AT91M63200_99

Features • Utilizes the ARM7TDMI™ ARM® Thumb® Processor Core – High-performance 32-bit RISC Architecture – High-density 16-bit Instruction Set – Leader in MIPS/Watt – Embedded ICE (In-Circuit Emulation) 2K Bytes Internal RAM Fully-programmable External Bus Interface (EBI) – Maximum External Address Space of 64M Bytes – Up to 8 Chip Selects – Software Programmable 8/16-bit External Data Bus Multi-processor Interface (MPI) – High-performance External Processor Interface – 512 x 16-bit Dual-port RAM 8-channel Peripheral Data Controller 8-level Priority, Individually-maskable, Vectored Interrupt Controller – 5 External Interrupts, including a High-priority, Low-latency Interrupt Request 58 Programmable I/O Lines 6-channel 16-bit Timer/Counter – 6 External Clock Inputs – 2 Multi-purpose I/O Pins per Channel 3 USARTs – 2 Dedicated Peripheral Data Controller (PDC) Channels per USART – Support for up to 9-bit Data Transfers Master/Slave SPI Interface – 2 Dedicated Peripheral Data Controller (PDC) Channels – 8- to 16-bit Programmable Data Length – 4 External Slave Chip Selects Programmable Watchdog Timer Power Management Controller (PMC) – CPU and Peripherals can be Deactivated Individually IEEE 1149.1 JTAG Boundary Scan on all Active Pins Fully Static Operation: 0 Hz to 25 MHz (12 MHz @ 1.8V) 1.8V to 3.6V Core Operating Voltage Range 2.7V to 5.5V I/O Operating Voltage Range -40° to +85°C Operating Temperature Range Available in a 176-lead TQFP Package • • • • • • • • • AT91 ARM® Thumb® Microcontrollers AT91M63200 • • • • • • • • Description The AT91M63200 is a member of the Atmel AT91 16/32-bit Microcontroller family, which is based on the ARM7TDMI processor core. This processor has a high-performance 32-bit RISC architecture with a high-density 16-bit instruction set and very low power consumption. In addition, a large number of internally banked registers result in very fast exception handling, making the device ideal for real-time control applications. The AT91 ARM-based MCU family also features Atmel’s high-density, in-system programmable, nonvolatile memory technology. The AT91M63200 has a direct connection to off-chip memory, including Flash, through the External Bus Interface. The Multi-processor Interface (MPI) provides a high-performance interface with an external co-processor or a high-bandwidth peripheral. The AT91M63200 is manufactured using Atmel’s high-density CMOS technology. By combining the ARM7TDMI microcontroller core with on-chip SRAM, a multi-processor interface and a wide range of peripheral functions on a monolithic chip, the AT91M63200 provides a highly-flexible and cost-effective solution to many computeintensive multi-processor applications. Rev. 1028A–11/99 1 Pin Configuration Table 1. AT91M63200 Pinout Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 AT91M63200 GND GND NCS0 NCS1 NCS2 NCS3 NLB/A0 A1 A2 A3 A4 A5 A6 A7 VDDIO GND A8 A9 A10 A11 A12 A13 A14 A15 A16 A17 A18 A19 VDDIO GND A20/CS7 A21/CS6 A22/CS5 A23/CS4 D0 D1 D2 D3 D4 D5 D6 D7 VDDCORE VDDIO Pin 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 AT91M63200 GND GND D8 D9 D10 D11 D12 D13 D14 D15 PB19/TCLK0 PB20/TIOA0 PB21/TIOB0 PB22/TCLK1 VDDIO GND PB23/TIOA1 PB24/TIOB1 PB25/TCLK2 PB26/TIOA2 PB27/TIOB2 PA0/TCLK3 PA1/TIOA3 PA2/TIOB3 PA3/TCLK4 PA4/TIOA4 PA5/TIOB4 PA6/TCLK5 VDDIO GND PA7/TIOA5 PA8/TIOB5 PA9/IRQ0 PA10/IRQ1 PA11/IRQ2 PA12/IRQ3 PA13/FIQ PA14/SCK0 PA15/TXD0 PA16/RXD0 PA17/SCK1 PA18/TXD1/NTRI VDDCORE VDDIO Pin 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 AT91M63200 GND GND PA19/RXD1 PA20/SCK2 PA21/TXD2 PA22/RXD2 PA23/SPCK PA24/MISO PA25/MOSI PA26/NPCS0/NSS PA27/NPCS1 PA28/NPCS2 PA29/NPCS3 MPI_A1 VDDIO GND MPI_A2 MPI_A3 MPI_A4 MPI_A5 MPI_A6 MPI_A7 MPI_A8 MPI_A9 MPI_NCS MPI_RNW MPI_BR MPI_BG VDDIO GND MPI_D0 MPI_D1 MPI_D2 MPI_D3 MPI_D4 MPI_D5 MPI_D6 MPI_D7 MPI_D8 MPI_D9 MPI_D10 MPI_D11 VDDCORE VDDIO Pin 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 AT91M63200 GND GND MPI_D12 MPI_D13 MPI_D14 MPI_D15 PB0/MPI_NOE PB1/MPI_NLB PB2/MPI_NUB PB3 PB4 PB5 PB6 PB7 VDDIO GND PB8 PB9 PB10 PB11 PB12 PB13 PB14 PB15 PB16 PB17/MCKO NWDOVF MCKI VDDIO GND PB18/BMS JTAGSEL TMS TDI TDO TCK NTRST NRST NWAIT NOE/NRD NWE/NWR0 NUB/NWR1 VDDCORE VDDIO 2 AT91M63200 AT91M63200 Pin Description Table 2. AT91M63200 Pin Description Module Name A0 - A23 D0 - D15 CS4 - CS7 NCS0 - NCS3 NWR0 NWR1 EBI NRD NWE NOE NUB NLB NWAIT BMS MPI_NCS MPI_RNW MPI_BR MPI_BG MPI MPI_NOE MPI_NLB MPI_NUB MPI_A1 - MPI_A9 MPI_D0 - MPI_D15 AIC IRQ0 - IRQ3 FIQ TCLK0 - TCLK5 Timer TIOA0 - TIOA5 TIOB0 - TIOB5 SCK0 - SCK2 USART TXD0 - TXD2 RXD0 - RXD2 SPCK MISO SPI MOSI NSS NPCS0 - NPCS3 PIO WD Clock Reset PA0 - PA29 PB0 - PB27 NWDOVF MCKI MCKO NRST Function Address Bus Data Bus Chip Select Chip Select Lower Byte 0 Write Signal Lower Byte 1 Write Signal Read Signal Write Enable Output Enable Upper Byte Select (16-bit SRAM) Lower Byte Select (16-bit SRAM) Wait Input Boot Mode Select Chip Select Read Not Write Signal Bus Request from External Processor Bus Grant to External Processor Output Enