency in the Master modes. See Bit Rate Generator
Unit on page 214 for calculating bit rates.
21.9.2

TWCR TWI Control Register

Bit

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

Read/Write

R/W

Initial Value

(0xBC)

TWCR

The TWCR is used to control the operation of the TWI. It is used to enable the TWI, to initiate a
Master access by applying a START condition to the bus, to generate a Receiver acknowledge,
to generate a stop condition, and to control halting of the bus while the data to be written to the
bus are written to the TWDR. It also indicates a write collision if data is attempted written to
TWDR while the register is inaccessible.

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Bit 7 TWINT: TWI Interrupt Flag

This bit is set by hardware when the TWI has finished its current job and expects application
software response. If the I-bit in SREG and TWIE in TWCR are set, the MCU will jump to the
TWI Interrupt Vector. While the TWINT Flag is set, the SCL low period is stretched. The TWINT
Flag must be cleared by software by writing a logic one to it. Note that this flag is not automatically cleared by hardware when executing the interrupt routine. Also note that clearing this flag
starts the operation of the TWI, so all accesses to the TWI Address Register (TWAR), TWI Status Register (TWSR), and TWI Data Register (TWDR) must be complete before clearing this
flag.
Bit 6 TWEA: TWI Enable Acknowledge Bit
The TWEA bit controls the generation of the acknowledge pulse. If the TWEA bit is written to
one, the ACK pulse is generated on the TWI bus if the following conditions are met:
1. The devices own slave address has been received.
2. A general call has been received, while the TWGCE bit in the TWAR is set.
3. A data byte has been received in Master Receiver or Slave Receiver mode.
By writing the TWEA bit to zero, the device can be virtually disconnected from the 2-wire Serial
Bus temporarily. Address recognition can then be resumed by writing the TWEA bit to one
again.
Bit 5 TWSTA: TWI START Condition Bit
The application writes the TWSTA bit to one when it desires to become a Master on the 2-wire
Serial Bus. The TWI hardware checks if the bus is available, and generates a START condition
on the bus if it is free. However, if the bus is not free, the TWI waits until a STOP condition is
detected, and then generates a new START condition to claim the bus Master status. TWSTA
must be cleared by software when the START condition has been transmitted.
Bit 4 TWSTO: TWI STOP Condition Bit
Writing the TWSTO bit to one in Master mode will generate a STOP condition on the 2-wire
Serial Bus. When the STOP condition is executed on the bus, the TWSTO bit is cleared automatically. In Slave mode, setting the TWSTO bit can be used to recover from an error condition.
This will not generate a STOP condition, but the TWI returns to a well-defined unaddressed
Slave mode and releases the SCL and SDA lines to a high impedance state.
Bit 3 TWWC: TWI Write Collision Flag
The TWWC bit is set when attempting to write to the TWI Data Register TWDR when TWINT is
low. This flag is cleared by writing the TWDR Register when TWINT is high.
Bit 2 TWEN: TWI Enable Bit
The TWEN bit enables TWI operation and activates the TWI interface. When TWEN is written to
one, the TWI takes control over the I/O pins connected to the SCL and SDA pins, enabling the
slew-rate limiters and spike filters. If this bit is written to zero, the TWI is switched off and all TWI
transmissions are terminated, regardless of any ongoing operation.
Bit 1 Res: Reserved Bit
This bit is a reserved bit and will always read as zero.

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Bit 0 TWIE: TWI Interrupt Enable
When this bit is written to one, and the I-bit in SREG is set, the TWI interrupt request will be activated for as long as the TWINT Flag is high.
21.9.3

TWSR TWI Status Register

Bit

TWS7

TWS6

TWS5

TWS4

TWS3

TWPS1

TWPS0

Read/Write

R/W

Initial Value

(0xB9)

TWSR

Bits 7..3 TWS: TWI Status

These 5 bits reflect the status of the TWI logic and the 2-wire Serial Bus. The different status
codes are described later in this section. Note that the value read from TWSR contains both the
5-bit status value and the 2-bit prescaler value. The application designer should mask the prescaler bits to zero when checking the Status bits. This makes status checking independent of
prescaler setting. This approach is used in this datasheet, unless otherwise noted.
Bit 2 Res: Reserved Bit
This bit is reserved and will always read as zero.
Bits 1..0 TWPS: TWI Prescaler Bits
These bits can be read and written, and control the bit rate prescaler.
Table 21-7.

TWI Bit Rate Prescaler

TWPS1

TWPS0

Prescaler Value

To calculate bit rates, see Bit Rate Generator Unit on page 214. The value of TWPS1..0 is
used in the equation.
21.9.4

TWDR TWI Data Register

Bit

TWD7

TWD6

TWD5

TWD4

TWD3

TWD2

TWD1

TWD0

Read/Write

R/W

Initial Value

(0xBB)

TWDR

In Transmit mode, TWDR contains the next byte to be transmitted. In Receive mode, the TWDR
contains the last byte received. It is writable while the TWI is not in the process of shifting a byte.
This occurs when the TWI Interrupt Flag (TWINT) is set by hardware. Note that the Data Register cannot be initialized by the user before the first interrupt occurs. The data in TWDR remains
stable as long as TWINT is set. While data is shifted out, data on the bus is simultaneously
shifted in. TWDR always contains the last byte present on the bus, except after a wake up from
a sleep mode by the TWI interrupt. In this case, the contents of TWDR is undefined.

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In the case of a lost bus arbitration, no data is lost in the transition from Master to Slave. Handling of the ACK bit is controlled automatically by the TWI logic, the CPU cannot access the ACK
bit directly.
Bits 7..0 TWD: TWI Data Register
These eight bits constitute the next data byte to be transmitted, or the latest data byte received
on the 2-wire Serial Bus.
21.9.5

TWAR TWI (Slave) Address Register

Bit

TWA6

TWA5

TWA4

TWA3

TWA2

TWA1

TWA0

TWGCE

Read/Write

R/W

Initial Value

(0xBA)

TWAR

The TWAR should be loaded with the 7-bit Slave address (in the seven most significant bits of
TWAR) to which the TWI will respond when programmed as a Slave Transmitter or Receiver,
and not needed in the Master modes. In multi master systems, TWAR must be set in masters
which can be addressed as Slaves by other Masters.
The LSB of TWAR is used to enable recognition of the general call address (0x00). There is an
associated address comparator that looks for the slave address (or general call address if
enabled) in the received serial address. If a match is found, an interrupt request is generated.
Bits 7..1 TWA: TWI (Slave) Address Register
These seven bits constitute the slave address of the TWI unit.
Bit 0 TWGCE: TWI General Call Recognition Enable Bit
If set, this bit enables the recognition of a General Call given over the 2-wire Serial Bus.
21.9.6

TWAMR TWI (Slave) Address Mask Register

Bit

(0xBD)

TWAM[6:0]

Read/Write

R/W

Initial Value

TWAMR

Bits 7..1 TWAM: TWI Address Mask

The TWAMR can be loaded with a 7-bit Salve Address mask. Each of the bits in TWAMR can
mask (disable) the corresponding address bits in the TWI Address Register (TWAR). If the mask
bit is set to one then the address match logic ignores the compare between the incoming
address bit and the corresponding bit in TWAR. Figure 21-22 shown the address match logic in
detail.

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Figure 21-22. TWI Address Match Logic, Block Diagram

TWAR0
Address
Match

Address
Bit 0
TWAMR0
Address Bit Comparator 0

Address Bit Comparator 6..1

Bit 0 Res: Reserved Bit

This bit is an unused bit in the ATmega328P, and will always read as zero.

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22. Analog Comparator

22.1

Overview
The Analog Comparator compares the input values on the positive pin AIN0 and negative pin
AIN1. When the voltage on the positive pin AIN0 is higher than the voltage on the negative pin
AIN1, the Analog Comparator output, ACO, is set. The comparators output can be set to trigger
the Timer/Counter1 Input Capture function. In addition, the comparator can trigger a separate
interrupt, exclusive to the Analog Comparator. The user can select Interrupt triggering on comparator output rise, fall or toggle. A block diagram of the comparator and its surrounding logic is
shown in Figure 22-1.
The Power Reduction ADC bit, PRADC, in Minimizing Power Consumption on page 40 must
be disabled by writing a logical zero to be able to use the ADC input MUX.
Figure 22-1. Analog Comparator Block Diagram(2)
BANDGAP
REFERENCE
ACBG

ACME
ADEN
ADC MULTIPLEXER
OUTPUT (1)

Notes:

22.2

1. See Table 22-1 on page 239.

2. Refer to Figure 1-1 on page 2 and Table 13-9 on page 80 for Analog Comparator pin
placement.

Analog Comparator Multiplexed Input

It is possible to select any of the ADC7..0 pins to replace the negative input to the Analog Comparator. The ADC multiplexer is used to select this input, and consequently, the ADC must be
switched off to utilize this feature. If the Analog Comparator Multiplexer Enable bit (ACME in
ADCSRB) is set and the ADC is switched off (ADEN in ADCSRA is zero), MUX2..0 in ADMUX
select the input pin to replace the negative input to the Analog Comparator, as shown in Table
22-1. If ACME is cleared or ADEN is set, AIN1 is applied to the negative input to the Analog
Comparator.

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Table 22-1.

22.3
22.3.1

Analog Comparator Multiplexed Input

ACME

ADEN

MUX2..0

Analog Comparator Negative Input

xxx

AIN1

xxx

AIN1

000

ADC0

001

ADC1

010

ADC2

011

ADC3

100

ADC4

101

ADC5

110

ADC6

111

ADC7

(0x7B)

ACME

ADTS2

ADTS1

ADTS0

Read/Write

R/W

Initial Value

ADCSRB

Bit 6 ACME: Analog Comparator Multiplexer Enable

When this bit is written logic one and the ADC is switched off (ADEN in ADCSRA is zero), the
ADC multiplexer selects the negative input to the Analog Comparator. When this bit is written
logic zero, AIN1 is applied to the negative input of the Analog Comparator. For a detailed
description of this bit, see Analog Comparator Multiplexed Input on page 238.
22.3.2

ACSR Analog Comparator Control and Status Register

Bit

0x30 (0x50)

ACD

ACBG

ACO

ACI

ACIE

ACIC

ACIS1

ACIS0

Read/Write

R/W

Initial Value

N/A

ACSR

Bit 7 ACD: Analog Comparator Disable

When this bit is written logic one, the power to the Analog Comparator is switched off. This bit
can be set at any time to turn off the Analog Comparator. This will reduce power consumption in
Active and Idle mode. When changing the ACD bit, the Analog Comparator Interrupt must be
disabled by clearing the ACIE bit in ACSR. Otherwise an interrupt can occur when the bit is
changed.

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Bit 6 ACBG: Analog Comparator Bandgap Select

When this bit is set, a fixed bandgap reference voltage replaces the positive input to the Analog
Comparator. When this bit is cleared, AIN0 is applied to the positive input of the Analog Comparator. When the bandgap referance is used as input to the Analog Comparator, it will take a
certain time for the voltage to stabilize. If not stabilized, the first conversion may give a wrong
value. See Internal Voltage Reference on page 48
Bit 5 ACO: Analog Comparator Output
The output of the Analog Comparator is synchronized and then directly connected to ACO. The
synchronization introduces a delay of 1 - 2 clock cycles.
Bit 4 ACI: Analog Comparator Interrupt Flag
This bit is set by hardware when a comparator output event triggers the interrupt mode defined
by ACIS1 and ACIS0. The Analog Comparator interrupt routine is executed if the ACIE bit is set
and the I-bit in SREG is set. ACI is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, ACI is cleared by writing a logic one to the flag.
Bit 3 ACIE: Analog Comparator Interrupt Enable
When the ACIE bit is written logic one and the I-bit in the Status Register is set, the Analog Comparator interrupt is activated. When written logic zero, the interrupt is disabled.
Bit 2 ACIC: Analog Comparator Input Capture Enable
When written logic one, this bit enables the input capture function in Timer/Counter1 to be triggered by the Analog Comparator. The comparator output is in this case directly connected to the
input capture front-end logic, making the comparator utilize the noise canceler and edge select
features of the Timer/Counter1 Input Capture interrupt. When written logic zero, no connection
between the Analog Comparator and the input capture function exists. To make the comparator
trigger the Timer/Counter1 Input Capture interrupt, the ICIE1 bit in the Timer Interrupt Mask
Register (TIMSK1) must be set.
Bits 1, 0 ACIS1, ACIS0: Analog Comparator Interrupt Mode Select
These bits determine which comparator events that trigger the Analog Comparator interrupt. The
different settings are shown in Table 22-2.

Table 22-2.

ACIS1/ACIS0 Settings

ACIS1

ACIS0

Interrupt Mode

Comparator Interrupt on Output Toggle.

Reserved

Comparator Interrupt on Falling Output Edge.

Comparator Interrupt on Rising Output Edge.

When changing the ACIS1/ACIS0 bits, the Analog Comparator Interrupt must be disabled by
clearing its Interrupt Enable bit in the ACSR Register. Otherwise an interrupt can occur when the
bits are changed.

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22.3.3

DIDR1 Digital Input Disable Register 1

Bit

(0x7F)

AIN1D

AIN0D

Read/Write

R/W

Initial Value

DIDR1

Bit 7..2 Res: Reserved Bits

These bits are unused bits in the ATmega328P, and will always read as zero.
Bit 1, 0 AIN1D, AIN0D: AIN1, AIN0 Digital Input Disable
When this bit is written logic one, the digital input buffer on the AIN1/0 pin is disabled. The corresponding PIN Register bit will always read as zero when this bit is set. When an analog signal is
applied to the AIN1/0 pin and the digital input from this pin is not needed, this bit should be written logic one to reduce power consumption in the digital input buffer.

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23. Analog-to-Digital Converter

23.1

Features

23.2

10-bit Resolution
0.5 LSB Integral Non-linearity
2 LSB Absolute Accuracy
65 - 260 s Conversion Time
Up to 15 kSPS
6 Multiplexed Single Ended Input Channels
2 Additional Multiplexed Single Ended Input Channels
Temperature Sensor Input Channel
Optional Left Adjustment for ADC Result Readout
0 - VCC ADC Input Voltage Range
Selectable 1.1V ADC Reference Voltage
Free Running or Single Conversion Mode
Interrupt on ADC Conversion Complete
Sleep Mode Noise Canceler

Overview
The ATmega328P features a 10-bit successive approximation ADC. The ADC is connected to
an 8-channel Analog Multiplexer which allows eight single-ended voltage inputs constructed
from the pins of Port A. The single-ended voltage inputs refer to 0V (GND).
The ADC contains a Sample and Hold circuit which ensures that the input voltage to the ADC is
held at a constant level during conversion. A block diagram of the ADC is shown in Figure 23-1
on page 243.
The ADC has a separate analog supply voltage pin, AVCC. AVCC must not differ more than
0.3V from VCC. See the paragraph ADC Noise Canceler on page 249 on how to connect this
pin.
Internal reference voltages of nominally 1.1V or AVCC are provided On-chip. The voltage reference may be externally decoupled at the AREF pin by a capacitor for better noise performance.
The Power Reduction ADC bit, PRADC, in Minimizing Power Consumption on page 40 must
be disabled by writing a logical zero to enable the ADC.
The ADC converts an analog input voltage to a 10-bit digital value through successive approximation. The minimum value represents GND and the maximum value represents the voltage on
the AREF pin minus 1 LSB. Optionally, AVCC or an internal 1.1V reference voltage may be connected to the AREF pin by writing to the REFSn bits in the ADMUX Register. The internal
voltage reference may thus be decoupled by an external capacitor at the AREF pin to improve
noise immunity.

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Figure 23-1. Analog to Digital Converter Block Schematic Operation,
ADC CONVERSION
COMPLETE IRQ

ADC[9:0]

ADPS1

0
ADC DATA REGISTER
(ADCH/ADCL)

ADPS0

ADPS2

ADIF

ADFR

ADEN

ADSC

MUX1

ADC CTRL. & STATUS

MUX3

MUX2

ADLAR

REFS0

REFS1

ADC MULTIPLEXER
SELECT (ADMUX)

ADIE

ADIF

8-BIT DATA BUS

MUX DECODER

CHANNEL SELECTION

PRESCALER

AVCC

CONVERSION LOGIC

INTERNAL 1.1V
REFERENCE

SAMPLE & HOLD

COMPARATOR

AREF

10-BIT DAC

TEMPERATURE
SENSOR
GND
BANDGAP
REFERENCE
ADC7
ADC6

INPUT
MUX

ADC MULTIPLEXER
OUTPUT

ADC5
ADC4
ADC3
ADC2
ADC1
ADC0

The analog input channel is selected by writing to the MUX bits in ADMUX. Any of the ADC input
pins, as well as GND and a fixed bandgap voltage reference, can be selected as single ended
inputs to the ADC. The ADC is enabled by setting the ADC Enable bit, ADEN in ADCSRA. Voltage reference and input channel selections will not go into effect until ADEN is set. The ADC
does not consume power when ADEN is cleared, so it is recommended to switch off the ADC
before entering power saving sleep modes.
The ADC generates a 10-bit result which is presented in the ADC Data Registers, ADCH and
ADCL. By default, the result is presented right adjusted, but can optionally be presented left
adjusted by setting the ADLAR bit in ADMUX.
If the result is left adjusted and no more than 8-bit precision is required, it is sufficient to read
ADCH. Otherwise, ADCL must be read first, then ADCH, to ensure that the content of the Data
Registers belongs to the same conversion. Once ADCL is read, ADC access to Data Registers
is blocked.

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This means that if ADCL has been read, and a conversion completes before ADCH is read, neither register is updated and the result from the conversion is lost. When ADCH is read, ADC
access to the ADCH and ADCL Registers is re-enabled.
The ADC has its own interrupt which can be triggered when a conversion completes. When ADC
access to the Data Registers is prohibited between reading of ADCH and ADCL, the interrupt
will trigger even if the result is lost.

23.3

Starting a Conversion
A single conversion is started by disabling the Power Reduction ADC bit, PRADC, in Minimizing
Power Consumption on page 40 by writing a logical zero to it and writing a logical one to the
ADC Start Conversion bit, ADSC. This bit stays high as long as the conversion is in progress
and will be cleared by hardware when the conversion is completed. If a different data channel is
selected while a conversion is in progress, the ADC will finish the current conversion before performing the channel change.
Alternatively, a conversion can be triggered automatically by various sources. Auto Triggering is
enabled by setting the ADC Auto Trigger Enable bit, ADATE in ADCSRA. The trigger source is
selected by setting the ADC Trigger Select bits, ADTS in ADCSRB (See description of the ADTS
bits for a list of the trigger sources). When a positive edge occurs on the selected trigger signal,
the ADC prescaler is reset and a conversion is started. This provides a method of starting conversions at fixed intervals. If the trigger signal still is set when the conversion completes, a new
conversion will not be started. If another positive edge occurs on the trigger signal during conversion, the edge will be ignored. Note that an Interrupt Flag will be set even if the specific
interrupt is disabled or the Global Interrupt Enable bit in SREG is cleared. A conversion can thus
be triggered without causing an interrupt. However, the Interrupt Flag must be cleared in order to
trigger a new conversion at the next interrupt event.
Figure 23-2. ADC Auto Trigger Logic
ADTS[2:0]

PRESCALER

START
ADIF

CLKADC

ADATE

SOURCE 1
.
.
.
.
SOURCE n

CONVERSION
LOGIC
EDGE
DETECTOR

ADSC

Using the ADC Interrupt Flag as a trigger source makes the ADC start a new conversion as soon
as the ongoing conversion has finished. The ADC then operates in Free Running mode, constantly sampling and updating the ADC Data Register. The first conversion must be started by
writing a logical one to the ADSC bit in ADCSRA. In this mode the ADC will perform successive
conversions independently of whether the ADC Interrupt Flag, ADIF is cleared or not.

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If Auto Triggering is enabled, single conversions can be started by writing ADSC in ADCSRA to
one. ADSC can also be used to determine if a conversion is in progress. The ADSC bit will be
read as one during a conversion, independently of how the conversion was started.

23.4

Prescaling and Conversion Timing

Figure 23-3. ADC Prescaler
ADEN
START

Reset
7-BIT ADC PRESCALER

CK/64

CK/128

CK/32

CK/8

CK/16

CK/4

CK/2

ADPS0
ADPS1
ADPS2

ADC CLOCK SOURCE

By default, the successive approximation circuitry requires an input clock frequency between 50
kHz and 200 kHz to get maximum resolution. If a lower resolution than 10 bits is needed, the
input clock frequency to the ADC can be higher than 200 kHz to get a higher sample rate.
The ADC module contains a prescaler, which generates an acceptable ADC clock frequency
from any CPU frequency above 100 kHz. The prescaling is set by the ADPS bits in ADCSRA.
The prescaler starts counting from the moment the ADC is switched on by setting the ADEN bit
in ADCSRA. The prescaler keeps running for as long as the ADEN bit is set, and is continuously
reset when ADEN is low.
When initiating a single ended conversion by setting the ADSC bit in ADCSRA, the conversion
starts at the following rising edge of the ADC clock cycle.
A normal conversion takes 13 ADC clock cycles. The first conversion after the ADC is switched
on (ADEN in ADCSRA is set) takes 25 ADC clock cycles in order to initialize the analog circuitry.
When the bandgap reference voltage is used as input to the ADC, it will take a certain time for
the voltage to stabilize. If not stabilized, the first value read after the first conversion may be
wrong.
The actual sample-and-hold takes place 1.5 ADC clock cycles after the start of a normal conversion and 13.5 ADC clock cycles after the start of an first conversion. When a conversion is
complete, the result is written to the ADC Data Registers, and ADIF is set. In Single Conversion
mode, ADSC is cleared simultaneously. The software may then set ADSC again, and a new
conversion will be initiated on the first rising ADC clock edge.

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When Auto Triggering is used, the prescaler is reset when the trigger event occurs. This assures
a fixed delay from the trigger event to the start of conversion. In this mode, the sample-and-hold
takes place two ADC clock cycles after the rising edge on the trigger source signal. Three additional CPU clock cycles are used for synchronization logic.
In Free Running mode, a new conversion will be started immediately after the conversion completes, while ADSC remains high. For a summary of conversion times, see Table 23-1 on page
247.
Figure 23-4. ADC Timing Diagram, First Conversion (Single Conversion Mode)
Next
Conversion

First Conversion

Cycle Number

ADC Clock
ADEN
ADSC
ADIF
Sign and MSB of Result

ADCH

LSB of Result

ADCL

MUX and REFS

Update

Conversion
Complete

Sample & Hold

MUX and REFS

Update

Figure 23-5. ADC Timing Diagram, Single Conversion

One Conversion

Cycle Number

Next Conversion

ADC Clock
ADSC
ADIF
ADCH

Sign and MSB of Result

ADCL

LSB of Result
Sample & Hold
MUX and REFS
Update

246

Conversion
Complete

MUX and REFS

Update

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Figure 23-6. ADC Timing Diagram, Auto Triggered Conversion
One Conversion

Cycle Number

Next Conversion

ADC Clock
Trigger
Source
ADATE
ADIF
ADCH

Sign and MSB of Result

ADCL

LSB of Result

Prescaler
Reset

Sample &
Hold

Prescaler
Reset

Conversion
Complete

MUX and REFS

Update

Figure 23-7. ADC Timing Diagram, Free Running Conversion

One Conversion

Cycle Number

Next Conversion
13

ADC Clock
ADSC
ADIF
ADCH

Sign and MSB of Result

ADCL

LSB of Result

Sample & Hold

Conversion
Complete

Table 23-1.

MUX and REFS

Update

ADC Conversion Time

Sample & Hold
(Cycles from Start of Conversion)

Conversion Time
(Cycles)

First conversion

13.5

Normal conversions, single ended

1.5

13.5

Condition

Auto Triggered conversions

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23.5

Changing Channel or Reference Selection

The MUXn and REFS1:0 bits in the ADMUX Register are single buffered through a temporary
register to which the CPU has random access. This ensures that the channels and reference
selection only takes place at a safe point during the conversion. The channel and reference
selection is continuously updated until a conversion is started. Once the conversion starts, the
channel and reference selection is locked to ensure a sufficient sampling time for the ADC. Continuous updating resumes in the last ADC clock cycle before the conversion completes (ADIF in
ADCSRA is set). Note that the conversion starts on the following rising ADC clock edge after
ADSC is written. The user is thus advised not to write new channel or reference selection values
to ADMUX until one ADC clock cycle after ADSC is written.
If Auto Triggering is used, the exact time of the triggering event can be indeterministic. Special
care must be taken when updating the ADMUX Register, in order to control which conversion
will be affected by the new settings.
If both ADATE and ADEN is written to one, an interrupt event can occur at any time. If the
ADMUX Register is changed in this period, the user cannot tell if the next conversion is based
on the old or the new settings. ADMUX can be safely updated in the following ways:
a. When ADATE or ADEN is cleared.
b.

During conversion, minimum one ADC clock cycle after the trigger event.

After a conversion, before the Interrupt Flag used as trigger source is cleared.

When updating ADMUX in one of these conditions, the new settings will affect the next ADC
conversion.
23.5.1

ADC Input Channels

When changing channel selections, the user should observe the following guidelines to ensure
that the correct channel is selected:
In Single Conversion mode, always select the channel before starting the conversion. The channel selection may be changed one ADC clock cycle after writing one to ADSC. However, the
simplest method is to wait for the conversion to complete before changing the channel selection.
In Free Running mode, always select the channel before starting the first conversion. The channel selection may be changed one ADC clock cycle after writing one to ADSC. However, the
simplest method is to wait for the first conversion to complete, and then change the channel
selection. Since the next conversion has already started automatically, the next result will reflect
the previous channel selection. Subsequent conversions will reflect the new channel selection.

23.5.2

ADC Voltage Reference

The reference voltage for the ADC (VREF) indicates the conversion range for the ADC. Single
ended channels that exceed VREF will result in codes close to 0x3FF. VREF can be selected as
either AVCC, internal 1.1V reference, or external AREF pin.
AVCC is connected to the ADC through a passive switch. The internal 1.1V reference is generated from the internal bandgap reference (VBG) through an internal amplifier. In either case, the
external AREF pin is directly connected to the ADC, and the reference voltage can be made
more immune to noise by connecting a capacitor between the AREF pin and ground. VREF can
also be measured at the AREF pin with a high impedance voltmeter. Note that VREF is a high
impedance source, and only a capacitive load should be connected in a system.

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If the user has a fixed voltage source connected to the AREF pin, the user may not use the other
reference voltage options in the application, as they will be shorted to the external voltage. If no
external voltage is applied to the AREF pin, the user may switch between AVCC and 1.1V as reference selection. The first ADC conversion result after switching reference voltage source may
be inaccurate, and the user is advised to discard this result.

23.6

ADC Noise Canceler

The ADC features a noise canceler that enables conversion during sleep mode to reduce noise
induced from the CPU core and other I/O peripherals. The noise canceler can be used with ADC
Noise Reduction and Idle mode. To make use of this feature, the following procedure should be
used:
a. Make sure that the ADC is enabled and is not busy converting. Single Conversion
mode must be selected and the ADC conversion complete interrupt must be enabled.
b.

Enter ADC Noise Reduction mode (or Idle mode). The ADC will start a conversion
once the CPU has been halted.

If no other interrupts occur before the ADC conversion completes, the ADC interrupt
will wake up the CPU and execute the ADC Conversion Complete interrupt routine. If
another interrupt wakes up the CPU before the ADC conversion is complete, that
interrupt will be executed, and an ADC Conversion Complete interrupt request will be
generated when the ADC conversion completes. The CPU will remain in active mode
until a new sleep command is executed.

Note that the ADC will not be automatically turned off when entering other sleep modes than Idle
mode and ADC Noise Reduction mode. The user is advised to write zero to ADEN before entering such sleep modes to avoid excessive power consumption.
23.6.1

Analog Input Circuitry

The analog input circuitry for single ended channels is illustrated in Figure 23-8. An analog
source applied to ADCn is subjected to the pin capacitance and input leakage of that pin, regardless of whether that channel is selected as input for the ADC. When the channel is selected, the
source must drive the S/H capacitor through the series resistance (combined resistance in the
input path).
The ADC is optimized for analog signals with an output impedance of approximately 10 k or
less. If such a source is used, the sampling time will be negligible. If a source with higher impedance is used, the sampling time will depend on how long time the source needs to charge the
S/H capacitor, with can vary widely. The user is recommended to only use low impedance
sources with slowly varying signals, since this minimizes the required charge transfer to the S/H
capacitor.
Signal components higher than the Nyquist frequency (fADC/2) should not be present for either
kind of channels, to avoid distortion from unpredictable signal convolution. The user is advised
to remove high frequency components with a low-pass filter before applying the signals as
inputs to the ADC.

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Figure 23-8. Analog Input Circuitry

IIH
ADCn
1..100 k
CS/H= 14 pF
IIL
VCC/2
23.6.2

Analog Noise Canceling Techniques

Digital circuitry inside and outside the device generates EMI which might affect the accuracy of
analog measurements. If conversion accuracy is critical, the noise level can be reduced by
applying the following techniques:
a. Keep analog signal paths as short as possible. Make sure analog tracks run over the
analog ground plane, and keep them well away from high-speed switching digital
tracks.
b.

The AVCC pin on the device should be connected to the digital VCC supply voltage via
an LC network as shown in Figure 23-9.

Use the ADC noise canceler function to reduce induced noise from the CPU.

d. If any ADC [3..0] port pins are used as digital outputs, it is essential that these do not
switch while a conversion is in progress. However, using the 2-wire Interface (ADC4

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and ADC5) will only affect the conversion on ADC4 and ADC5 and not the other ADC
channels.

Analog Ground Plane

PC2 (ADC2)

PC3 (ADC3)

PC4 (ADC4/SDA)

PC5 (ADC5/SCL)

VCC

GND

Figure 23-9. ADC Power Connections

PC1 (ADC1)

PC0 (ADC0)
ADC7

ADC6
AVCC

100nF

AREF

10H

GND

PB5

23.6.3

ADC Accuracy Definitions

An n-bit single-ended ADC converts a voltage linearly between GND and V REF in 2 n steps
(LSBs). The lowest code is read as 0, and the highest code is read as 2n-1.
Several parameters describe the deviation from the ideal behavior:
Offset: The deviation of the first transition (0x000 to 0x001) compared to the ideal transition (at
0.5 LSB). Ideal value: 0 LSB.

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Figure 23-10. Offset Error

Output Code

Ideal ADC
Actual ADC

Offset
Error

VREF Input Voltage

Gain error: After adjusting for offset, the gain error is found as the deviation of the last transition
(0x3FE to 0x3FF) compared to the ideal transition (at 1.5 LSB below maximum). Ideal value: 0
LSB
Figure 23-11. Gain Error
Output Code

Gain
Error

Ideal ADC
Actual ADC

VREF Input Voltage

Integral Non-linearity (INL): After adjusting for offset and gain error, the INL is the maximum
deviation of an actual transition compared to an ideal transition for any code. Ideal value: 0
LSB.

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Figure 23-12. Integral Non-linearity (INL)
Output Code

INL

Ideal ADC
Actual ADC

VREF

Input Voltage

Differential Non-linearity (DNL): The maximum deviation of the actual code width (the interval
between two adjacent transitions) from the ideal code width (1 LSB). Ideal value: 0 LSB.
Figure 23-13. Differential Non-linearity (DNL)
Output Code
0x3FF

1 LSB

DNL
0x000
0

VREF Input Voltage

Quantization Error: Due to the quantization of the input voltage into a finite number of codes, a
range of input voltages (1 LSB wide) will code to the same value. Always 0.5 LSB.
Absolute accuracy: The maximum deviation of an actual (unadjusted) transition compared to
an ideal transition for any code. This is the compound effect of offset, gain error, differential
error, non-linearity, and quantization error. Ideal value: 0.5 LSB.

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23.7

ADC Conversion Result

After the conversion is complete (ADIF is high), the conversion result can be found in the ADC
Result Registers (ADCL, ADCH).
For single ended conversion, the result is
V IN 1024
ADC = -------------------------V REF
where VIN is the voltage on the selected input pin and VREF the selected voltage reference (see
Table 23-3 on page 256 and Table 23-4 on page 257). 0x000 represents analog ground, and
0x3FF represents the selected reference voltage minus one LSB.

23.8

Temperature Measurement
The temperature measurement is based on an on-chip temperature sensor that is coupled to a
single ended ADC input. MUX[4..0] bits in ADMUX register enables the temperature sensor. The
internal 1.1V voltage reference must also be selected for the ADC voltage reference source in
the temperature sensor measurement. When the temperature sensor is enabled, the ADC converter can be used in single conversion mode to measure the voltage over the temperature
sensor.
The measured voltage has a linear relationship to the temperature as described in Table 23-2 on
page 254.
The voltage sensitivity is approximately 1LSB/C and the accuracy of the temperature measurement is 10C using manufacturing calibration values (TS_GAIN, TS_OFFSET).
The values described in Table 23-2 on page 254 are typical values. However, due to the process
variation the temperature sensor output varies from one chip to another.
Table 23-2.

Sensor output code vs Temperature (typical values)

Temperature / C

23.8.1

-40C

+25 C

+125 C

0x010D

0x0160

0x01E0

Manufacturing Calibration
Calibration values determined during test are available in the signature row.
The temperature in degrees Celsius can be calculated using the formula:

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Where:.
a.

ADCH & ADCL are the ADC data registers,

is the temperature sensor gain

TS_OFFSET is the temperature sensor offset correction term

TS_GAIN is the unsigned fixed point 8-bit temperature sensor gain factor in
1/128th units stored in the signature row.
TS_OFFSET is the signed twos complement temperature sensor offset reading
stored in the signature row. See Table 26-5 on page 280 for signature row
parameter address

The following code example allows to read Signature Row data

.equ TS_GAIN = 0x0003
.equ TS_OFFSET = 0x0002
LDI R30,LOW(TS_GAIN)
LDI R31,HIGH (TS_GAIN)
RCALL Read_signature_row
MOV R17,R16 ; Save R16 result
LDI R30,LOW(TS_OFFSET)
LDI R31,HIGH (TS_OFFSET)
RCALL Read_signature_row
; R16 holds TS_OFFSET and R17 holds TS_GAIN
Read_signature_row:
IN R16,SPMCSR ; Wait for SPMEN ready
SBRC R16,SPMEN ; Exit loop here when SPMCSR is free
RJMP Read_signature_row
LDI R16,((1<<SIGRD)|(1<<SPMEN)) ; We need to set SIGRD and SPMEN together
OUT SPMCSR,R16 ; and execute the LPM within 3 cycles
LPM R16,Z
RET

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23.9
23.9.1

REFS1

REFS0

ADLAR

MUX3

MUX2

MUX1

MUX0

Read/Write

R/W

Initial Value

(0x7C)

ADMUX

Bit 7:6 REFS1:0: Reference Selection Bits

These bits select the voltage reference for the ADC, as shown in Table 23-3. If these bits are
changed during a conversion, the change will not go in effect until this conversion is complete
(ADIF in ADCSRA is set). The internal voltage reference options may not be used if an external
reference voltage is being applied to the AREF pin.
Table 23-3.

Voltage Reference Selections for ADC

REFS1

REFS0

Voltage Reference Selection

AREF, Internal Vref turned off

AVCC with external capacitor at AREF pin

Reserved

Internal 1.1V Voltage Reference with external capacitor at AREF pin

Bit 5 ADLAR: ADC Left Adjust Result

The ADLAR bit affects the presentation of the ADC conversion result in the ADC Data Register.
Write one to ADLAR to left adjust the result. Otherwise, the result is right adjusted. Changing the
ADLAR bit will affect the ADC Data Register immediately, regardless of any ongoing conversions. For a complete description of this bit, see ADCL and ADCH The ADC Data Register on
page 259.
Bit 4 Res: Reserved Bit
This bit is an unused bit in the ATmega328P, and will always read as zero.
Bits 3:0 MUX3:0: Analog Channel Selection Bits
The value of these bits selects which analog inputs are connected to the ADC. See Table 23-4
for details. If these bits are changed during a conversion, the change will not go in effect until this
conversion is complete (ADIF in ADCSRA is set).

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Table 23-4.

Input Channel Selections

MUX3..0

Note:

23.9.2

Single Ended Input

0000

ADC0

0001

ADC1

0010

ADC2

0011

ADC3

0100

ADC4

0101

ADC5

0110

ADC6

0111

ADC7

1000

ADC8(1)

1001

(reserved)

1010

(reserved)

1011

(reserved)

1100

(reserved)

1101

(reserved)

1110

1.1V (VBG)

1111

0V (GND)

1. For Temperature Sensor.

ADCSRA ADC Control and Status Register A

Bit

ADEN

ADSC

ADATE

ADIF

ADIE

ADPS2

ADPS1

ADPS0

Read/Write

R/W

Initial Value

(0x7A)

ADCSRA

Bit 7 ADEN: ADC Enable

Writing this bit to one enables the ADC. By writing it to zero, the ADC is turned off. Turning the
ADC off while a conversion is in progress, will terminate this conversion.
Bit 6 ADSC: ADC Start Conversion
In Single Conversion mode, write this bit to one to start each conversion. In Free Running mode,
write this bit to one to start the first conversion. The first conversion after ADSC has been written
after the ADC has been enabled, or if ADSC is written at the same time as the ADC is enabled,
will take 25 ADC clock cycles instead of the normal 13. This first conversion performs initialization of the ADC.
ADSC will read as one as long as a conversion is in progress. When the conversion is complete,
it returns to zero. Writing zero to this bit has no effect.

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Bit 5 ADATE: ADC Auto Trigger Enable

When this bit is written to one, Auto Triggering of the ADC is enabled. The ADC will start a conversion on a positive edge of the selected trigger signal. The trigger source is selected by setting
the ADC Trigger Select bits, ADTS in ADCSRB.
Bit 4 ADIF: ADC Interrupt Flag
This bit is set when an ADC conversion completes and the Data Registers are updated. The
ADC Conversion Complete Interrupt is executed if the ADIE bit and the I-bit in SREG are set.
ADIF is cleared by hardware when executing the corresponding interrupt handling vector. Alternatively, ADIF is cleared by writing a logical one to the flag. Beware that if doing a
Read-Modify-Write on ADCSRA, a pending interrupt can be disabled. This also applies if the SBI
and CBI instructions are used.
Bit 3 ADIE: ADC Interrupt Enable
When this bit is written to one and the I-bit in SREG is set, the ADC Conversion Complete Interrupt is activated.
Bits 2:0 ADPS2:0: ADC Prescaler Select Bits
These bits determine the division factor between the system clock frequency and the input clock
to the ADC.
Table 23-5.

258

ADC Prescaler Selections

ADPS2

ADPS1

ADPS0

Division Factor

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23.9.3
23.9.3.1

ADCL and ADCH The ADC Data Register

ADLAR = 0
Bit

(0x79)

ADC9

ADC8

ADCH

(0x78)

ADC7

ADC6

ADC5

ADC4

ADC3

ADC2

ADC1

ADC0

ADCL

Read/Write

Initial Value

23.9.3.2

ADLAR = 1
Bit

(0x79)

ADC9

ADC8

ADC7

ADC6

ADC5

ADC4

ADC3

ADC2

ADCH

(0x78)

ADC1

ADC0

ADCL

Read/Write

Initial Value

When an ADC conversion is complete, the result is found in these two registers.
When ADCL is read, the ADC Data Register is not updated until ADCH is read. Consequently, if
the result is left adjusted and no more than 8-bit precision is required, it is sufficient to read
ADCH. Otherwise, ADCL must be read first, then ADCH.
The ADLAR bit in ADMUX, and the MUXn bits in ADMUX affect the way the result is read from
the registers. If ADLAR is set, the result is left adjusted. If ADLAR is cleared (default), the result
is right adjusted.
ADC9:0: ADC Conversion Result
These bits represent the result from the conversion, as detailed in ADC Conversion Result on
page 254.
23.9.4

ADCSRB ADC Control and Status Register B

Bit

(0x7B)

ACME

ADTS2

ADTS1

ADTS0

Read/Write

R/W

Initial Value

ADCSRB

Bit 7, 5:3 Res: Reserved Bits

These bits are reserved for future use. To ensure compatibility with future devices, these bist
must be written to zero when ADCSRB is written.

Bit 2:0 ADTS2:0: ADC Auto Trigger Source

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If ADATE in ADCSRA is written to one, the value of these bits selects which source will trigger
an ADC conversion. If ADATE is cleared, the ADTS2:0 settings will have no effect. A conversion
will be triggered by the rising edge of the selected Interrupt Flag. Note that switching from a trigger source that is cleared to a trigger source that is set, will generate a positive edge on the
trigger signal. If ADEN in ADCSRA is set, this will start a conversion. Switching to Free Running
mode (ADTS[2:0]=0) will not cause a trigger event, even if the ADC Interrupt Flag is set.
Table 23-6.

23.9.5

ADC Auto Trigger Source Selections

ADTS2

ADTS1

ADTS0

Trigger Source

Free Running mode

Analog Comparator

External Interrupt Request 0

Timer/Counter0 Compare Match A

Timer/Counter0 Overflow

Timer/Counter1 Compare Match B

Timer/Counter1 Overflow

Timer/Counter1 Capture Event

DIDR0 Digital Input Disable Register 0

Bit

(0x7E)

ADC5D

ADC4D

ADC3D

ADC2D

ADC1D

ADC0D

Read/Write

R/W

Initial Value

DIDR0

Bits 7:6 Res: Reserved Bits

These bits are reserved for future use. To ensure compatibility with future devices, these bits
must be written to zero when DIDR0 is written.
Bit 5:0 ADC5D..ADC0D: ADC5..0 Digital Input Disable
When this bit is written logic one, the digital input buffer on the corresponding ADC pin is disabled. The corresponding PIN Register bit will always read as zero when this bit is set. When an
analog signal is applied to the ADC5..0 pin and the digital input from this pin is not needed, this
bit should be written logic one to reduce power consumption in the digital input buffer.
Note that ADC pins ADC7 and ADC6 do not have digital input buffers, and therefore do not
require Digital Input Disable bits.

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24. debugWIRE On-chip Debug System
24.1

Features

24.2

Complete Program Flow Control

Emulates All On-chip Functions, Both Digital and Analog, except RESET Pin
Real-time Operation
Symbolic Debugging Support (Both at C and Assembler Source Level, or for Other HLLs)
Unlimited Number of Program Break Points (Using Software Break Points)
Non-intrusive Operation
Electrical Characteristics Identical to Real Device
Automatic Configuration System
High-Speed Operation
Programming of Non-volatile Memories

Overview
The debugWIRE On-chip debug system uses a One-wire, bi-directional interface to control the
program flow, execute AVR instructions in the CPU and to program the different non-volatile
memories.

24.3

Physical Interface
When the debugWIRE Enable (DWEN) Fuse is programmed and Lock bits are unprogrammed,
the debugWIRE system within the target device is activated. The RESET port pin is configured
as a wire-AND (open-drain) bi-directional I/O pin with pull-up enabled and becomes the communication gateway between target and emulator.
Figure 24-1. The debugWIRE Setup

1.8 - 5.5V

VCC

dW(RESET)

GND

Figure 24-1 shows the schematic of a target MCU, with debugWIRE enabled, and the emulator
connector. The system clock is not affected by debugWIRE and will always be the clock source
selected by the CKSEL Fuses.

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When designing a system where debugWIRE will be used, the following observations must be
made for correct operation:
Pull-up resistors on the dW/(RESET) line must not be smaller than 10k. The pull-up resistor
is not required for debugWIRE functionality.
Connecting the RESET pin directly to VCC will not work.
Capacitors connected to the RESET pin must be disconnected when using debugWire.
All external reset sources must be disconnected.

24.4

Software Break Points

debugWIRE supports Program memory Break Points by the AVR Break instruction. Setting a
Break Point in AVR Studio will insert a BREAK instruction in the Program memory. The instruction replaced by the BREAK instruction will be stored. When program execution is continued, the
stored instruction will be executed before continuing from the Program memory. A break can be
inserted manually by putting the BREAK instruction in the program.
The Flash must be re-programmed each time a Break Point is changed. This is automatically
handled by AVR Studio through the debugWIRE interface. The use of Break Points will therefore
reduce the Flash Data retention. Devices used for debugging purposes should not be shipped to
end customers.

24.5

Limitations of debugWIRE
The debugWIRE communication pin (dW) is physically located on the same pin as External
Reset (RESET). An External Reset source is therefore not supported when the debugWIRE is
enabled.
A programmed DWEN Fuse enables some parts of the clock system to be running in all sleep
modes. This will increase the power consumption while in sleep. Thus, the DWEN Fuse should
be disabled when debugWire is not used.

24.6

24.6.1

DWDR debugWire Data Register

Bit

DWDR[7:0]

DWDR

Read/Write

R/W

Initial Value

The DWDR Register provides a communication channel from the running program in the MCU
to the debugger. This register is only accessible by the debugWIRE and can therefore not be
used as a general purpose register in the normal operations.

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25. Self-Programming the Flash, ATmega328P
25.1

Overview
In ATmega328P, there is no Read-While-Write support, and no separate Boot Loader Section.
The SPM instruction can be executed from the entire Flash.
The device provides a Self-Programming mechanism for downloading and uploading program
code by the MCU itself. The Self-Programming can use any available data interface and associated protocol to read code and write (program) that code into the Program memory.
The Program memory is updated in a page by page fashion. Before programming a page with
the data stored in the temporary page buffer, the page must be erased. The temporary page buffer is filled one word at a time using SPM and the buffer can be filled either before the Page
Erase command or between a Page Erase and a Page Write operation:
Alternative 1, fill the buffer before a Page Erase
Fill temporary page buffer
Perform a Page Erase
Perform a Page Write
Alternative 2, fill the buffer after Page Erase
Perform a Page Erase
Fill temporary page buffer
Perform a Page Write
If only a part of the page needs to be changed, the rest of the page must be stored (for example
in the temporary page buffer) before the erase, and then be re-written. When using alternative 1,
the Boot Loader provides an effective Read-Modify-Write feature which allows the user software
to first read the page, do the necessary changes, and then write back the modified data. If alternative 2 is used, it is not possible to read the old data while loading since the page is already
erased. The temporary page buffer can be accessed in a random sequence. It is essential that
the page address used in both the Page Erase and Page Write operation is addressing the same
page.

25.1.1

Performing Page Erase by SPM

To execute Page Erase, set up the address in the Z-pointer, write 00000011 to SPMCSR and
execute SPM within four clock cycles after writing SPMCSR. The data in R1 and R0 is ignored.
The page address must be written to PCPAGE in the Z-register. Other bits in the Z-pointer will
be ignored during this operation.
The CPU is halted during the Page Erase operation.

25.1.2

Filling the Temporary Buffer (Page Loading)

To write an instruction word, set up the address in the Z-pointer and data in R1:R0, write
00000001 to SPMCSR and execute SPM within four clock cycles after writing SPMCSR. The
content of PCWORD in the Z-register is used to address the data in the temporary buffer. The
temporary buffer will auto-erase after a Page Write operation or by writing the RWWSRE bit in
SPMCSR. It is also erased after a system reset. Note that it is not possible to write more than
one time to each address without erasing the temporary buffer. If the EEPROM is written in the
middle of an SPM Page Load operation, all data loaded will be lost.

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25.1.3

Performing a Page Write

To execute Page Write, set up the address in the Z-pointer, write 00000101 to SPMCSR and
execute SPM within four clock cycles after writing SPMCSR. The data in R1 and R0 is ignored.
The page address must be written to PCPAGE. Other bits in the Z-pointer must be written to
zero during this operation.
The CPU is halted during the Page Write operation.

25.2

Addressing the Flash During Self-Programming

The Z-pointer is used to address the SPM commands.
Bit

ZH (R31)

Z15

Z14

Z13

Z12

Z11

Z10

ZL (R30)

Since the Flash is organized in pages (see Table 27-9 on page 290), the Program Counter can
be treated as having two different sections. One section, consisting of the least significant bits, is
addressing the words within a page, while the most significant bits are addressing the pages.
This is shown in Figure 26-3 on page 276. Note that the Page Erase and Page Write operations
are addressed independently. Therefore it is of major importance that the software addresses
the same page in both the Page Erase and Page Write operation.
The LPM instruction uses the Z-pointer to store the address. Since this instruction addresses the
Flash byte-by-byte, also the LSB (bit Z0) of the Z-pointer is used.
Figure 25-1. Addressing the Flash During SPM(1)
BIT

ZPCMSB

ZPAGEMSB

Z - REGISTER

1 0
0

PCMSB
PROGRAM
COUNTER

PAGEMSB
PCPAGE

PCWORD

PAGE ADDRESS
WITHIN THE FLASH
PROGRAM MEMORY
PAGE

WORD ADDRESS
WITHIN A PAGE
PAGE
INSTRUCTION WORD

PCWORD[PAGEMSB:0]:
00
01
02

PAGEEND

Note:

264

1. The different variables used in Figure 26-3 are listed in Table 27-9 on page 290.

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Atmel ATmega328P [Preliminary]

25.2.1

EEPROM Write Prevents Writing to SPMCSR

Note that an EEPROM write operation will block all software programming to Flash. Reading the
Fuses and Lock bits from software will also be prevented during the EEPROM write operation. It
is recommended that the user checks the status bit (EEPE) in the EECR Register and verifies
that the bit is cleared before writing to the SPMCSR Register.

25.2.2

Reading the Fuse and Lock Bits from Software

It is possible to read both the Fuse and Lock bits from software. To read the Lock bits, load the
Z-pointer with 0x0001 and set the BLBSET and SELFPRGEN bits in SPMCSR. When an LPM
instruction is executed within three CPU cycles after the BLBSET and SELFPRGEN bits are set
in SPMCSR, the value of the Lock bits will be loaded in the destination register. The BLBSET
and SELFPRGEN bits will auto-clear upon completion of reading the Lock bits or if no LPM
instruction is executed within three CPU cycles or no SPM instruction is executed within four
CPU cycles. When BLBSET and SELFPRGEN are cleared, LPM will work as described in the
Instruction set Manual.
Bit

LB2

LB1

The algorithm for reading the Fuse Low byte is similar to the one described above for reading
the Lock bits. To read the Fuse Low byte, load the Z-pointer with 0x0000 and set the BLBSET
and SELFPRGEN bits in SPMCSR. When an LPM instruction is executed within three cycles
after the BLBSET and SELFPRGEN bits are set in the SPMCSR, the value of the Fuse Low byte
(FLB) will be loaded in the destination register as shown below.See Table 27-5 on page 288 for
a detailed description and mapping of the Fuse Low byte.
Bit

FLB7

FLB6

FLB5

FLB4

FLB3

FLB2

FLB1

FLB0

Similarly, when reading the Fuse High byte (FHB), load 0x0003 in the Z-pointer. When an LPM
instruction is executed within three cycles after the BLBSET and SELFPRGEN bits are set in the
SPMCSR, the value of the Fuse High byte will be loaded in the destination register as shown
below. See Table 27-4 on page 287 for detailed description and mapping of the Extended Fuse
byte.
Bit

FHB7

FHB6

FHB5

FHB4

FHB3

FHB2

FHB1

FHB0

Similarly, when reading the Extended Fuse byte (EFB), load 0x0002 in the Z-pointer. When an
LPM instruction is executed within three cycles after the BLBSET and SELFPRGEN bits are set
in the SPMCSR, the value of the Extended Fuse byte will be loaded in the destination register as
shown below. See Table 27-5 on page 288 for detailed description and mapping of the Extended
Fuse byte.
Bit

FHB7

FHB6

FHB5

FHB4

FHB3

FHB2

FHB1

FHB0

Fuse and Lock bits that are programmed, will be read as zero. Fuse and Lock bits that are
unprogrammed, will be read as one.

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25.2.3

Preventing Flash Corruption

During periods of low VCC, the Flash program can be corrupted because the supply voltage is
too low for the CPU and the Flash to operate properly. These issues are the same as for board
level systems using the Flash, and the same design solutions should be applied.
A Flash program corruption can be caused by two situations when the voltage is too low. First, a
regular write sequence to the Flash requires a minimum voltage to operate correctly. Secondly,
the CPU itself can execute instructions incorrectly, if the supply voltage for executing instructions
is too low.
Flash corruption can easily be avoided by following these design recommendations (one is
sufficient):
1. 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 operating voltage matches the detection level. If not, an external low VCC reset protection circuit can be
used. If a reset occurs while a write operation is in progress, the write operation will be
completed provided that the power supply voltage is sufficient.
2. Keep the AVR core in Power-down sleep mode during periods of low VCC. This will prevent the CPU from attempting to decode and execute instructions, effectively protecting
the SPMCSR Register and thus the Flash from unintentional writes.

25.2.4

Programming Time for Flash when Using SPM

The calibrated RC Oscillator is used to time Flash accesses. Table 26-6 shows the typical programming time for Flash accesses from the CPU.
Table 25-1.

SPM Programming Time(1)

Symbol

Min Programming Time

Max Programming Time

3.7 ms

4.5 ms

Flash write (Page Erase, Page Write, and

write Lock bits by SPM)
Note:

266

1. Minimum and maximum programming time is per individual operation.

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25.2.5

Simple Assembly Code Example for a Boot Loader

Note that the RWWSB bit will always be read as zero in ATmega328P. Nevertheless, it is recommended to check this bit as shown in the code example, to ensure compatibility with devices
supporting Read-While-Write.

;-the routine writes one page of data from RAM to Flash

; the first data location in RAM is pointed to by the Y pointer
; the first data location in Flash is pointed to by the Z-pointer
;-error handling is not included
;-the routine must be placed inside the Boot space
; (at least the Do_spm sub routine). Only code inside NRWW section can
; be read during Self-Programming (Page Erase and Page Write).
;-registers used: r0, r1, temp1 (r16), temp2 (r17), looplo (r24),
; loophi (r25), spmcrval (r20)
; storing and restoring of registers is not included in the routine
; register usage can be optimized at the expense of code size
;-It is assumed that either the interrupt table is moved to the Boot
; loader section or that the interrupts are disabled.
.equ PAGESIZEB = PAGESIZE*2
;PAGESIZEB is page size in BYTES, not words
.org SMALLBOOTSTART
Write_page:
; Page Erase
ldi spmcrval, (1<<PGERS) | (1<<SELFPRGEN)
rcallDo_spm
; re-enable the RWW section
ldi spmcrval, (1<<RWWSRE) | (1<<SELFPRGEN)
rcallDo_spm
; transfer data from RAM to Flash page buffer
ldi looplo, low(PAGESIZEB)
;init loop variable
ldi loophi, high(PAGESIZEB) ;not required for PAGESIZEB<=256
Wrloop:
ld
r0, Y+
ld
r1, Y+
ldi spmcrval, (1<<SELFPRGEN)
rcallDo_spm
adiw ZH:ZL, 2
sbiw loophi:looplo, 2
;use subi for PAGESIZEB<=256
brne Wrloop
; execute Page Write
subi ZL, low(PAGESIZEB)
;restore pointer
sbci ZH, high(PAGESIZEB)
;not required for PAGESIZEB<=256
ldi spmcrval, (1<<PGWRT) | (1<<SELFPRGEN)
rcallDo_spm
; re-enable the RWW section
ldi spmcrval, (1<<RWWSRE) | (1<<SELFPRGEN)
rcallDo_spm
; read back and check, optional
ldi looplo, low(PAGESIZEB)
;init loop variable
ldi loophi, high(PAGESIZEB) ;not required for PAGESIZEB<=256
subi YL, low(PAGESIZEB)
;restore pointer
sbci YH, high(PAGESIZEB)
Rdloop:

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lpm
ld
cpse
rjmp
sbiw
brne

r0, Z+
r1, Y+
r0, r1
Error
loophi:looplo, 1
Rdloop

;use subi for PAGESIZEB<=256

; return to RWW section

; verify that RWW section is safe to read
Return:
in
temp1, SPMCSR
sbrs temp1, RWWSB
; If RWWSB is set, the RWW section is not ready yet
ret
; re-enable the RWW section
ldi spmcrval, (1<<RWWSRE) | (1<<SELFPRGEN)
rcallDo_spm
rjmp Return
Do_spm:
; check for previous SPM complete
Wait_spm:
in
temp1, SPMCSR
sbrc temp1, SELFPRGEN
rjmp Wait_spm
; input: spmcrval determines SPM action
; disable interrupts if enabled, store status
in
temp2, SREG
cli
; check that no EEPROM write access is present
Wait_ee:
sbic EECR, EEPE
rjmp Wait_ee
; SPM timed sequence
out SPMCSR, spmcrval
spm
; restore SREG (to enable interrupts if originally enabled)
out SREG, temp2
ret

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25.3
25.3.1

Register Description
SPMCSR Store Program Memory Control and Status Register
The Store Program Memory Control and Status Register contains the control bits needed to control the Program memory operations.
Bit

0x37 (0x57)

SPMIE

RWWSB

RWWSRE

BLBSET

PGWRT

PGERS

SELFPRGEN

Read/Write

R/W

Initial Value

SPMCSR

Bit 7 SPMIE: SPM Interrupt Enable

When the SPMIE bit is written to one, and the I-bit in the Status Register is set (one), the SPM
ready interrupt will be enabled. The SPM ready Interrupt will be executed as long as the SELFPRGEN bit in the SPMCSR Register is cleared. The interrupt will not be generated during
EEPROM write or SPM.
Bit 6 RWWSB: Read-While-Write Section Busy
This bit is for compatibility with devices supporting Read-While-Write. It will always read as zero
in ATmega328P.
Bit 5 Res: Reserved Bit
This bit is a reserved bit in the ATmega328P and will always read as zero.
Bit 4 RWWSRE: Read-While-Write Section Read Enable
If the RWWSRE bit is written while filling the temporary page buffer, the temporary page buffer
will be cleared and the data will be lost.
Bit 3 BLBSET: Boot Lock Bit Set
An LPM instruction within three cycles after BLBSET and SELFPRGEN are set in the SPMCSR
Register, will read either the Lock bits or the Fuse bits (depending on Z0 in the Z-pointer) into the
destination register. See Reading the Fuse and Lock Bits from Software on page 265 for
details.
Bit 2 PGWRT: Page Write
If this bit is written to one at the same time as SELFPRGEN, the next SPM instruction within four
clock cycles executes Page Write, with the data stored in the temporary buffer. The page
address is taken from the high part of the Z-pointer. The data in R1 and R0 are ignored. The
PGWRT bit will auto-clear upon completion of a Page Write, or if no SPM instruction is executed
within four clock cycles. The CPU is halted during the entire Page Write operation.
Bit 1 PGERS: Page Erase
If this bit is written to one at the same time as SELFPRGEN, the next SPM instruction within four
clock cycles executes Page Erase. The page address is taken from the high part of the
Z-pointer. The data in R1 and R0 are ignored. The PGERS bit will auto-clear upon completion of
a Page Erase, or if no SPM instruction is executed within four clock cycles. The CPU is halted
during the entire Page Write operation.

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Bit 0 SELFPRGEN: Self Programming Enable

This bit enables the SPM instruction for the next four clock cycles. If written to one together with
either RWWSRE, BLBSET, PGWRT, or PGERS, the following SPM instruction will have a special meaning, see description above. If only SELFPRGEN is written, the following SPM
instruction will store the value in R1:R0 in the temporary page buffer addressed by the Z-pointer.
The LSB of the Z-pointer is ignored. The SELFPRGEN bit will auto-clear upon completion of an
SPM instruction, or if no SPM instruction is executed within four clock cycles. During Page Erase
and Page Write, the SELFPRGEN bit remains high until the operation is completed.
Writing any other combination than 10001, 01001, 00101, 00011 or 00001 in the lower
five bits will have no effect.

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26. Boot Loader Support Read-While-Write Self-Programming
26.1

Features

Read-While-Write Self-Programming
Flexible Boot Memory Size
High Security (Separate Boot Lock Bits for a Flexible Protection)
Separate Fuse to Select Reset Vector
Optimized Page(1) Size
Code Efficient Algorithm
Efficient Read-Modify-Write Support

Note:

26.2

1. A page is a section in the Flash consisting of several bytes (see Table 27-9 on page 290) used
during programming. The page organization does not affect normal operation.

Overview
The Boot Loader Support provides a real Read-While-Write Self-Programming mechanism for
downloading and uploading program code by the MCU itself. This feature allows flexible application software updates controlled by the MCU using a Flash-resident Boot Loader program. The
Boot Loader program can use any available data interface and associated protocol to read code
and write (program) that code into the Flash memory, or read the code from the program memory. The program code within the Boot Loader section has the capability to write into the entire
Flash, including the Boot Loader memory. The Boot Loader can thus even modify itself, and it
can also erase itself from the code if the feature is not needed anymore. The size of the Boot
Loader memory is configurable with fuses and the Boot Loader has two separate sets of Boot
Lock bits which can be set independently. This gives the user a unique flexibility to select different levels of protection.

26.3

Application and Boot Loader Flash Sections

The Flash memory is organized in two main sections, the Application section and the Boot
Loader section (see Figure 26-2). The size of the different sections is configured by the
BOOTSZ Fuses as shown in Figure 26-2. These two sections can have different level of protection since they have different sets of Lock bits.

26.3.1

Application Section
The Application section is the section of the Flash that is used for storing the application code.
The protection level for the Application section can be selected by the application Boot Lock bits
(Boot Lock bits 0), see Table 26-2 on page 275. The Application section can never store any
Boot Loader code since the SPM instruction is disabled when executed from the Application
section.

26.3.2

BLS Boot Loader Section

While the Application section is used for storing the application code, the The Boot Loader software must be located in the BLS since the SPM instruction can initiate a programming when
executing from the BLS only. The SPM instruction can access the entire Flash, including the
BLS itself. The protection level for the Boot Loader section can be selected by the Boot Loader
Lock bits (Boot Lock bits 1), see Table 26-3 on page 275.

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26.4

Read-While-Write and No Read-While-Write Flash Sections

Whether the CPU supports Read-While-Write or if the CPU is halted during a Boot Loader software update is dependent on which address that is being programmed. In addition to the two
sections that are configurable by the BOOTSZ Fuses as described above, the Flash is also
divided into two fixed sections, the Read-While-Write (RWW) section and the No
Read-While-Write (NRWW) section. The limit between the RWW- and NRWW sections is given
in Figure 26-2 on page 274. The main difference between the two sections is:
When erasing or writing a page located inside the RWW section, the NRWW section can be
read during the operation.
When erasing or writing a page located inside the NRWW section, the CPU is halted during the
entire operation.
Note that the user software can never read any code that is located inside the RWW section during a Boot Loader software operation. The syntax Read-While-Write section refers to which
section that is being programmed (erased or written), not which section that actually is being
read during a Boot Loader software update.

26.4.1

RWW Read-While-Write Section

If a Boot Loader software update is programming a page inside the RWW section, it is possible
to read code from the Flash, but only code that is located in the NRWW section. During an
on-going programming, the software must ensure that the RWW section never is being read. If
the user software is trying to read code that is located inside the RWW section (i.e., by a
call/jmp/lpm or an interrupt) during programming, the software might end up in an unknown
state. To avoid this, the interrupts should either be disabled or moved to the Boot Loader section. The Boot Loader section is always located in the NRWW section. The RWW Section Busy
bit (RWWSB) in the Store Program Memory Control and Status Register (SPMCSR) will be read
as logical one as long as the RWW section is blocked for reading. After a programming is completed, the RWWSB must be cleared by software before reading code located in the RWW
section. See SPMCSR Store Program Memory Control and Status Register on page 284. for
details on how to clear RWWSB.

26.4.2

NRWW No Read-While-Write Section

The code located in the NRWW section can be read when the Boot Loader software is updating
a page in the RWW section. When the Boot Loader code updates the NRWW section, the CPU
is halted during the entire Page Erase or Page Write operation.
Table 26-1.

272

Read-While-Write Features

Which Section does the

Z-pointer Address during
the Programming?

Which Section can be

read during
Programming?

CPU Halted?

Read-While-Write
Supported?

RWW Section

NRWW Section

Yes

NRWW Section

None

Yes

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Atmel ATmega328P [Preliminary]

Figure 26-1. Read-While-Write vs. No Read-While-Write

Read-While-Write
(RWW) Section

Z-pointer
Addresses RWW
Section

Z-pointer
Addresses NRWW
Section
No Read-While-Write
(NRWW) Section

CPU is Halted
During the Operation
Code Located in
NRWW Section
Can be Read During
the Operation

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Figure 26-2. Memory Sections

Program Memory
BOOTSZ = '10'

Program Memory
BOOTSZ = '11'

0x0000
Read-While-Write Section

Application Flash Section

End RWW
Start NRWW
Application Flash Section

Boot Loader Flash Section

End Application
Start Boot Loader
Flashend

No Read-While-Write Section

Read-While-Write Section

0x0000

Program Memory
BOOTSZ = '01'

Application Flash Section

End RWW
Start NRWW
Application Flash Section
End Application
Start Boot Loader
Boot Loader Flash Section
Flashend
Program Memory
BOOTSZ = '00'

26.5

Read-While-Write Section

0x0000

Application Flash Section

End RWW
Start NRWW
Application Flash Section
End Application
Start Boot Loader
Boot Loader Flash Section
Flashend

No Read-While-Write Section

Read-While-Write Section

0x0000

Application Flash Section

End RWW, End Application

Start NRWW, Start Boot Loader

Boot Loader Flash Section

Flashend

Boot Loader Lock Bits

26.7

Addressing the Flash During Self-Programming

The Z-pointer is used to address the SPM commands.
Bit

ZH (R31)

Z15

Z14

Z13

Z12

Z11

Z10

ZL (R30)

Since the Flash is organized in pages (see Table 27-9 on page 290), the Program Counter can
be treated as having two different sections. One section, consisting of the least significant bits, is
addressing the words within a page, while the most significant bits are addressing the pages.
This is1 shown in Figure 26-3. Note that the Page Erase and Page Write operations are
addressed independently. Therefore it is of major importance that the Boot Loader software
addresses the same page in both the Page Erase and Page Write operation. Once a programming operation is initiated, the address is latched and the Z-pointer can be used for other
operations.
The only SPM operation that does not use the Z-pointer is Setting the Boot Loader Lock bits.
The content of the Z-pointer is ignored and will have no effect on the operation. The LPM
instruction does also use the Z-pointer to store the address. Since this instruction addresses the
Flash byte-by-byte, also the LSB (bit Z0) of the Z-pointer is used.
Figure 26-3. Addressing the Flash During SPM
BIT

ZPCMSB

ZPAGEMSB

Z - REGISTER

1 0
0

PCMSB
PROGRAM
COUNTER

PAGEMSB
PCPAGE

PCWORD

PAGE ADDRESS
WITHIN THE FLASH
PROGRAM MEMORY
PAGE

WORD ADDRESS
WITHIN A PAGE
PAGE
INSTRUCTION WORD

PCWORD[PAGEMSB:0]:
00
01
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26.8

Self-Programming the Flash

The program memory is updated in a page by page fashion. Before programming a page with
the data stored in the temporary page buffer, the page must be erased. The temporary page buffer is filled one word at a time using SPM and the buffer can be filled either before the Page
Erase command or between a Page Erase and a Page Write operation:
Alternative 1, fill the buffer before a Page Erase
Fill temporary page buffer
Perform a Page Erase
Perform a Page Write
Alternative 2, fill the buffer after Page Erase
Perform a Page Erase
Fill temporary page buffer
Perform a Page Write
If only a part of the page needs to be changed, the rest of the page must be stored (for example
in the temporary page buffer) before the erase, and then be rewritten. When using alternative 1,
the Boot Loader provides an effective Read-Modify-Write feature which allows the user software
to first read the page, do the necessary changes, and then write back the modified data. If alternative 2 is used, it is not possible to read the old data while loading since the page is already
erased. The temporary page buffer can be accessed in a random sequence. It is essential that
the page address used in both the Page Erase and Page Write operation is addressing the same
page. See Simple Assembly Code Example for a Boot Loader on page 281 for an assembly
code example.

26.8.1

Performing Page Erase by SPM

To execute Page Erase, set up the address in the Z-pointer, write X0000011 to SPMCSR and
execute SPM within four clock cycles after writing SPMCSR. The data in R1 and R0 is ignored.
The page address must be written to PCPAGE in the Z-register. Other bits in the Z-pointer will
be ignored during this operation.
Page Erase to the RWW section: The NRWW section can be read during the Page Erase.
Page Erase to the NRWW section: The CPU is halted during the operation.

26.8.2

Filling the Temporary Buffer (Page Loading)

To write an instruction word, set up the address in the Z-pointer and data in R1:R0, write
00000001 to SPMCSR and execute SPM within four clock cycles after writing SPMCSR. The
content of PCWORD in the Z-register is used to address the data in the temporary buffer. The
temporary buffer will auto-erase after a Page Write operation or by writing the RWWSRE bit in
SPMCSR. It is also erased after a system reset. Note that it is not possible to write more than
one time to each address without erasing the temporary buffer.
If the EEPROM is written in the middle of an SPM Page Load operation, all data loaded will be
lost.

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26.8.3

Performing a Page Write

To execute Page Write, set up the address in the Z-pointer, write X0000101 to SPMCSR and
execute SPM within four clock cycles after writing SPMCSR. The data in R1 and R0 is ignored.
The page address must be written to PCPAGE. Other bits in the Z-pointer must be written to
zero during this operation.
Page Write to the RWW section: The NRWW section can be read during the Page Write.
Page Write to the NRWW section: The CPU is halted during the operation.

26.8.4

Using the SPM Interrupt

If the SPM interrupt is enabled, the SPM interrupt will generate a constant interrupt when the
SELFPRGEN bit in SPMCSR is cleared. This means that the interrupt can be used instead of
polling the SPMCSR Register in software. When using the SPM interrupt, the Interrupt Vectors
should be moved to the BLS section to avoid that an interrupt is accessing the RWW section
when it is blocked for reading. How to move the interrupts is described in Interrupts on page
56.

26.8.5

Consideration While Updating BLS

Special care must be taken if the user allows the Boot Loader section to be updated by leaving
Boot Lock bit11 unprogrammed. An accidental write to the Boot Loader itself can corrupt the
entire Boot Loader, and further software updates might be impossible. If it is not necessary to
change the Boot Loader software itself, it is recommended to program the Boot Lock bit11 to
protect the Boot Loader software from any internal software changes.

26.8.6

Prevent Reading the RWW Section During Self-Programming

During Self-Programming (either Page Erase or Page Write), the RWW section is always
blocked for reading. The user software itself must prevent that this section is addressed during
the self programming operation. The RWWSB in the SPMCSR will be set as long as the RWW
section is busy. During Self-Programming the Interrupt Vector table should be moved to the BLS
as described in Watchdog Timer on page 49, or the interrupts must be disabled. Before
addressing the RWW section after the programming is completed, the user software must clear
the RWWSB by writing the RWWSRE. See Simple Assembly Code Example for a Boot Loader
on page 281 for an example.

26.8.7

Setting the Boot Loader Lock Bits by SPM

To set the Boot Loader Lock bits and general Lock Bits, write the desired data to R0, write
X0001001 to SPMCSR and execute SPM within four clock cycles after writing SPMCSR.
Bit

BLB12

BLB11

BLB02

BLB01

LB2

LB1

See Table 26-2 and Table 26-3 for how the different settings of the Boot Loader bits affect the
Flash access.
If bits 5..0 in R0 are cleared (zero), the corresponding Lock bit will be programmed if an SPM
instruction is executed within four cycles after BLBSET and SELFPRGEN are set in SPMCSR.
The Z-pointer is dont care during this operation, but for future compatibility it is recommended to
load the Z-pointer with 0x0001 (same as used for reading the lOck bits). For future compatibility it
is also recommended to set bits 7 and 6 in R0 to 1 when writing the Lock bits. When programming the Lock bits the entire Flash can be read during the operation.

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26.8.8

EEPROM Write Prevents Writing to SPMCSR

26.8.9

Reading the Fuse and Lock Bits from Software

BLB12

BLB11

BLB02

BLB01

LB2

LB1

The algorithm for reading the Fuse Low byte is similar to the one described above for reading
the Lock bits. To read the Fuse Low byte, load the Z-pointer with 0x0000 and set the BLBSET
and SELFPRGEN bits in SPMCSR. When an LPM instruction is executed within three cycles
after the BLBSET and SELFPRGEN bits are set in the SPMCSR, the value of the Fuse Low byte
(FLB) will be loaded in the destination register as shown below. Refer to Table 27-5 on page 288
for a detailed description and mapping of the Fuse Low byte.
Bit

FLB7

FLB6

FLB5

FLB4

FLB3

FLB2

FLB1

FLB0

Similarly, when reading the Fuse High byte, load 0x0003 in the Z-pointer. When an LPM instruction is executed within three cycles after the BLBSET and SELFPRGEN bits are set in the
SPMCSR, the value of the Fuse High byte (FHB) will be loaded in the destination register as
shown below. Refer to Table 27-7 on page 289 for detailed description and mapping of the Fuse
High byte.
Bit

FHB7

FHB6

FHB5

FHB4

FHB3

FHB2

FHB1

FHB0

When reading the Extended Fuse byte, load 0x0002 in the Z-pointer. When an LPM instruction
is executed within three cycles after the BLBSET and SELFPRGEN bits are set in the SPMCSR,
the value of the Extended Fuse byte (EFB) will be loaded in the destination register as shown
below. Refer to Table 27-4 on page 287 for detailed description and mapping of the Extended
Fuse byte.
Bit

EFB3

EFB2

EFB1

EFB0

Fuse and Lock bits that are programmed, will be read as zero. Fuse and Lock bits that are
unprogrammed, will be read as one.

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26.8.10

Reading the Signature Row from Software

To read the Signature Row from software, load the Z-pointer with the signature byte address
given in Table 26-5 on page 280 and set the SIGRD and SPMEN bits in SPMCSR. When an
LPM instruction is executed within three CPU cycles after the SIGRD and SPMEN bits are set in
SPMCSR, the signature byte value will be loaded in the destination register. The SIGRD and
SPMEN bits will auto-clear upon completion of reading the Signature Row Lock bits or if no LPM
instruction is executed within three CPU cycles. When SIGRD and SPMEN are cleared, LPM will
work as described in the Instruction set Manual.

Table 26-5.

Signature Byte

Z-Pointer Address

Device Signature Byte 1

0x0000

Device Signature Byte 2

0x0002

Device Signature Byte 3

0x0004

RC Oscillator Calibration Byte

0x0001

TSOFFSET - Temp Sensor Offset

0x0002

TSGAIN - Temp Sensor Gain

0x0003

Note:

26.8.11

Signature Row Addressing

All other addresses are reserved for future use.

Preventing Flash Corruption

During periods of low VCC, the Flash program can be corrupted because the supply voltage is
too low for the CPU and the Flash to operate properly. These issues are the same as for board
level systems using the Flash, and the same design solutions should be applied.
A Flash program corruption can be caused by two situations when the voltage is too low. First, a
regular write sequence to the Flash requires a minimum voltage to operate correctly. Secondly,
the CPU itself can execute instructions incorrectly, if the supply voltage for executing instructions
is too low.
Flash corruption can easily be avoided by following these design recommendations (one is
sufficient):
1. If there is no need for a Boot Loader update in the system, program the Boot Loader Lock
bits to prevent any Boot Loader software updates.
2. Keep the AVR RESET active (low) during periods of insufficient power supply voltage.
This can be done by enabling the internal Brown-out Detector (BOD) if the operating voltage matches the detection level. If not, an external low VCC reset protection circuit can be
used. If a reset occurs while a write operation is in progress, the write operation will be
completed provided that the power supply voltage is sufficient.
3. Keep the AVR core in Power-down sleep mode during periods of low VCC. This will prevent the CPU from attempting to decode and execute instructions, effectively protecting
the SPMCSR Register and thus the Flash from unintentional writes.

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26.8.12

Programming Time for Flash when Using SPM

The calibrated RC Oscillator is used to time Flash accesses. Table 26-6 shows the typical programming time for Flash accesses from the CPU.
Table 26-6.

Symbol

Min Programming Time

Max Programming Time

Flash write (Page Erase, Page Write, and

write Lock bits by SPM)

3.7 ms

4.5 ms

Note:

26.8.13

SPM Programming Time(1)

1. Minimum and maximum programming time is per individual operation.

Simple Assembly Code Example for a Boot Loader

;-the routine writes one page of data from RAM to Flash
; the first data location in RAM is pointed to by the Y pointer
; the first data location in Flash is pointed to by the Z-pointer
;-error handling is not included
;-the routine must be placed inside the Boot space
; (at least the Do_spm sub routine). Only code inside NRWW section can
; be read during Self-Programming (Page Erase and Page Write).
;-registers used: r0, r1, temp1 (r16), temp2 (r17), looplo (r24),
; loophi (r25), spmcrval (r20)
; storing and restoring of registers is not included in the routine
; register usage can be optimized at the expense of code size
;-It is assumed that either the interrupt table is moved to the Boot
; loader section or that the interrupts are disabled.
.equ PAGESIZEB = PAGESIZE*2
;PAGESIZEB is page size in BYTES, not words
.org SMALLBOOTSTART
Write_page:
; Page Erase
ldi spmcrval, (1<<PGERS) | (1<<SELFPRGEN)
call Do_spm
; re-enable the RWW section
ldi spmcrval, (1<<RWWSRE) | (1<<SELFPRGEN)
call Do_spm
; transfer data from RAM to Flash page buffer
ldi looplo, low(PAGESIZEB)
;init loop variable
ldi loophi, high(PAGESIZEB) ;not required for PAGESIZEB<=256
Wrloop:
ld
r0, Y+
ld
r1, Y+
ldi spmcrval, (1<<SELFPRGEN)
call Do_spm
adiw ZH:ZL, 2
sbiw loophi:looplo, 2
;use subi for PAGESIZEB<=256
brne Wrloop
; execute Page Write
subi ZL, low(PAGESIZEB)
;restore pointer
sbci ZH, high(PAGESIZEB)
;not required for PAGESIZEB<=256
ldi spmcrval, (1<<PGWRT) | (1<<SELFPRGEN)
call Do_spm
; re-enable the RWW section
ldi spmcrval, (1<<RWWSRE) | (1<<SELFPRGEN)

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call Do_spm
; read back and check, optional
ldi looplo, low(PAGESIZEB)
;init loop variable
ldi loophi, high(PAGESIZEB) ;not required for PAGESIZEB<=256
subi YL, low(PAGESIZEB)
;restore pointer
sbci YH, high(PAGESIZEB)
Rdloop:
lpm r0, Z+
ld
r1, Y+
cpse r0, r1
jmp Error
sbiw loophi:looplo, 1
;use subi for PAGESIZEB<=256
brne Rdloop
; return to RWW section
; verify that RWW section is safe to read
Return:
in
temp1, SPMCSR
sbrs temp1, RWWSB
; If RWWSB is set, the RWW section is not ready yet
ret
; re-enable the RWW section
ldi spmcrval, (1<<RWWSRE) | (1<<SELFPRGEN)
call Do_spm
rjmp Return
Do_spm:
; check for previous SPM complete
Wait_spm:
in
temp1, SPMCSR
sbrc temp1, SELFPRGEN
rjmp Wait_spm
; input: spmcrval determines SPM action
; disable interrupts if enabled, store status
in
temp2, SREG
cli
; check that no EEPROM write access is present
Wait_ee:
sbic EECR, EEPE
rjmp Wait_ee
; SPM timed sequence
out SPMCSR, spmcrval
spm
; restore SREG (to enable interrupts if originally enabled)
out SREG, temp2
ret

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26.8.14 ATmega328P Boot Loader Parameters
In Table 26-7 through Table 26-9, the parameters used in the description of the self programming are given.
Table 26-7.

Boot Size Configuration, ATmega328P

Boot
Size

Pages

Application
Flash
Section

Boot
Loader
Flash
Section

End
Application
Section

Boot Reset Address (Start Boot

Loader Section)

BOOTSZ1

BOOTSZ0

256 words

0x0000 - 0x3EFF

0x3F00 - 0x3FFF

0x3EFF

0x3F00

512 words

0x0000 - 0x3DFF

0x3E00 - 0x3FFF

0x3DFF

0x3E00

1024 words

0x0000 - 0x3BFF

0x3C00 - 0x3FFF

0x3BFF

0x3C00

2048 words

0x0000 - 0x37FF

0x3800 - 0x3FFF

0x37FF

0x3800

Note:

Table 26-8.

The different BOOTSZ Fuse configurations are shown in Figure 26-2 on page 274.

Read-While-Write Limit, ATmega328P

Section

Pages

Address

Read-While-Write section (RWW)

224

0x0000 - 0x37FF

No Read-While-Write section (NRWW)

0x3800 - 0x3FFF

For details about these two section, see NRWW No Read-While-Write Section on page 272 and RWW
Read-While-Write Section on page 272

Table 26-9.

Explanation of Different Variables used in Figure 26-3 and the Mapping to the Z-pointer, ATmega328P
Corresponding
Z-value(1)

Variable

Description

PCMSB

Most significant bit in the Program Counter. (The Program Counter

is 14 bits PC[13:0])

PAGEMSB

Most significant bit which is used to address the words within

one page (64 words in a page requires 6 bits PC [5:0])

ZPCMSB

Z14

Bit in Z-register that is mapped to PCMSB. Because Z0 is not used,

the ZPCMSB equals PCMSB + 1.

ZPAGEMSB

Bit in Z-register that is mapped to PAGEMSB. Because Z0 is not

used, the ZPAGEMSB equals PAGEMSB + 1.

PCPAGE

PC[13:6]

Z14:Z7

Program counter page address: Page select, for page erase and
page write

PCWORD

PC[5:0]

Z6:Z1

Program counter word address: Word select, for filling temporary

buffer (must be zero during page write operation)

Note:

1. Z15: always ignored

Z0: should be zero for all SPM commands, byte select for the LPM instruction.
See Addressing the Flash During Self-Programming on page 276 for details about the use of Z-pointer during
Self-Programming.

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26.9
26.9.1

0x37 (0x57)

SPMIE

RWWSB

RWWSRE

BLBSET

PGWRT

PGERS

SELFPRGEN

Read/Write

R/W

Initial Value

SPMCSR

Bit 7 SPMIE: SPM Interrupt Enable

When the SPMIE bit is written to one, and the I-bit in the Status Register is set (one), the SPM
ready interrupt will be enabled. The SPM ready Interrupt will be executed as long as the SELFPRGEN bit in the SPMCSR Register is cleared.
Bit 6 RWWSB: Read-While-Write Section Busy
When a Self-Programming (Page Erase or Page Write) operation to the RWW section is initiated, the RWWSB will be set (one) by hardware. When the RWWSB bit is set, the RWW section
cannot be accessed. The RWWSB bit will be cleared if the RWWSRE bit is written to one after a
Self-Programming operation is completed. Alternatively the RWWSB bit will automatically be
cleared if a page load operation is initiated.
Bit 5 Res: Reserved Bit
This bit is a reserved bit in the ATmega328P and always read as zero.
Bit 4 RWWSRE: Read-While-Write Section Read Enable
When programming (Page Erase or Page Write) to the RWW section, the RWW section is
blocked for reading (the RWWSB will be set by hardware). To re-enable the RWW section, the
user software must wait until the programming is completed (SELFPRGEN will be cleared).
Then, if the RWWSRE bit is written to one at the same time as SELFPRGEN, the next SPM
instruction within four clock cycles re-enables the RWW section. The RWW section cannot be
re-enabled while the Flash is busy with a Page Erase or a Page Write (SELFPRGEN is set). If
the RWWSRE bit is written while the Flash is being loaded, the Flash load operation will abort
and the data loaded will be lost.
Bit 3 BLBSET: Boot Lock Bit Set
If this bit is written to one at the same time as SELFPRGEN, the next SPM instruction within four
clock cycles sets Boot Lock bits and Memory Lock bits, according to the data in R0. The data in
R1 and the address in the Z-pointer are ignored. The BLBSET bit will automatically be cleared
upon completion of the Lock bit set, or if no SPM instruction is executed within four clock cycles.
An LPM instruction within three cycles after BLBSET and SELFPRGEN are set in the SPMCSR
Register, will read either the Lock bits or the Fuse bits (depending on Z0 in the Z-pointer) into the
destination register. See Reading the Fuse and Lock Bits from Software on page 279 for
details.

Bit 2 PGWRT: Page Write

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If this bit is written to one at the same time as SELFPRGEN, the next SPM instruction within four
clock cycles executes Page Write, with the data stored in the temporary buffer. The page
address is taken from the high part of the Z-pointer. The data in R1 and R0 are ignored. The
PGWRT bit will auto-clear upon completion of a Page Write, or if no SPM instruction is executed
within four clock cycles. The CPU is halted during the entire Page Write operation if the NRWW
section is addressed.
Bit 1 PGERS: Page Erase
If this bit is written to one at the same time as SELFPRGEN, the next SPM instruction within four
clock cycles executes Page Erase. The page address is taken from the high part of the
Z-pointer. The data in R1 and R0 are ignored. The PGERS bit will auto-clear upon completion of
a Page Erase, or if no SPM instruction is executed within four clock cycles. The CPU is halted
during the entire Page Write operation if the NRWW section is addressed.
Bit 0 SELFPRGEN: Self Programming Enable
This bit enables the SPM instruction for the next four clock cycles. If written to one together with
either RWWSRE, BLBSET, PGWRT or PGERS, the following SPM instruction will have a special meaning, see description above. If only SELFPRGEN is written, the following SPM
instruction will store the value in R1:R0 in the temporary page buffer addressed by the Z-pointer.
The LSB of the Z-pointer is ignored. The SELFPRGEN bit will auto-clear upon completion of an
SPM instruction, or if no SPM instruction is executed within four clock cycles. During Page Erase
and Page Write, the SELFPRGEN bit remains high until the operation is completed.
Writing any other combination than 10001, 01001, 00101, 00011 or 00001 in the lower
five bits will have no effect.

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27. Memory Programming

27.1

Program And Data Memory Lock Bits

The ATmega328P provides six Lock bits which can be left unprogrammed (1) or can be programmed (0) to obtain the additional features listed in Table 27-2. The Lock bits can only be
erased to 1 with the Chip Erase command.The ATmega328P has no separate Boot Loader
section. The SPM instruction is enabled for the whole Flash if the SELFPRGEN fuse is programmed (0), otherwise it is disabled.
Table 27-1.

Lock Bit Byte(1)

Lock Bit Byte

Description

Default Value

1 (unprogrammed)

BLB12(2)

Boot Lock bit

1 (unprogrammed)

BLB11

(2)

Boot Lock bit

1 (unprogrammed)

BLB02

(2)

Boot Lock bit

1 (unprogrammed)

BLB01(2)

Boot Lock bit

1 (unprogrammed)

LB2

Lock bit

1 (unprogrammed)

LB1

Lock bit

1 (unprogrammed)

Notes:

Bit No

1. 1 means unprogrammed, 0 means programmed

2. Only on ATmega328P.

Table 27-2.

Lock Bit Protection Modes(1)(2)

Memory Lock Bits

LB Mode

LB2

LB1

No memory lock features enabled.

Further programming of the Flash and EEPROM is disabled in

Parallel and Serial Programming mode. The Fuse bits are
locked in both Serial and Parallel Programming mode.(1)

Further programming and verification of the Flash and EEPROM

is disabled in Parallel and Serial Programming mode. The Boot
Lock bits and Fuse bits are locked in both Serial and Parallel
Programming mode.(1)

Notes:

286

Protection Type

1. Program the Fuse bits and Boot Lock bits before programming the LB1 and LB2.
2. 1 means unprogrammed, 0 means programmed

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Table 27-3.

Lock Bit Protection Modes(1)(2) .

BLB0 Mode

BLB02

BLB01

No restrictions for SPM or LPM accessing the Application

section.

SPM is not allowed to write to the Application section.

SPM is not allowed to write to the Application section, and LPM

executing from the Boot Loader section is not allowed to read
from the Application section. If Interrupt Vectors are placed in
the Boot Loader section, interrupts are disabled while executing
from the Application section.
LPM executing from the Boot Loader section is not allowed to
read from the Application section. If Interrupt Vectors are placed
in the Boot Loader section, interrupts are disabled while
executing from the Application section.

BLB1 Mode

BLB12

BLB11

No restrictions for SPM or LPM accessing the Boot Loader

section.

SPM is not allowed to write to the Boot Loader section.

LPM executing from the Application section is not allowed to

read from the Boot Loader section. If Interrupt Vectors are
4
0
1
placed in the Application section, interrupts are disabled while
executing from the Boot Loader section.
Notes: 1. Program the Fuse bits and Boot Lock bits before programming the LB1 and LB2.
2. 1 means unprogrammed, 0 means programmed

27.2

Fuse Bits
The ATmega328P has three Fuse bytes. Table 27-4 - Table 27-7 describe briefly the functionality of all the fuses and how they are mapped into the Fuse bytes. Note that the fuses are read as
logical zero, 0, if they are programmed.
Table 27-4.

Extended Fuse Byte for ATmega328P

Extended Fuse Byte

Bit No

Description

Default Value

SELFPRGEN

Self Programming Enable

1 (unprogrammed)

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Table 27-5.

Extended Fuse Byte for ATmega328P

Extended Fuse Byte

Description

Default Value

BODLEVEL2(1)

Brown-out Detector trigger

level

1 (unprogrammed)

BODLEVEL1(1)

Brown-out Detector trigger

level

1 (unprogrammed)

BODLEVEL0(1)

Brown-out Detector trigger

level

1 (unprogrammed)

Note:

1. See Table 28-5 on page 308 for BODLEVEL Fuse decoding..

Table 27-6.

Fuse High Byte for ATmega328P

High Fuse Byte

(1)

Bit No

Description

Default Value

RSTDISBL

External Reset Disable

1 (unprogrammed)

DWEN

debugWIRE Enable

1 (unprogrammed)

SPIEN(2)

Enable Serial Program and

Data Downloading

0 (programmed, SPI
programming enabled)

WDTON(3)

Watchdog Timer Always On

1 (unprogrammed)

EESAVE

EEPROM memory is preserved 1 (unprogrammed), EEPROM

through the Chip Erase
not reserved

BOOTSZ1

Select Boot Size

(see Table 26-7 on page 283
for details)

0 (programmed)(4)

BOOTSZ0

Select Boot Size

(see Table 26-7 on page 283
for details)

0 (programmed)(4)

BOOTRST

Select Reset Vector

1 (unprogrammed)

Notes:

288

Bit No

1.
2.
3.
4.

See Alternate Functions of Port C on page 77 for description of RSTDISBL Fuse.

The SPIEN Fuse is not accessible in serial programming mode.
See WDTCSR Watchdog Timer Control Register on page 53 for details.
The default value of BOOTSZ[1:0] results in maximum Boot Size. See Pin Name Mapping on
page 291.

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Table 27-7.

Fuse Low Byte

Low Fuse Byte

Description

Default Value

Divide clock by 8

0 (programmed)

Clock output

0 (programmed)(2)

(4)

(3)

CKDIV8
CKOUT

Note:

Bit No

1. The default value of SUT1..0 results in maximum start-up time for the default clock source.
See Table 8-11 on page 32 for details.
2. The default setting of CKSEL3..0 results in internal RC Oscillator @ 8 MHz. See Table 8-10 on
page 32 for details.
3. The CKOUT Fuse allows the system clock to be output on PORTB0. See Clock Output Buffer
on page 34 for details.
4. See System Clock Prescaler on page 34 for details.

The status of the Fuse bits is not affected by Chip Erase. Note that the Fuse bits are locked if
Lock bit1 (LB1) is programmed. Program the Fuse bits before programming the Lock bits.
27.2.1

27.3

Latching of Fuses
The fuse values are latched when the device enters programming mode and changes of the
fuse values will have no effect until the part leaves Programming mode. This does not apply to
the EESAVE Fuse which will take effect once it is programmed. The fuses are also latched on
Power-up in Normal mode.

Signature Bytes
All Atmel microcontrollers have a three-byte signature code which identifies the device. This
code can be read in both serial and parallel mode, also when the device is locked. The three
bytes reside in a separate address space. For the ATmega328P the signature bytes are given in
Table 27-8.
Table 27-8.

Device ID
Signature Bytes Address

27.4

Part

0x000

0x001

0x002

ATmega328P

0x1E

0x95

0x0F

Calibration Byte
The ATmega328P has a byte calibration value for the Internal RC Oscillator. This byte resides in
the high byte of address 0x000 in the signature address space. During reset, this byte is automatically written into the OSCCAL Register to ensure correct frequency of the calibrated RC
Oscillator.

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27.5

Page Size
Table 27-9.

No. of Words in a Page and No. of Pages in the Flash

Device

Flash Size

Page Size

PCWORD

No. of
Pages

PCPAGE

PCMSB

ATmega328P

16K words
(32K bytes)

64 words

PC[5:0]

256

PC[13:6]

Table 27-10. No. of Words in a Page and No. of Pages in the EEPROM

27.6

Device

EEPROM
Size

Page
Size

PCWORD

No. of
Pages

PCPAGE

EEAMSB

ATmega328P

1K bytes

4 bytes

EEA[1:0]

256

EEA[9:2]

Parallel Programming Parameters, Pin Mapping, and Commands

This section describes how to parallel program and verify Flash Program memory, EEPROM
Data memory, Memory Lock bits, and Fuse bits in the ATmega328P. Pulses are assumed to be
at least 250 ns unless otherwise noted.

27.6.1

Signal Names
In this section, some pins of the ATmega328P are referenced by signal names describing their
functionality during parallel programming, see Figure 27-1 and Table 27-11. Pins not described
in the following table are referenced by pin names.
The XA1/XA0 pins determine the action executed when the XTAL1 pin is given a positive pulse.
The bit coding is shown in Table 27-13.
When pulsing WR or OE, the command loaded determines the action executed. The different
Commands are shown in Table 27-14.
Figure 27-1. Parallel Programming
+4.5 - 5.5V
RDY/BSY

PD1

PD2

PD3

BS1

PD4

XA0

PD5

XA1

PD6

PAGEL
+12 V
BS2

VCC
+4.5 - 5.5V
AVCC
PC[1:0]:PB[5:0]

DATA

PD7
RESET
PC2
XTAL1
GND

Note:

290

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Table 27-11. Pin Name Mapping

Signal Name in
Programming Mode

Pin Name

I/O

Function

RDY/BSY

PD1

0: Device is busy programming, 1: Device is

ready for new command

PD2

Output Enable (Active low)

PD3

Write Pulse (Active low)

BS1

PD4

Byte Select 1 (0 selects Low byte, 1 selects

High byte)

XA0

PD5

XTAL Action Bit 0

XA1

PD6

XTAL Action Bit 1

PAGEL

PD7

Program memory and EEPROM Data Page

Load

BS2

PC2

Byte Select 2 (0 selects Low byte, 1 selects

2nd High byte)

DATA

{PC[1:0]: PB[5:0]}

I/O

Bi-directional Data bus (Output when OE is low)

Table 27-12. Pin Values Used to Enter Programming Mode

Symbol

Value

PAGEL

Prog_enable[3]

XA1

Prog_enable[2]

XA0

Prog_enable[1]

BS1

Prog_enable[0]

Table 27-13. XA1 and XA0 Coding

XA1

XA0

Action when XTAL1 is Pulsed

Load Flash or EEPROM Address (High or low address byte determined by BS1).

Load Data (High or Low data byte for Flash determined by BS1).

Load Command

No Action, Idle

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Table 27-14. Command Byte Bit Coding

Command Byte

27.7
27.7.1

Command Executed

1000 0000

Chip Erase

0100 0000

Write Fuse bits

0010 0000

Write Lock bits

0001 0000

Write Flash

0001 0001

Write EEPROM

0000 1000

Read Signature Bytes and Calibration byte

0000 0100

Read Fuse and Lock bits

0000 0010

Read Flash

0000 0011

Read EEPROM

Parallel Programming
Enter Programming Mode
The following algorithm puts the device in Parallel (High-voltage) Programming mode:
1. Set Prog_enable pins listed in Table 27-12 on page 291 to 0000, RESET pin to 0V and
VCC to 0V.
2. Apply 4.5 - 5.5V between VCC and GND.
Ensure that VCC reaches at least pV within the next 20 s.
3. Wait 20 - 60 s, and apply 11.5 - 12.5V to RESET.
4. Keep the Prog_enable pins unchanged for at least 10s after the High-voltage has been
applied to ensure the Prog_enable Signature has been latched.
5. Wait at least 300 s before giving any parallel programming commands.
6. Exit Programming mode by power the device down or by bringing RESET pin to 0V.
If the rise time of the VCC is unable to fulfill the requirements listed above, the following alternative algorithm can be used.
1. Set Prog_enable pins listed in Table 27-12 on page 291 to 0000, RESET pin to 0V and
VCC to 0V.
2. Apply 4.5 - 5.5V between VCC and GND.
3. Monitor VCC, and as soon as VCC reaches 0.9 - 1.1V, apply 11.5 - 12.5V to RESET.
4. Keep the Prog_enable pins unchanged for at least 10s after the High-voltage has been
applied to ensure the Prog_enable Signature has been latched.
5. Wait until VCC actually reaches 4.5 -5.5V before giving any parallel programming
commands.
6. Exit Programming mode by power the device down or by bringing RESET pin to 0V.

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27.7.2

Considerations for Efficient Programming

The loaded command and address are retained in the device during programming. For efficient
programming, the following should be considered.
The command needs only be loaded once when writing or reading multiple memory locations.
Skip writing the data value 0xFF, that is the contents of the entire EEPROM (unless the
EESAVE Fuse is programmed) and Flash after a Chip Erase.
Address high byte needs only be loaded before programming or reading a new 256 word
window in Flash or 256 byte EEPROM. This consideration also applies to Signature bytes
reading.

27.7.3

Chip Erase
The Chip Erase will erase the Flash and EEPROM(1) memories plus Lock bits. The Lock bits are
not reset until the program memory has been completely erased. The Fuse bits are not
changed. A Chip Erase must be performed before the Flash and/or EEPROM are
reprogrammed.
Note:

1. The EEPRPOM memory is preserved during Chip Erase if the EESAVE Fuse is programmed.

Load Command Chip Erase

1. Set XA1, XA0 to 10. This enables command loading.
2. Set BS1 to 0.
3. Set DATA to 1000 0000. This is the command for Chip Erase.
4. Give XTAL1 a positive pulse. This loads the command.
5. Give WR a negative pulse. This starts the Chip Erase. RDY/BSY goes low.
6. Wait until RDY/BSY goes high before loading a new command.
27.7.4

Programming the Flash

The Flash is organized in pages, see Table 27-9 on page 290. When programming the Flash,
the program data is latched into a page buffer. This allows one page of program data to be programmed simultaneously. The following procedure describes how to program the entire Flash
memory:
A. Load Command Write Flash
1. Set XA1, XA0 to 10. This enables command loading.
2. Set BS1 to 0.
3. Set DATA to 0001 0000. This is the command for Write Flash.
4. Give XTAL1 a positive pulse. This loads the command.
B. Load Address Low byte
1. Set XA1, XA0 to 00. This enables address loading.
2. Set BS1 to 0. This selects low address.
3. Set DATA = Address low byte (0x00 - 0xFF).
4. Give XTAL1 a positive pulse. This loads the address low byte.
C. Load Data Low Byte
1. Set XA1, XA0 to 01. This enables data loading.
2. Set DATA = Data low byte (0x00 - 0xFF).
3. Give XTAL1 a positive pulse. This loads the data byte.

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D. Load Data High Byte

1. Set BS1 to 1. This selects high data byte.
2. Set XA1, XA0 to 01. This enables data loading.
3. Set DATA = Data high byte (0x00 - 0xFF).
4. Give XTAL1 a positive pulse. This loads the data byte.
E. Latch Data
1. Set BS1 to 1. This selects high data byte.
2. Give PAGEL a positive pulse. This latches the data bytes. (See Figure 27-3 for signal
waveforms)
F. Repeat B through E until the entire buffer is filled or until all data within the page is loaded.
While the lower bits in the address are mapped to words within the page, the higher bits address
the pages within the FLASH. This is illustrated in Figure 27-2 on page 295. Note that if less than
eight bits are required to address words in the page (pagesize < 256), the most significant bit(s)
in the address low byte are used to address the page when performing a Page Write.
G. Load Address High byte
1. Set XA1, XA0 to 00. This enables address loading.
2. Set BS1 to 1. This selects high address.
3. Set DATA = Address high byte (0x00 - 0xFF).
4. Give XTAL1 a positive pulse. This loads the address high byte.
H. Program Page
1. Give WR a negative pulse. This starts programming of the entire page of data. RDY/BSY
goes low.
2. Wait until RDY/BSY goes high (See Figure 27-3 for signal waveforms).
I. Repeat B through H until the entire Flash is programmed or until all data has been
programmed.
J. End Page Programming
1. 1. Set XA1, XA0 to 10. This enables command loading.
2. Set DATA to 0000 0000. This is the command for No Operation.
3. Give XTAL1 a positive pulse. This loads the command, and the internal write signals are
reset.

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Figure 27-2. Addressing the Flash Which is Organized in Pages(1)
PCMSB
PROGRAM
COUNTER

PAGEMSB
PCPAGE

PCWORD

PAGE ADDRESS
WITHIN THE FLASH

WORD ADDRESS
WITHIN A PAGE

PROGRAM MEMORY

PAGE

PCWORD[PAGEMSB:0]:
00

INSTRUCTION WORD

01
02

PAGEEND

Note:

1. PCPAGE and PCWORD are listed in Table 27-9 on page 290.

Figure 27-3. Programming the Flash Waveforms(1)

DATA

0x10

ADDR. LOW

C
DATA LOW

DATA HIGH

B
ADDR. LOW

DATA LOW

DATA HIGH

E
XX

G
ADDR. HIGH

H
XX

XA1

XA0

BS1

XTAL1

RDY/BSY

RESET +12V

PAGEL

BS2

Note:

27.7.5

1. XX is dont care. The letters refer to the programming description above.

Programming the EEPROM

The EEPROM is organized in pages, see Table 27-10 on page 290. When programming the
EEPROM, the program data is latched into a page buffer. This allows one page of data to be
programmed simultaneously. The programming algorithm for the EEPROM data memory is as
follows (refer to Programming the Flash on page 293 for details on Command, Address and
Data loading):
1. A: Load Command 0001 0001.
2. G: Load Address High Byte (0x00 - 0xFF).
3. B: Load Address Low Byte (0x00 - 0xFF).
4. C: Load Data (0x00 - 0xFF).

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5. E: Latch data (give PAGEL a positive pulse).

K: Repeat 3 through 5 until the entire buffer is filled.
L: Program EEPROM page
1. Set BS1 to 0.
2. Give WR a negative pulse. This starts programming of the EEPROM page. RDY/BSY
goes low.
3. Wait until to RDY/BSY goes high before programming the next page (See Figure 27-4 for
signal waveforms).
Figure 27-4. Programming the EEPROM Waveforms
K

DATA

0x11

ADDR. HIGH

B
ADDR. LOW

C
DATA

E
XX

B
ADDR. LOW

C
DATA

XA1

XA0

BS1

XTAL1

RDY/BSY

RESET +12V

PAGEL

BS2

27.7.6

Reading the Flash

The algorithm for reading the Flash memory is as follows (refer to Programming the Flash on
page 293 for details on Command and Address loading):
1. A: Load Command 0000 0010.
2. G: Load Address High Byte (0x00 - 0xFF).
3. B: Load Address Low Byte (0x00 - 0xFF).
4. Set OE to 0, and BS1 to 0. The Flash word low byte can now be read at DATA.
5. Set BS1 to 1. The Flash word high byte can now be read at DATA.
6. Set OE to 1.

27.7.7

Reading the EEPROM

The algorithm for reading the EEPROM memory is as follows (refer to Programming the Flash
on page 293 for details on Command and Address loading):
1.

A: Load Command 0000 0011.

2. G: Load Address High Byte (0x00 - 0xFF).

3. B: Load Address Low Byte (0x00 - 0xFF).
4. Set OE to 0, and BS1 to 0. The EEPROM Data byte can now be read at DATA.
5. Set OE to 1.

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27.7.8

Programming the Fuse Low Bits

The algorithm for programming the Fuse Low bits is as follows (refer to Programming the Flash
on page 293 for details on Command and Data loading):
1. A: Load Command 0100 0000.
2. C: Load Data Low Byte. Bit n = 0 programs and bit n = 1 erases the Fuse bit.
3. Give WR a negative pulse and wait for RDY/BSY to go high.

27.7.9

Programming the Fuse High Bits

BS1

BS2

27.7.13

Reading the Signature Bytes

The algorithm for reading the Signature bytes is as follows (refer to Programming the Flash on
page 293 for details on Command and Address loading):
1. A: Load Command 0000 1000.
2. B: Load Address Low Byte (0x00 - 0x02).
3. Set OE to 0, and BS1 to 0. The selected Signature byte can now be read at DATA.
4. Set OE to 1.

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27.7.14

Reading the Calibration Byte

The algorithm for reading the Calibration byte is as follows (refer to Programming the Flash on
page 293 for details on Command and Address loading):
1. A: Load Command 0000 1000.
2. B: Load Address Low Byte, 0x00.
3. Set OE to 0, and BS1 to 1. The Calibration byte can now be read at DATA.
4. Set OE to 1.

27.7.15

27.8

Parallel Programming Characteristics

For chracteristics of the Parallel Programming, see Parallel Programming Characteristics on
page 312.

Serial Downloading
Both the Flash and EEPROM memory arrays can be programmed using the serial SPI bus while
RESET is pulled to GND. The serial interface consists of pins SCK, MOSI (input) and MISO (output). After RESET is set low, the Programming Enable instruction needs to be executed first
before program/erase operations can be executed. NOTE, in Table 27-15 on page 300, the pin
mapping for SPI programming is listed. Not all parts use the SPI pins dedicated for the internal
SPI interface.
Figure 27-7. Serial Programming and Verify(1)
+1.8 - 5.5V
VCC
+1.8 - 5.5V(2)
MOSI

AVCC

MISO
SCK
XTAL1

RESET

GND

Notes:

1. If the device is clocked by the internal Oscillator, it is no need to connect a clock source to the
XTAL1 pin.
2. VCC - 0.3V < AVCC < VCC + 0.3V, however, AVCC should always be within 2.7 - 5.5V

When programming the EEPROM, an auto-erase cycle is built into the self-timed programming
operation (in the Serial mode ONLY) and there is no need to first execute the Chip Erase
instruction. The Chip Erase operation turns the content of every memory location in both the
Program and EEPROM arrays into 0xFF.
Depending on CKSEL Fuses, a valid clock must be present. The minimum low and high periods
for the serial clock (SCK) input are defined as follows:
Low: > 2 CPU clock cycles for fck < 12 MHz, 3 CPU clock cycles for fck >= 12 MHz
High: > 2 CPU clock cycles for fck < 12 MHz, 3 CPU clock cycles for fck >= 12 MHz

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27.8.1

Serial Programming Pin Mapping

Table 27-15. Pin Mapping Serial Programming

27.8.2

Symbol

Pins

I/O

Description

MOSI

PB3

Serial Data in

MISO

PB4

Serial Data out

SCK

PB5

Serial Clock

Serial Programming Algorithm

When writing serial data to the ATmega328P, data is clocked on the rising edge of SCK.
When reading data from the ATmega328P, data is clocked on the falling edge of SCK. See Figure 27-9 for timing details.
To program and verify the ATmega328P in the serial programming mode, the following
sequence is recommended (See Serial Programming Instruction set in Table 27-17 on page
301):
1.

Power-up sequence:
Apply power between VCC and GND while RESET and SCK are set to 0. In some systems, the programmer can not guarantee that SCK is held low during power-up. In this
case, RESET must be given a positive pulse of at least two CPU clock cycles duration
after SCK has been set to 0.

2. Wait for at least 20 ms and enable serial programming by sending the Programming
Enable serial instruction to pin MOSI.
3. The serial programming instructions will not work if the communication is out of synchronization. When in sync. the second byte (0x53), will echo back when issuing the third
byte of the Programming Enable instruction. Whether the echo is correct or not, all four
bytes of the instruction must be transmitted. If the 0x53 did not echo back, give RESET a
positive pulse and issue a new Programming Enable command.
4. The Flash is programmed one page at a time. The memory page is loaded one byte at a
time by supplying the 6 LSB of the address and data together with the Load Program
Memory Page instruction. To ensure correct loading of the page, the data low byte must
be loaded before data high byte is applied for a given address. The Program Memory
Page is stored by loading the Write Program Memory Page instruction with the 7 MSB of
the address. If polling (RDY/BSY) is not used, the user must wait at least tWD_FLASH before
issuing the next page (See Table 27-16). Accessing the serial programming interface
before the Flash write operation completes can result in incorrect programming.
5. A: The EEPROM array is programmed one byte at a time by supplying the address and
data together with the appropriate Write instruction. An EEPROM memory location is first
automatically erased before new data is written. If polling (RDY/BSY) is not used, the
user must wait at least tWD_EEPROM before issuing the next byte (See Table 27-16). In a
chip erased device, no 0xFFs in the data file(s) need to be programmed.
B: The EEPROM array is programmed one page at a time. The Memory page is loaded
one byte at a time by supplying the 6 LSB of the address and data together with the Load
EEPROM Memory Page instruction. The EEPROM Memory Page is stored by loading
the Write EEPROM Memory Page Instruction with the 7 MSB of the address. When using
EEPROM page access only byte locations loaded with the Load EEPROM Memory Page
instruction is altered. The remaining locations remain unchanged.

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If polling (RDY/BSY) is not used, the used must wait at least tWD_EEPROM before issuing
the next byte (See Table 27-16). In a chip erased device, no 0xFF in the data file(s) need
to be programmed.
6. Any memory location can be verified by using the Read instruction which returns the content at the selected address at serial output MISO.
7. At the end of the programming session, RESET can be set high to commence normal
operation.
8. Power-off sequence (if needed):
Set RESET to 1.
Turn VCC power off.
Table 27-16. Typical Wait Delay Before Writing the Next Flash or EEPROM Location

27.8.3

Symbol

Minimum Wait Delay

tWD_FLASH

4.5 ms

tWD_EEPROM

3.6 ms

tWD_ERASE

9.0 ms

Serial Programming Instruction set

Table 27-17 on page 301 and Figure 27-8 on page 303 describes the Instruction set.

Table 27-17. Serial Programming Instruction Set (Hexadecimal values)

Instruction Format
Instruction/Operation

Byte 1

Byte 2

Byte 3

Byte4

Programming Enable

$AC

$53

$00

Chip Erase (Program Memory/EEPROM)

$AC

$80

$00

Poll RDY/BSY

$F0

$00

data byte out

Load Extended Address byte(1)

$4D

$00

Extended adr

$00

Read Fuse bits

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Table 27-17. Serial Programming Instruction Set (Hexadecimal values) (Continued)

Instruction Format
Instruction/Operation

Byte 1

Byte 2

Byte 3

Byte4

Read Calibration Byte

$A8

$00

data byte in

Write Extended Fuse Bits

$AC

$A4

$00

data byte in

Write Instructions(6)

Notes:

1.
2.
3.
4.
5.
6.
7.

Not all instructions are applicable for all parts.

a = address.
Bits are programmed 0, unprogrammed 1.
To ensure future compatibility, unused Fuses and Lock bits should be unprogrammed (1) .
Refer to the correspondig section for Fuse and Lock bits, Calibration and Signature bytes and Page size.
Instructions accessing program memory use a word address. This address may be random within the page range.
See htt://www.atmel.com/avr for Application Notes regarding programming and programmers.

If the LSB in RDY/BSY data byte out is 1, a programming operation is still pending. Wait until
this bit returns 0 before the next instruction is carried out.
Within the same page, the low data byte must be loaded prior to the high data byte.
After data is loaded to the page buffer, program the EEPROM page, see Figure 27-8 on page
303.

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Figure 27-8. Serial Programming Instruction example
Serial Programming Instruction
Load Program Memory Page (High/Low Byte)/
Load EEPROM Memory Page (page access)

Byte 1

Byte 2
Adr MSB
A
Bit 15 B

Byte 3

Write Program Memory Page/

Write EEPROM Memory Page

Byte 1

Byte 4

Byte 2

Adr LSB

Adr MSB
Bit 15 B

Byte 3

Byte 4

Adrr LSB
B
0

Page Buffer
Page Offset

Page 0

Page 1

Page 2
Page Number

Page N-1

Program Memory/
EEPROM Memory

27.8.4

SPI Serial Programming Characteristics

Figure 27-9. Serial Programming Waveforms
SERIAL DATA INPUT
(MOSI)

MSB

LSB

SERIAL DATA OUTPUT

(MISO)

MSB

LSB

SERIAL CLOCK INPUT

(SCK)
SAMPLE

For characteristics of the SPI module see SPI Timing Characteristics on page 309.

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28. Electrical Characteristics

All DC/AC characteristics contained in this datasheet are based on characterization of
ATmega328P AVR microcontroller manufactured in an automotive process technology.

28.1

Absolute Maximum Ratings*

Operating Temperature.................................. -55C to +125C

*NOTICE:

Storage Temperature ..................................... -65C to +150C

Voltage on any Pin except RESET
with respect to Ground ................................-0.5V to VCC+0.5V
Voltage on RESET with respect to Ground......-0.5V to +13.0V

Stresses beyond those listed under Absolute

Maximum Ratings may cause permanent damage to the device. This is a stress rating only and
functional operation of the device at these or
other conditions beyond those indicated in the
operational sections of this specification is not
implied. Exposure to absolute maximum rating
conditions for extended periods may affect
device reliability.

Maximum Operating Voltage ............................................ 6.0V

DC Current per I/O Pin ............................................... 40.0 mA
DC Current VCC and GND Pins................................ 200.0 mA
Injection Current at VCC = 0V ................................... 5.0mA(1)
Injection Current at VCC = 5V ...................................... 1.0mA
Note:

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28.2

DC Characteristics.

TA = -40C to 125C, VCC = 2.7V to 5.5V (unless otherwise noted)

Symbol

Parameter

Condition

Min.

VIL

Input Low Voltage, except

XTAL1 and RESET pin

VCC = 2.7V - 5.5V

VIH

Input High Voltage, except

XTAL1 and RESET pins

VIL1

Max.

Units

-0.5

0.3VCC(1)

0.9VCC(2)

VCC + 0.5

VOL

Output Low Voltage(3)

IOL = 20 mA, VCC = 5V

IOL = 5 mA, VCC = 3V

0.8
0.5

VOH

Output High Voltage(4)

IOH = -20 mA, VCC = 5V

IOH = -10 mA, VCC = 3V

IIL

Input Leakage
Current I/O Pin

VCC = 5.5V, pin low

(absolute value)

IIH

Input Leakage
Current I/O Pin

VCC = 5.5V, pin high

(absolute value)

RRST

Reset Pull-up Resistor

RPU

I/O Pin Pull-up Resistor

VACIO

Analog Comparator
Input Offset Voltage

0.4V<Vin <Vcc-0.5
(absolute value)

IACLK

Analog Comparator
Input Leakage Current

VCC = 5V
Vin = VCC/2

Notes:

Typ.

4.1
2.3

10
-50

1. Max means the highest value where the pin is guaranteed to be read as low
2. Min means the lowest value where the pin is guaranteed to be read as high
3. Although each I/O port can sink more than the test conditions (20 mA at VCC = 5V, 10 mA at VCC = 3V) under steady state
conditions (non-transient), the following must be observed:
ATmega328P:
1] The sum of all IOL, for ports C0 - C5, should not exceed 100 mA.
2] The sum of all IOL, for ports B0 - B5, D5 - D7, XTAL1, XTAL2 should not exceed 100 mA.
3] The sum of all IOL, for ports D0 - D4, should not exceed 100 mA.
If IOL exceeds the test condition, VOL may exceed the related specification. Pins are not guaranteed to sink current greater
than the listed test condition.
4. Although each I/O port can source more than the test conditions (20 mA at VCC = 5V, 10 mA at VCC = 3V) under steady state
conditions (non-transient), the following must be observed:
ATmega328P:
1] The sum of all IOH, for ports C0 - C5, D0- D4, should not exceed 150 mA.
2] The sum of all IOH, for ports B0 - B5, D5 - D7, XTAL1, XTAL2 should not exceed 150 mA.
If IIOH exceeds the test condition, VOH may exceed the related specification. Pins are not guaranteed to source current
greater than the listed test condition.

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28.3

DC Characteristics

TA = -40C to 125C, VCC = 2.7V to 5.5V (unless otherwise noted)

Symbol

Parameter

Typ.(2)

Max.

Units

Active 4 MHz, VCC = 3V

1.5

2.4

Active 8 MHz, VCC = 5V

5.2

Active 16 MHz, VCC = 5V

9.2

Idle 4 MHz, VCC = 3V

0.25

0.6

Idle 8 MHz, VCC = 5V

1.0

1.6

Idle 16 MHz, VCC = 5V

1.9

2.8

WDT enabled, VCC = 3V

WDT enabled, VCC = 5V

WDT disabled, VCC = 3V

WDT disabled, VCC = 5V

Condition

Power Supply Current(1)

ICC

Power-down mode(3)

Min.

Notes:

1. Values with Minimizing Power Consumption enabled (0xFF).

2. Typical values at 25C.
3. The current consumption values include input leakage current.

28.4

Speed Grades
Figure 28-1. Maximum Frequency

16 MHz

8 MHz

Safe Operating Area

2.7V

306

4.5V

5.5V

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

28.5

Clock Characteristics

28.5.1

Calibrated Internal RC Oscillator Accuracy

Table 28-1.

Calibration Accuracy of Internal RC Oscillator

Frequency

Factory
Calibration

28.5.2

VCC

Temperature

Calibration Accuracy

25C

2.7V - 5.5V

-40C - 125C

14%

8.0 MHz

Watchdog Oscillator Accuracy

Table 28-2.

Accuracy of Watchdog Oscillator

Symbol
Fwdt

28.5.3

Parameter

Condition

Min

Typ

Max

Units

Watchdog oscillator frequency

Vcc = 2.7 - 5.5v

128

180

KHz

External Clock Drive Waveforms

Figure 28-2. External Clock Drive Waveforms

V IH1
V IL1

28.5.4

External Clock Drive

Table 28-3.

External Clock Drive

VCC=2.7-5.5V

Symbol

Parameter

1/tCLCL

VCC=4.5-5.5V

Min.

Max.

Min.

Max.

Units

Oscillator Frequency

MHz

tCHCX

High Time

tCLCX

Low Time

tCLCH

Rise Time

1.6

0.5

tCHCL

Fall Time

1.6

0.5

tCLCL

Change in period from one clock

cycle to the next

Note:

All DC/AC characteristics contained in this datasheet are based on characterization of ATmega328P AVR microcontroller manufactured in an automotive process technology.

307
7810CAVR10/12

28.6

System and Reset Characteristics

Table 28-4.
Symbol

Reset, Brown-out and Internal Voltage Characteristics

Parameter

Min

Brown-out Detector Hysteresis

VHYST

Table 28-5.

Max

Units

Bandgap reference voltage

VBG

Typ

VCC=5V

1.0

1.1

mV
1.2

BODLEVEL Fuse Coding(1)

BODLEVEL 2:0 Fuses

Min VBOT

Typ VBOT

111

Max VBOT

Units

BOD Disabled

110

Reserved

101

2.5

2.7

2.9

100

4.0

4.3

4.6

011
010
Reserved
001
000
Notes:

308

1. VBOT may be below nominal minimum operating voltage for some devices. For devices where this is the case, the device is
tested down to VCC = VBOT during the production test. This guarantees that a Brown-Out Reset will occur before VCC drops to
a voltage where correct operation of the microcontroller is no longer guaranteed. The test is performed using
BODLEVEL = 100 and BODLEVEL = 101 for ATmega328P.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

28.7

SPI Timing Characteristics

See Figure 28-3 and Figure 28-4 for details.
Table 28-6.

SPI Timing Parameters

Description

Mode

SCK period

Master

Min

Typ

Max

See Table 18-5

SCK high/low

Master

50% duty cycle

Rise/Fall time

Master

3.6

Setup

Master

Hold

Master

Out to SCK

Master

0.5 tsck

SCK to out

Master

SCK to out high

Master

SS low to out

Slave

SCK period

Slave

4 tck

SCK high/low(1)

Slave

2 tck

Rise/Fall time

Slave

Setup

Slave

Hold

Slave

tck

SCK to out

7810CAVR10/12

Atmel ATmega328P [Preliminary]

28.8

2-wire Serial Interface Characteristics

Table 28-7 describes the requirements for devices connected to the 2-wire Serial Bus. The ATmega328P 2-wire Serial
Interface meets or exceeds these requirements under the noted conditions.
Timing symbols refer to Figure 28-5.
Table 28-7.

2-wire Serial Bus Requirements

Symbol

Parameter

Min

Max

Units

VIL

Input Low-voltage

-0.5

0.3 VCC

VIH

Input High-voltage

0.7 VCC

VCC + 0.5

Vhys(1)
VOL(1)
tr(1)
tof(1)
tSP(1)

Hysteresis of Schmitt Trigger Inputs

Input Current each I/O Pin

Ci(1)

Capacitance for each I/O Pin

0.05

Output Low-voltage

3 mA sink current

Rise Time for both SDA and SCL

Output Fall Time from VIHmin to VILmax

10 pF < Cb < 400 pF(3)

Spikes Suppressed by Input Filter

SCL Clock Frequency

fSCL

Value of Pull-up resistor

tHD;STA

Hold Time (repeated) START Condition

tLOW

Low Period of the SCL Clock

tHIGH

High period of the SCL clock

tSU;STA

Set-up time for a repeated START condition

tHD;DAT

Data hold time

tSU;DAT

Data setup time

tSU;STO

Setup time for STOP condition

tBUF

Bus free time between a STOP and START

condition

Notes:

Condition

1.
2.
3.
4.
5.

VCC(2)
0

0.4

20 + 0.1Cb(3)(2)

300

20 + 0.1Cb(3)(2)

250

(2)

0
0.1VCC < Vi < 0.9VCC
fCK(4)

-10

400

kHz

fSCL 100 kHz

V CC 0,4V
---------------------------3mA

1000ns
------------------Cb

fSCL > 100 kHz

In ATmega328P, this parameter is characterized and not 100% tested.

Required only for fSCL > 100 kHz.
Cb = capacitance of one bus line in pF.
fCK = CPU clock frequency
This requirement applies to all ATmega328P 2-wire Serial Interface operation. Other devices connected to the 2-wire Serial
Bus need only obey the general fSCL requirement.

311
7810CAVR10/12

Figure 28-5. 2-wire Serial Bus Timing

tof

tHIGH

tLOW

SCL
tSU;STA

tHD;STA

tHD;DAT

tSU;DAT

tSU;STO

SDA

tBUF

28.9

ADC Characteristics

Table 28-8.
Symbol

ADC Characteristics
Parameter

Condition

Resolution

Min

Typ

-40c +125c / 2.70 - 5.50V

Max

Units

bits

ADC clock = 200kHz

TUE

Absolute accuracy

Vcc = 4.0v, VRef = 4.0v

2.2

3.5

LSB

INL

Integral Non Linearity

Vcc = 4.0v, VRef = 4.0v

0.6

VRef

Reference Voltage

Vin

Input Voltage

Vint

Internal Voltage Reference

Rref

Reference Input resistance

Rain

Analog input resistance

200

kHz

Vcc 0.3

Vcc +0.3

1.0

AVcc

GND

VRef

Vcc = 5v

1.0

1.1

1.2

22.4

41.6

100

28.10 Parallel Programming Characteristics

Table 28-9.

312

Parallel Programming Characteristics, VCC = 5V 10%

Symbol

Parameter

Min

Typ

Max

Units

VPP

Programming Enable Voltage

11.5

12.5

IPP

Programming Enable Current

250

tDVXH

Data and Control Valid before XTAL1 High

tXLXH

XTAL1 Low to XTAL1 High

200

tXHXL

XTAL1 Pulse Width High

150

tXLDX

Data and Control Hold after XTAL1 Low

tXLWL

XTAL1 Low to WR Low

tXLPH

XTAL1 Low to PAGEL high

tPLXH

PAGEL low to XTAL1 high

150

tBVPH

BS1 Valid before PAGEL High

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Table 28-9.

Parallel Programming Characteristics, VCC = 5V 10% (Continued)

Symbol

Parameter

Min

tPHPL

PAGEL Pulse Width High

150

tPLBX

BS1 Hold after PAGEL Low

tWLBX

BS2/1 Hold after WR Low

tPLWL

PAGEL Low to WR Low

tBVWL

BS1 Valid to WR Low

tWLWH

WR Pulse Width Low

150

tWLRL

WR Low to RDY/BSY Low

tWLRH

WR Low to RDY/BSY High(1)

(2)

Max

Units

3.7

4.5

7.5

tWLRH_CE

WR Low to RDY/BSY High for Chip Erase

tXLOL

XTAL1 Low to OE Low

tBVDV

BS1 Valid to DATA valid

tOLDV
tOHDZ
Notes:

Typ

ns
250

OE Low to DATA Valid

250

OE High to DATA Tri-stated

250

tWLRH is valid for the Write Flash, Write EEPROM, Write Fuse bits and Write Lock bits
commands.
2. tWLRH_CE is valid for the Chip Erase command.

Figure 28-6. Parallel Programming Timing, Including some General Timing Requirements
tXLWL
tXHXL

XTAL1
tDVXH

tXLDX

Data & Contol

(DATA, XA0/1, BS1, BS2)
tPLBX t BVWL

tBVPH
PAGEL

tWLBX

tPHPL
tWLWH

tPLWL
WLRL

RDY/BSY
tWLRH

313
7810CAVR10/12

Figure 28-7. Parallel Programming Timing, Loading Sequence with Timing Requirements(1)
LOAD ADDRESS
(LOW BYTE)

LOAD DATA LOAD DATA

(HIGH BYTE)

LOAD DATA
(LOW BYTE)

tXLPH

t XLXH

LOAD ADDRESS
(LOW BYTE)

tPLXH

XTAL1

BS1
PAGEL

DATA

ADDR0 (Low Byte)

DATA (Low Byte)

DATA (High Byte)

ADDR1 (Low Byte)

XA0
XA1

Note:

1. The timing requirements shown in Figure 28-6 (i.e., tDVXH, tXHXL, and tXLDX) also apply to loading operation.

Figure 28-8. Parallel Programming Timing, Reading Sequence (within the Same Page) with
Timing Requirements(1)
LOAD ADDRESS
(LOW BYTE)

READ DATA
(LOW BYTE)

READ DATA
(HIGH BYTE)

LOAD ADDRESS
(LOW BYTE)

tXLOL

XTAL1
tBVDV

BS1
tOLDV

DATA

tOHDZ

ADDR0 (Low Byte)

DATA (Low Byte)

DATA (High Byte)

ADDR1 (Low Byte)

XA0

XA1

Note:

314

1. The timing requirements shown in Figure 28-6 (i.e., tDVXH, tXHXL, and tXLDX) also apply to reading operation.

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

29. Typical Characteristics
The data contained in this section are characterized values of actual automotive silicon. Unless
otherwise specified, the data contained in this chapter are for -40 to 125C.
The following charts show typical behavior. These figures are not tested during manufacturing.
All current consumption measurements are performed with all I/O pins configured as inputs and
with internal pull-ups enabled. A square wave generator with rail-to-rail output is used as clock
source.
All Active- and Idle current consumption measurements are done with all bits in the PRR register
set and thus, the corresponding I/O modules are turned off. Also the Analog Comparator is disabled during these measurements. The Supply Current of IO Modules shows the additional
current consumption compared to ICC Active and ICC Idle for every I/O module controlled by the
Power Reduction Register. See Power Reduction Register on page 40 for details.
The power consumption in Power-down mode is independent of clock selection.
The current consumption is a function of several factors such as: operating voltage, operating
frequency, loading of I/O pins, switching rate of I/O pins, code executed and ambient temperature. The dominating factors are operating voltage and frequency.
The current drawn from capacitive loaded pins may be estimated (for one pin) as CL*VCC*f where
CL = load capacitance, VCC = operating voltage and f = average switching frequency of I/O pin.
The parts are characterized at frequencies higher than test limits. Parts are not guaranteed to
function properly at frequencies higher than the ordering code indicates.
The difference between current consumption in Power-down mode with Watchdog Timer
enabled and Power-down mode with Watchdog Timer disabled represents the differential current drawn by the Watchdog Timer.

315
7810CAVR10/12

29.1
29.1.1

ATmega328P Typical Characteristics

Active Supply Current
Figure 29-1. Active Supply Current vs. Frequency.

ACTIVE SUPPLY CURRENT vs. FREQUENCY

16
14
12

ICC ( mA)

5.5
8

4.5
3.6

3.3
3

2.7

0
0

Freq uency (MHz)

Figure 29-2. Idle Supply Current vs. Frequency..

IDLE SUPPLY CURRENT vs . FREQUENCY

4
3.5
3

IC C (mA)

2.5

5.5
2

5
4.5

1.5

3.6
1

3.3
3

0.5

2.7

0
0

Freq uency (MHz)

316

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

29.1.2

Power-down Supply Current

Figure 29-3. Power-Down Supply Current vs. VCC (Watchdog Timer Disabled).

POWER-DOW N SUPPLY CURRENT vs. VCC

WA TCHDOG TIMER DISABL ED - V t low par ts excluded
25

ICC (uA)

125
10

85
25
-45

0
2

2 .5

3.5

4.5

5.5

V CC (V )

Figure 29-4. Power-Down Supply Current vs. VCC (Watchdog Timer Enabled).

POW ER-DOWN SUPPLY CURRENT vs. VCC

WATCHDOG TIMER ENA BLED - VtLow parts excluded
35
30

IC C (u A)

125

85
25

-45
10
5
0
2

2.5

3.5

4.5

5 .5

V CC (V )

317
7810CAVR10/12

29.1.3

Pin Pull-Up
Figure 29-5. I/O Pin Pull-up Resistor Current vs. Input Voltage (VCC = 5V).
I/O PIN PULL-UP RESISTOR CURRENT vs. INPUT VOLTAGE

160
140
120

125

IOP ( uA)

100

-45

40
20
0
0

0.5

1 .5

2.5

3.5

4.5

VOP (V )

Figure 29-6. Reset Pull-up Resistor Current vs. Reset Pin Voltage (VCC = 5 V).

RESET PULL-UP RESISTOR CURRENT vs. RESET PIN VOLTAGE

120

100

125

IRES E T (uA)

85
25

-45
40

0
0

0.5

1.5

2.5

3.5

4.5

V RE S E T (V)

318

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

29.1.4

Pin Driver Strength

Figure 29-7. I/O Pin Output Voltage vs. Sink Current (VCC = 3 V).

I/O PIN OUTPUT VOLTAGE vs. SINK CURRENT

V cc = 3v
1.2

V OL ( V)

0.8

125
85

0.6

25
-45

0.4

0.2

0
0

IOL ( mA )

Figure 29-8. I/O Pin Output Voltage vs. Sink Current (VCC = 5 V).

I/O PIN OUTPUT VOLTAGE vs. SINK CURRENT

V cc = 5v
0.7
0.6
0.5

V OL ( V)

125
0.4

85
25

0.3

-45

0.2
0.1
0
0

IOL ( mA )

319
7810CAVR10/12

Figure 29-9. I/O Pin Output Voltage vs. Source Current (Vcc = 3 V).

I/O PIN OUTPUT VOLTAGE vs. SOURCE CURRENT

V cc = 3 v
3.5
3
2.5

VOH (V )

125
2

85
25

1.5

-45

1
0.5
0
0

IOH ( mA )

Figure 29-10. I/O Pin Output Voltage vs. Source Current(VCC = 5 V).
I/O PIN OUTPUT VOLTAGE vs. SOURCE CURRENT
Vc c = 5v
5.1
5

V OH ( V)

4.9
4.8

125

4.7

4.6

25
-45

4.5
4.4
4.3
4.2
0

IOH (mA )

320

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

29.1.5

Pin Threshold and Hysteresis

Figure 29-11. I/O Pin Input Threshold Voltage vs. VCC (VIH, I/O Pin read as 1).

I/O PIN INPUT THRESHOLD VOLTAGE vs. V CC

V IH, IO PIN REA D A S '1'
3.5
3

Thresh old ( V)

2.5

125
2

85
25

1.5

-45
1
0.5
0
2

2.5

3.5

4.5

5 .5

V CC ( V)

Figure 29-12. I/O Pin Input Threshold Voltage vs. VCC (VIL, I/O Pin read as 0)..

I/O PIN INPUT THRESHOLD VOLTAGE vs. VCC

V IL, IO PIN REA D A S '0'
2.5

Th resh old ( V)

125

1.5

85
25
1

-45

0.5

0
2

2.5

3.5

4.5

5.5

V CC ( V )

321
7810CAVR10/12

Figure 29-13. Reset Input Threshold Voltage vs. VCC (VIH, I/O Pin read as 1).

Figure 29-14. Reset Input Threshold Voltage vs. VCC (VIL, I/O Pin read as 0)..
RESET INPUT THRESHOLD VOLTAGE vs. V CC
V IL, IO PIN REA D A S '0'
2.5

Thresh old ( V)

125

1.5

85
25

-45

0.5

0
2

2.5

3 .5

4.5

5.5

V CC (V )

322

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

29.1.6

BOD Threshold
Figure 29-15. BOD Thresholds vs. Temperature (BODLEVEL is 2.7 V).

BOD THRESHOLDS vs. TEMPERATURE

BOD LEV EL IS 2.7 V

2.9

Th resh old ( V)

2.8

1
2.7

2.6

2.5

2.4
-60

-5 0 - 40

-30 - 20

-10

100 110 1 20 130 14 0

Te mp eratur e ( C)

Figure 29-16. BOD Thresholds vs. Temperature (BODLEVEL is 4.3 V).

BOD THRESHOLDS vs. TEMPERATURE

BOD LEV EL IS 4.3 V

4.6

4.5

Th resh old ( V)

4.4

1
4.3

4.2

4.1

4
-60 -5 0 - 40 -30 - 20 -10

100 110 1 20 130 14 0

Te mp eratur e ( C)

323
7810CAVR10/12

29.1.7

Internal Oscilllator Speed

Figure 29-17. Watchdog Oscillator Frequency vs. Temperature..

W ATCHDOG OSCILLATOR FREQUENCY vs. TEMPERATURE

160
150
140

FR C (k Hz)

130

5.5

120

5
110

4.5

100

3.3
3

2.7

80
- 40

-30

-20

- 10

100

1 10

120

Temper atur e

Figure 29-18. Calibrated 8 MHz RC Oscillator Frequency vs. Temperature

8 MHz RC OSCILLATOR FREQUENCY vs. TEMPERATURE

CALIBRATED XXXMHz
100 00 Cy cles s ample d w ith 250n S
8.4
8.3

FRC ( MHz)

8.2

5.5
5

8.1

4.5

3.3
7.9

7.8

2.7

7.7
7.6
-45

- 35

- 25

-1 5

-5

105

115

125

Temper atur e

324

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Figure 29-19. Calibrated 8 MHz RC Oscillator Frequency vs. OSCCAL Value.

CALIBRATED 8MHz RC OSCILLATOR FREQUENCY vs. OSCCAL VALUE

1000 0 Cyc les sampled w ith 250nS - V cc = 5.0v
16

FR C (MHz)

14
12

125

85
25

-45

6
4
2
0
0

10 0

150

200

25 0

OSCCA L ( X1)

325
7810CAVR10/12

30. Register Summary

Address

Name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

326

(0xFF)

Reserved

(0xFE)

Reserved

(0xFD)

Reserved

(0xFC)

Reserved

(0xFB)

Reserved

(0xFA)

Reserved

(0xF9)

Reserved

(0xF8)

Reserved

(0xF7)

Reserved

(0xF6)

Reserved

(0xF5)

Reserved

(0xF4)

Reserved

(0xF3)

Reserved

(0xF2)

Reserved

(0xF1)

Reserved

(0xF0)

Reserved

(0xEF)

Reserved

(0xEE)

Reserved

(0xED)

Reserved

(0xEC)

Reserved

(0xEB)

Reserved

(0xEA)

Reserved

(0xE9)

Reserved

(0xE8)

Reserved

(0xE7)

Reserved

(0xE6)

Reserved

(0xE5)

Reserved

(0xE4)

Reserved

(0xE3)

Reserved

(0xE2)

Reserved

(0xE1)

Reserved

(0xE0)

Reserved

(0xDF)

Reserved

(0xDE)

Reserved

(0xDD)

Reserved

(0xDC)

Reserved

(0xDB)

Reserved

(0xDA)

Reserved

(0xD9)

Reserved

(0xD8)

Reserved

(0xD7)

Reserved

(0xD6)

Reserved

(0xD5)

Reserved

(0xD4)

Reserved

(0xD3)

Reserved

(0xD2)

Reserved

(0xD1)

Reserved

(0xD0)

Reserved

(0xCF)

Reserved

(0xCE)

Reserved

(0xCD)

Reserved

(0xCC)

Reserved

(0xCB)

Reserved

(0xCA)

Reserved

(0xC9)

Reserved

(0xC8)

Reserved

(0xC7)

Reserved

(0xC6)

UDR0

(0xC5)

UBRR0H

USART I/O Data Register

187
USART Baud Rate Register High

(0xC4)

UBRR0L

(0xC3)

Reserved

191

USART Baud Rate Register Low

Page

191

(0xC2)

UCSR0C

UMSEL01

UMSEL00

UPM01

UPM00

USBS0

UCSZ01 /UDORD0

UCSZ00 / UCPHA0

UCPOL0

(0xC1)

UCSR0B

RXCIE0

TXCIE0

UDRIE0

RXEN0

TXEN0

UCSZ02

RXB80

TXB80

188

(0xC0)

UCSR0A

RXC0

TXC0

UDRE0

FE0

DOR0

UPE0

U2X0

MPCM0

187

189/204

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Address

Name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

(0xBF)

Reserved

Page

(0xBE)

Reserved

(0xBD)

TWAMR

TWAM6

TWAM5

TWAM4

TWAM3

TWAM2

TWAM1

TWAM0

236

(0xBC)

TWCR

TWINT

TWEA

TWSTA

TWSTO

TWWC

TWEN

TWIE

233

(0xBB)

TWDR

(0xBA)

TWAR

TWA6

TWA5

TWA4

(0xB9)

TWSR

TWS7

TWS6

TWS5

(0xB8)

TWBR

(0xB7)

Reserved

(0xB6)

ASSR

(0xB5)

Reserved

2-wire Serial Interface Data Register

235

TWA3

TWA2

TWA1

TWA0

TWGCE

236

TWS4

TWS3

TWPS1

TWPS0

235

2-wire Serial Interface Bit Rate Register

233

EXCLK

AS2

TCN2UB

OCR2AUB

OCR2BUB

TCR2AUB

TCR2BUB

156

(0xB4)

OCR2B

Timer/Counter2 Output Compare Register B

154

(0xB3)

OCR2A

Timer/Counter2 Output Compare Register A

154

(0xB2)

TCNT2

(0xB1)

TCCR2B

FOC2A

FOC2B

Timer/Counter2 (8-bit)

WGM22

CS22

CS21

CS20

154
153

(0xB0)

TCCR2A

COM2A1

COM2A0

COM2B1

COM2B0

WGM21

WGM20

150

(0xAF)

Reserved

(0xAE)

Reserved

(0xAD)

Reserved

(0xAC)

Reserved

(0xAB)

Reserved

(0xAA)

Reserved

(0xA9)

Reserved

(0xA8)

Reserved

(0xA7)

Reserved

(0xA6)

Reserved

(0xA5)

Reserved

(0xA4)

Reserved

(0xA3)

Reserved

(0xA2)

Reserved

(0xA1)

Reserved

(0xA0)

Reserved

(0x9F)

Reserved

(0x9E)

Reserved

(0x9D)

Reserved

(0x9C)

Reserved

(0x9B)

Reserved

(0x9A)

Reserved

(0x99)

Reserved

(0x98)

Reserved

(0x97)

Reserved

(0x96)

Reserved

(0x95)

Reserved

(0x94)

Reserved

(0x93)

Reserved

(0x92)

Reserved

(0x91)

Reserved

(0x90)

Reserved

(0x8F)

Reserved

(0x8E)

Reserved

(0x8D)

Reserved

(0x8C)

130

(0x83)

Reserved

(0x82)

TCCR1C

FOC1A

FOC1B

129

(0x81)

TCCR1B

ICNC1

ICES1

WGM13

WGM12

CS12

CS11

CS10

128
126

(0x80)

TCCR1A

COM1A1

COM1A0

COM1B1

COM1B0

WGM11

WGM10

(0x7F)

DIDR1

AIN1D

AIN0D

241

(0x7E)

DIDR0

ADC5D

ADC4D

ADC3D

ADC2D

ADC1D

ADC0D

260

327
7810CAVR10/12

Address

Name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

(0x7D)

Reserved

(0x7C)

ADMUX

REFS1

REFS0

ADLAR

MUX3

MUX2

MUX1

MUX0

256

(0x7B)

ADCSRB

ACME

ADTS2

ADTS1

ADTS0

259

(0x7A)

ADCSRA

ADEN

ADSC

ADATE

ADIF

ADIE

ADPS2

ADPS1

ADPS0

(0x79)

ADCH

ADC Data Register High byte

Page

257
259

(0x78)

ADCL

(0x77)

Reserved

(0x76)

Reserved

(0x75)

Reserved

(0x74)

Reserved

(0x73)

Reserved

(0x72)

Reserved

(0x71)

Reserved

(0x70)

TIMSK2

OCIE2B

OCIE2A

TOIE2

155

(0x6F)

TIMSK1

ICIE1

OCIE1B

OCIE1A

TOIE1

131

(0x6E)

TIMSK0

OCIE0B

OCIE0A

TOIE0

102

(0x6D)

PCMSK2

PCINT23

PCINT22

PCINT21

PCINT20

PCINT19

PCINT18

PCINT17

PCINT16

(0x6C)

PCMSK1

PCINT14

PCINT13

PCINT12

PCINT11

PCINT10

PCINT9

PCINT8

(0x6B)

PCMSK0

PCINT7

PCINT6

PCINT5

PCINT4

PCINT3

PCINT2

PCINT1

PCINT0

(0x6A)

Reserved

(0x69)

EICRA

ISC11

ISC10

ISC01

ISC00

(0x68)

PCICR

PCIE2

PCIE1

PCIE0

(0x67)

Reserved

(0x66)

OSCCAL

(0x65)

Reserved

(0x64)

PRR

PRTWI

PRTIM2

PRTIM0

PRTIM1

PRSPI

PRUSART0

PRADC

(0x63)

Reserved

(0x62)

Reserved

(0x61)

CLKPR

CLKPCE

CLKPS3

CLKPS2

CLKPS1

CLKPS0

(0x60)

WDTCSR

WDIF

WDIE

WDP3

WDCE

WDE

WDP2

WDP1

WDP0

0x3F (0x5F)

SREG

0x3E (0x5E)

SPH

(SP10)

SP9

SP8

0x3D (0x5D)

SPL

SP7

SP6

SP5

SP4

SP3

SP2

SP1

SP0

0x3C (0x5C)

Reserved

0x3B (0x5B)

Reserved

0x3A (0x5A)

Reserved

0x39 (0x59)

Reserved

0x38 (0x58)

Reserved

0x37 (0x57)

SPMCSR

SPMIE

(RWWSB)

(RWWSRE)

BLBSET

PGWRT

PGERS

SELFPRGEN

0x36 (0x56)

Reserved

0x35 (0x55)

MCUCR

BODS

BODSE

PUD

IVSEL

IVCE

0x34 (0x54)

MCUSR

WDRF

BORF

EXTRF

PORF

0x33 (0x53)

SMCR

SM2

SM1

SM0

0x32 (0x52)

Reserved

0x31 (0x51)

Reserved

0x30 (0x50)

ACSR

ACD

ACBG

ACO

ACI

ACIE

ACIC

ACIS1

ACIS0

0x2F (0x4F)

Reserved

0x2E (0x4E)

SPDR

0x2D (0x4D)

SPSR

SPIF

WCOL

SPI2X

166

0x2C (0x4C)

SPCR

SPIE

SPE

DORD

MSTR

CPOL

CPHA

SPR1

SPR0

164

0x2B (0x4B)

GPIOR2

General Purpose I/O Register 2

0x2A (0x4A)

GPIOR1

General Purpose I/O Register 1

0x29 (0x49)

Reserved

0x28 (0x48)

OCR0B

Timer/Counter0 Output Compare Register B

0x27 (0x47)

OCR0A

Timer/Counter0 Output Compare Register A

0x26 (0x46)

TCNT0

0x25 (0x45)

TCCR0B

FOC0A

FOC0B

WGM02

CS02

CS01

CS00

0x24 (0x44)

TCCR0A

COM0A1

COM0A0

COM0B1

COM0B0

WGM01

WGM00

0x23 (0x43)

GTCCR

TSM

PSRASY

PSRSYNC

0x22 (0x42)

EEARH

(EEPROM Address Register High Byte)

0x21 (0x41)

EEARL

EEPROM Address Register Low Byte

0x20 (0x40)

EEDR

EEPROM Data Register

328

ADC Data Register Low byte

259

Oscillator Calibration Register

SPI Data Register

284
42/59/84

239
166

24
24

Timer/Counter0 (8-bit)

135/157
20

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Address

Name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Page

0x1F (0x3F)

EECR

EEPM1

EEPM0

EERIE

EEMPE

EEPE

EERE

0x1E (0x3E)

GPIOR0

0x1D (0x3D)

EIMSK

INT1

INT0

0x1C (0x3C)

EIFR

INTF1

INTF0

0x1B (0x3B)

PCIFR

PCIF2

PCIF1

PCIF0

0x1A (0x3A)

Reserved

0x19 (0x39)

Reserved

0x18 (0x38)

Reserved

0x17 (0x37)

TIFR2

OCF2B

OCF2A

TOV2

155

0x16 (0x36)

TIFR1

ICF1

OCF1B

OCF1A

TOV1

132

0x15 (0x35)

TIFR0

OCF0B

OCF0A

TOV0

0x14 (0x34)

Reserved

0x13 (0x33)

Reserved

0x12 (0x32)

Reserved

0x11 (0x31)

Reserved

0x10 (0x30)

Reserved

0x0F (0x2F)

Reserved

0x0E (0x2E)

Reserved

0x0D (0x2D)

Reserved

0x0C (0x2C)

Reserved

0x0B (0x2B)

PORTD

PORTD7

PORTD6

PORTD5

PORTD4

PORTD3

PORTD2

PORTD1

PORTD0

0x0A (0x2A)

DDRD

DDD7

DDD6

DDD5

DDD4

DDD3

DDD2

DDD1

DDD0

0x09 (0x29)

PIND

PIND7

PIND6

PIND5

PIND4

PIND3

PIND2

PIND1

PIND0

0x08 (0x28)

PORTC

PORTC6

PORTC5

PORTC4

PORTC3

PORTC2

PORTC1

PORTC0

0x07 (0x27)

DDRC

DDC6

DDC5

DDC4

DDC3

DDC2

DDC1

DDC0

General Purpose I/O Register 0

0x06 (0x26)

PINC

PINC6

PINC5

PINC4

PINC3

PINC2

PINC1

PINC0

0x05 (0x25)

PORTB

PORTB7

PORTB6

PORTB5

PORTB4

PORTB3

PORTB2

PORTB1

PORTB0

0x04 (0x24)

DDRB

DDB7

DDB6

DDB5

DDB4

DDB3

DDB2

DDB1

DDB0

0x03 (0x23)

PINB

PINB7

PINB6

PINB5

PINB4

PINB3

PINB2

PINB1

PINB0

0x02 (0x22)

Reserved

0x01 (0x21)

Reserved

0x0 (0x20)

Reserved

Note:

1. For compatibility with future devices, reserved bits should be written to zero if accessed. Reserved I/O memory addresses
should never be written.
2. I/O Registers within the address range 0x00 - 0x1F are directly bit-accessible using the SBI and CBI instructions. In these
registers, the value of single bits can be checked by using the SBIS and SBIC instructions.
3. Some of the Status Flags are cleared by writing a logical one to them. Note that, unlike most other AVRs, the CBI and SBI
instructions will only operate on the specified bit, and can therefore be used on registers containing such Status Flags. The
CBI and SBI instructions work with registers 0x00 to 0x1F only.
4. When using the I/O specific commands IN and OUT, the I/O addresses 0x00 - 0x3F must be used. When addressing I/O
Registers as data space using LD and ST instructions, 0x20 must be added to these addresses. The ATmega328P 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.

329
7810CAVR10/12

31. Instruction Set Summary

Mnemonics

Operands

Description

Operation

Flags

Rd Rd K

Z,N,V

Rd, Rr

Logical OR Registers

Rd Rd v Rr

Z,N,V

ORI

Rd, K

Logical OR Register and Constant

Rd Rd v K

Z,N,V

EOR

Rd, Rr

Exclusive OR Registers

Rd Rd Rr

Z,N,V

COM

Ones Complement

Rd 0xFF Rd

Z,C,N,V

NEG

Twos Complement

Rd 0x00 Rd

Z,C,N,V,H

SBR

Rd,K

Set Bit(s) in Register

Rd Rd v K

Z,N,V

CBR

Rd,K

Clear Bit(s) in Register

Rd Rd (0xFF - K)

Z,N,V

INC

Increment

Rd Rd + 1

Z,N,V

DEC

Decrement

Rd Rd 1

Z,N,V

TST

Test for Zero or Minus

Rd Rd Rd

Z,N,V

CLR

Clear Register

Rd Rd Rd

Z,N,V

SER

Set Register

Rd 0xFF

None

MUL

Rd, Rr

Multiply Unsigned

R1:R0 Rd x Rr

Z,C

MULS

Rd, Rr

Multiply Signed

R1:R0 Rd x Rr

Z,C

MULSU

Rd, Rr

Multiply Signed with Unsigned

R1:R0 Rd x Rr

Z,C

FMUL

Rd, Rr

Fractional Multiply Unsigned

R1:R0 (Rd x Rr) <<

1
R1:R0 (Rd x Rr) << 1
R1:R0 (Rd x Rr) << 1

Z,C

2
2

FMULS

Rd, Rr

Fractional Multiply Signed

FMULSU

Rd, Rr

Fractional Multiply Signed with Unsigned

BRANCH INSTRUCTIONS
RJMP

IJMP

Relative Jump

PC PC + k + 1

None

Indirect Jump to (Z)

PC Z

None

JMP

Direct Jump

PC k

None

RCALL

Relative Subroutine Call

PC PC + k + 1

None

Indirect Call to (Z)

PC Z

None

Direct Subroutine Call

PC k

None

RET

Subroutine Return

PC STACK

None

RETI

Interrupt Return

PC STACK

ICALL
CALL

CPSE

Rd,Rr

Compare, Skip if Equal

if (Rd = Rr) PC PC + 2 or 3

None

Rd,Rr

Compare

Rd Rr

Z, N,V,C,H

CPC

Rd,Rr

Compare with Carry

Rd Rr C

Z, N,V,C,H

CPI

Rd,K

Compare Register with Immediate

Rd K

Z, N,V,C,H

SBRC

Rr, b

Skip if Bit in Register Cleared

if (Rr(b)=0) PC PC + 2 or 3

None

1/2/3

SBRS

Rr, b

Skip if Bit in Register is Set

if (Rr(b)=1) PC PC + 2 or 3

None

1/2/3

SBIC

P, b

Skip if Bit in I/O Register Cleared

if (P(b)=0) PC PC + 2 or 3

None

1/2/3

SBIS

P, b

Skip if Bit in I/O Register is Set

if (P(b)=1) PC PC + 2 or 3

None

1/2/3

BRBS

s, k

Branch if Status Flag Set

if (SREG(s) = 1) then PCPC+k + 1

None

1/2

BRBC

s, k

Branch if Status Flag Cleared

if (SREG(s) = 0) then PCPC+k + 1

None

1/2

BREQ

Branch if Equal

if (Z = 1) then PC PC + k + 1

None

1/2

BRNE

Branch if Not Equal

if (Z = 0) then PC PC + k + 1

None

1/2

BRCS

Branch if Carry Set

if (C = 1) then PC PC + k + 1

None

1/2

BRCC

Branch if Carry Cleared

if (C = 0) then PC PC + k + 1

None

1/2

BRSH

Branch if Same or Higher

if (C = 0) then PC PC + k + 1

None

1/2

BRLO

Branch if Lower

if (C = 1) then PC PC + k + 1

None

1/2

BRMI

Branch if Minus

if (N = 1) then PC PC + k + 1

None

1/2

BRPL

Branch if Plus

7810CAVR10/12

Atmel ATmega328P [Preliminary]

Mnemonics
BRID

Operands
k

Description

Operation

Flags

#Clocks

Branch if Interrupt Disabled

if ( I = 0) then PC PC + k + 1

None

1/2

BIT AND BIT-TEST INSTRUCTIONS

SBI

P,b

Set Bit in I/O Register

I/O(P,b) 1

None

CBI

P,b

Clear Bit in I/O Register

I/O(P,b) 0

None

LSL

Logical Shift Left

Rd(n+1) Rd(n), Rd(0) 0

Z,C,N,V

LSR

Logical Shift Right

Rd(n) Rd(n+1), Rd(7) 0

Z,C,N,V

ROL

Rotate Left Through Carry

Rd(0)C,Rd(n+1) Rd(n),CRd(7)

Z,C,N,V

ROR

Rotate Right Through Carry

Rd(7)C,Rd(n) Rd(n+1),CRd(0)

Z,C,N,V

ASR

Arithmetic Shift Right

Rd(n) Rd(n+1), n=0..6

Z,C,N,V

SWAP

Swap Nibbles

Rd(3..0)Rd(7..4),Rd(7..4)Rd(3..0)

None

BSET

Flag Set

SREG(s) 1

SREG(s)

BCLR

Flag Clear

SREG(s) 0

SREG(s)

BST

Rr, b

Bit Store from Register to T

T Rr(b)

BLD

Rd, b

Bit load from T to Register

Rd(b) T

None

SEC

Set Carry

CLC

Clear Carry

SEN

Set Negative Flag

CLN

Clear Negative Flag

SEZ

Set Zero Flag

CLZ

Clear Zero Flag

SEI

Global Interrupt Enable

CLI

Global Interrupt Disable

SES

Set Signed Test Flag

CLS

Clear Signed Test Flag

SEV

Set Twos Complement Overflow.

CLV

Clear Twos Complement Overflow

SET

Set T in SREG

CLT

Clear T in SREG

SEH
CLH

Set Half Carry Flag in SREG

Clear Half Carry Flag in SREG

H1
H0

Rd Rr
Rd+1:Rd Rr+1:Rr

None

1
1

DATA TRANSFER INSTRUCTIONS

MOV

Rd, Rr

Move Between Registers

MOVW

Rd, Rr

Copy Register Word

LDI

Rd, K

Load Immediate

Rd K

None

Rd, X

Load Indirect

Load Indirect with Displacement

Rd (Y + q)

None

Rd, Z

Load Indirect

Rd (Z)

None

Rd, Z+

Rd (k)

None

X, Rr

Store Indirect

Store Indirect with Displacement

(Y + q) Rr

None

Z, Rr

Store Indirect

(Z) Rr

None

Z+, Rr

(k) Rr

None

Load Program Memory

R0 (Z)

None

STACK Rr

None

POP

Pop Register from Stack

Rd STACK

None

SPM

331
7810CAVR10/12

Mnemonics

Operands

Description

Operation

Flags

#Clocks

MCU CONTROL INSTRUCTIONS

NOP

No Operation

None

SLEEP

Sleep

(see specific descr. for Sleep function)

None

WDR
BREAK

Watchdog Reset
Break

(see specific descr. for WDR/timer)

For On-chip Debug Only

None
None

1
N/A

332

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

32. Ordering Information
32.1

ATmega328P

Speed (MHz)(2)

Power Supply

Ordering Code

Package(1)

Operational Range

2.7 - 5.5

ATmega328P- 15AZ

Automotive
(-40C to 125C)

2.7 - 5.5

ATmega328P- 15MZ

Automotive
(-40C to 125C)

Notes:

1. Pb-free packaging complies to the European Directive for Restriction of Hazardous Substances (RoHS directive).Also
Halide free and fully Green.
2. See Figure 28-3 on page 309.

Package Type
MA

MA, 32 - Lead, 7x7 mm Body Size, 1.0 mm Body Thickness 0.5 mm Lead Pitch, Thin Profile Plastic Quad Flat
Package (TQFP)

PN, 32-Lead, 5.0x5.0 mm Body, 0.50 mm, Quad Flat No Lead Package (QFN)

333
7810CAVR10/12

33. Packaging Information

33.1

334

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

33.2

335
7810CAVR10/12

34. Errata
34.1

Errata ATmega328P
The revision letter in this section refers to the revision of the ATmega328P device.

34.1.1

Revision D
No known errata.

34.1.2

Revision A to Revision C
Not sampled.

35. Datasheet Revision History

Please note that the referring page numbers in this section are referred to this document. The
referring revision in this section are referring to the document revision.

35.1

Rev. C- 10/12
1. ATmega88P and ATmega168P references removed.

35.2

Rev. B - 03/12
1. MA package updated
2. PN package updated

35.3

Rev. A - 11/09
1. Creation of the automotive version starting from industrial version based on the
ATmega48P/88P/168P/328P datasheet 8025F-AVR-08/08. Temperature and voltage
ranges reflecting Automotive requirements.

336

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

36. Table of Contents
Features ..................................................................................................... 1
1

Pin Configurations ................................................................................... 2

1.1

Pin Descriptions .................................................................................................3

1.2

Disclaimer ..........................................................................................................4

1.3

Automotive Quality Grade .................................................................................4

Overview ................................................................................................... 5
2.1

Block Diagram ...................................................................................................5

Resources ................................................................................................. 7

Data Retention .......................................................................................... 7

About Code Examples ............................................................................. 7

AVR CPU Core .......................................................................................... 8

6.1

Overview ............................................................................................................8

6.2

ALU Arithmetic Logic Unit ...............................................................................9

6.3

Status Register ................................................................................................10

6.4

General Purpose Register File ........................................................................11

6.5

Stack Pointer ...................................................................................................12

6.6

Instruction Execution Timing ...........................................................................13

6.7

Reset and Interrupt Handling ...........................................................................14

AVR Memories ........................................................................................ 16

7.1

Overview ..........................................................................................................16

7.2

In-System Reprogrammable Flash Program Memory .....................................16

7.3

SRAM Data Memory ........................................................................................17

7.4

EEPROM Data Memory ..................................................................................18

7.5

I/O Memory ......................................................................................................19

7.6

Register Description ........................................................................................20

System Clock and Clock Options ......................................................... 25

8.1

Clock Systems and their Distribution ...............................................................25

8.2

Clock Sources .................................................................................................26

8.3

Low Power Crystal Oscillator ...........................................................................27

8.4

Full Swing Crystal Oscillator ............................................................................29

8.5

Low Frequency Crystal Oscillator ....................................................................31

8.6

Calibrated Internal RC Oscillator .....................................................................32

337

7810CAVR10/12

8.7

128 kHz Internal Oscillator ..............................................................................32

8.8

External Clock .................................................................................................33

8.9

Clock Output Buffer .........................................................................................34

8.10

Timer/Counter Oscillator ..................................................................................34

8.11

System Clock Prescaler ..................................................................................34

8.12

Register Description ........................................................................................35

Power Management and Sleep Modes ................................................. 37

9.1

Sleep Modes ....................................................................................................37

9.2

BOD Disable ....................................................................................................38

9.3

Idle Mode .........................................................................................................38

9.4

ADC Noise Reduction Mode ............................................................................38

9.5

Power-down Mode ...........................................................................................39

9.6

Power-save Mode ............................................................................................39

9.7

Standby Mode .................................................................................................39

9.8

Extended Standby Mode .................................................................................39

9.9

Power Reduction Register ...............................................................................40

9.10

Minimizing Power Consumption ......................................................................40

9.11

Register Description ........................................................................................42

10 System Control and Reset .................................................................... 44

10.1

Resetting the AVR ...........................................................................................44

10.2

Reset Sources .................................................................................................44

10.3

Power-on Reset ...............................................................................................45

10.4

External Reset .................................................................................................47

10.5

Brown-out Detection ........................................................................................47

10.6

Watchdog System Reset .................................................................................48

10.7

Internal Voltage Reference ..............................................................................48

10.8

Watchdog Timer ..............................................................................................49

10.9

Register Description ........................................................................................53

11 Interrupts ................................................................................................ 56
11.1

Interrupt Vectors in ATmega328P ...................................................................56

11.2

Register Description ........................................................................................59

12 External Interrupts ................................................................................. 61

338

12.1

Pin Change Interrupt Timing ............................................................................61

12.2

Register Description ........................................................................................62

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

13 I/O-Ports .................................................................................................. 66
13.1

Overview ..........................................................................................................66

13.2

Ports as General Digital I/O .............................................................................67

13.3

Alternate Port Functions ..................................................................................71

13.4

Register Description ........................................................................................84

14 8-bit Timer/Counter0 with PWM ............................................................ 86

14.1

Features ..........................................................................................................86

14.2

Overview ..........................................................................................................86

14.3

Timer/Counter Clock Sources .........................................................................87

14.4

Counter Unit ....................................................................................................87

14.5

Output Compare Unit .......................................................................................88

14.6

Compare Match Output Unit ............................................................................90

14.7

Modes of Operation .........................................................................................91

14.8

Timer/Counter Timing Diagrams .....................................................................95

14.9

Register Description ........................................................................................97

15 16-bit Timer/Counter1 with PWM ........................................................ 104

15.1

Features ........................................................................................................104

15.2

Overview ........................................................................................................104

15.3

Accessing 16-bit Registers ............................................................................106

15.4

Timer/Counter Clock Sources .......................................................................109

15.5

Counter Unit ..................................................................................................110

15.6

Input Capture Unit .........................................................................................111

15.7

Output Compare Units ...................................................................................113

15.8

Compare Match Output Unit ..........................................................................115

15.9

Modes of Operation .......................................................................................116

15.10

Timer/Counter Timing Diagrams ...................................................................124

15.11

Register Description ......................................................................................126

16 Timer/Counter0 and Timer/Counter1 Prescalers .............................. 133

16.1

Internal Clock Source ....................................................................................133

16.2

Prescaler Reset .............................................................................................133

16.3

External Clock Source ...................................................................................133

16.4

Register Description ......................................................................................135

17 8-bit Timer/Counter2 with PWM and Asynchronous Operation ...... 136

17.1

Features ........................................................................................................136

17.2

Overview ........................................................................................................136
339

7810CAVR10/12

17.3

Timer/Counter Clock Sources .......................................................................137

17.4

Counter Unit ..................................................................................................137

17.5

Output Compare Unit .....................................................................................138

17.6

Compare Match Output Unit ..........................................................................140

17.7

Modes of Operation .......................................................................................141

17.8

Timer/Counter Timing Diagrams ...................................................................146

17.9

Asynchronous Operation of Timer/Counter2 .................................................147

17.10

Timer/Counter Prescaler ...............................................................................149

17.11

Register Description ......................................................................................150

18 SPI Serial Peripheral Interface ......................................................... 158

18.1

Features ........................................................................................................158

18.2

Overview ........................................................................................................158

18.3

SS Pin Functionality 163

18.4

Data Modes ...................................................................................................163

18.5

Register Description ......................................................................................164

19 USART0 167
19.1

Features ........................................................................................................167

19.2

Overview ........................................................................................................167

19.3

Clock Generation ...........................................................................................168

19.4

Frame Formats ..............................................................................................171

19.5

USART Initialization .......................................................................................173

19.6

Data Transmission The USART Transmitter ..............................................175

19.7

Data Reception The USART Receiver .......................................................177

19.8

Asynchronous Data Reception ......................................................................182

19.9

Multi-processor Communication Mode ..........................................................185

19.10

Register Description ......................................................................................187

19.11

Examples of Baud Rate Setting .....................................................................192

20 USART in SPI Mode ............................................................................. 196

340

20.1

Features ........................................................................................................196

20.2

Overview ........................................................................................................196

20.3

Clock Generation ...........................................................................................196

20.4

SPI Data Modes and Timing ..........................................................................197

20.5

Frame Formats ..............................................................................................198

20.6

Data Transfer .................................................................................................200

20.7

AVR USART MSPIM vs. AVR SPI ................................................................202

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

20.8

Register Description ......................................................................................203

21 2-wire Serial Interface .......................................................................... 206

21.1

Features ........................................................................................................206

21.2

2-wire Serial Interface Bus Definition ............................................................206

21.3

Data Transfer and Frame Format ..................................................................208

21.4

Multi-master Bus Systems, Arbitration and Synchronization .........................211

21.5

Overview of the TWI Module .........................................................................213

21.6

Using the TWI ................................................................................................215

21.7

Transmission Modes .....................................................................................219

21.8

Multi-master Systems and Arbitration ............................................................232

21.9

Register Description ......................................................................................233

22 Analog Comparator ............................................................................. 238

22.1

Overview ........................................................................................................238

22.2

Analog Comparator Multiplexed Input ...........................................................238

22.3

Register Description ......................................................................................239

23 Analog-to-Digital Converter ................................................................ 242

23.1

Features ........................................................................................................242

23.2

Overview ........................................................................................................242

23.3

Starting a Conversion ....................................................................................244

23.4

Prescaling and Conversion Timing ................................................................245

23.5

Changing Channel or Reference Selection ...................................................248

23.6

ADC Noise Canceler .....................................................................................249

23.7

ADC Conversion Result .................................................................................254

23.8

Temperature Measurement ...........................................................................254

23.9

Register Description ......................................................................................256

24 debugWIRE On-chip Debug System .................................................. 261

24.1

Features ........................................................................................................261

24.2

Overview ........................................................................................................261

24.3

Physical Interface ..........................................................................................261

24.4

Software Break Points ...................................................................................262

24.5

Limitations of debugWIRE .............................................................................262

24.6

Register Description ......................................................................................262

25 Self-Programming the Flash, ATmega328P ...................................... 263

25.1

Overview ........................................................................................................263

341
7810CAVR10/12

25.2

Addressing the Flash During Self-Programming ...........................................264

25.3

Register Description .....................................................................................269

26 Boot Loader Support Read-While-Write Self-Programming ......... 271

26.1

Features ........................................................................................................271

26.2

Overview ........................................................................................................271

26.3

Application and Boot Loader Flash Sections .................................................271

26.4

Read-While-Write and No Read-While-Write Flash Sections ........................272

26.5

Boot Loader Lock Bits ...................................................................................274

26.6

Entering the Boot Loader Program ................................................................275

26.7

Addressing the Flash During Self-Programming ...........................................276

26.8

Self-Programming the Flash ..........................................................................277

26.9

Register Description ......................................................................................284

27 Memory Programming ......................................................................... 286

27.1

Program And Data Memory Lock Bits ...........................................................286

27.2

Fuse Bits ........................................................................................................287

27.3

Signature Bytes .............................................................................................289

27.4

Calibration Byte .............................................................................................289

27.5

Page Size ......................................................................................................290

27.6

Parallel Programming Parameters, Pin Mapping, and Commands ...............290

27.7

Parallel Programming ....................................................................................292

27.8

Serial Downloading ........................................................................................299

28 Electrical Characteristics .................................................................... 304

28.1

Absolute Maximum Ratings* .........................................................................304

28.2

DC Characteristics. ........................................................................................305

28.3

DC Characteristics .........................................................................................306

28.4

Speed Grades ...............................................................................................306

28.5

Clock Characteristics .....................................................................................307

28.6

System and Reset Characteristics ................................................................308

28.7

SPI Timing Characteristics ............................................................................309

28.8

2-wire Serial Interface Characteristics ...........................................................311

28.9

ADC Characteristics .....................................................................................312

28.10

Parallel Programming Characteristics ...........................................................312

29 Typical Characteristics ........................................................................ 315

29.1

342

ATmega328P Typical Characteristics ...........................................................316

Atmel ATmega328P [Preliminary]

7810CAVR10/12

Atmel ATmega328P [Preliminary]

30 Register Summary ............................................................................... 326
31 Instruction Set Summary .................................................................... 330
32 Ordering Information ........................................................................... 333
32.1

ATmega328P .................................................................................................333

33 Packaging Information ........................................................................ 334

33.1

MA .................................................................................................................334

33.2

PN ..................................................................................................................335

34 Errata ..................................................................................................... 336

34.1

Errata ATmega328P ......................................................................................336

35 Datasheet Revision History ................................................................ 336

343
7810CAVR10/12

Atmel Corporation
2325 Orchard Parkway
San Jose, CA 95131
USA
Tel: (+1)(408) 441-0311
Fax: (+1)(408) 487-2600

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Fax: (+81) (3) 3523-7581

Atmel, Atmel logo and combinations thereof, AVR , AVR Studio and others are registered trademarks or trademarks of Atmel Corporation or
its subsidiaries. Other terms and product names may be trademarks of others.
Disclaimer: The information in this document is provided in connection with Atmel products. No license, express or implied, by estoppel or otherwise, to any intellectual property right is granted by this document or in connection with the sale of Atmel products. EXCEPT AS SET FORTH IN THE ATMEL TERMS AND CONDITIONS
OF SALES LOCATED ON THE ATMEL WEBSITE, ATMEL ASSUMES NO LIABILITY WHATSOEVER AND DISCLAIMS ANY EXPRESS, IMPLIED OR STATUTORY
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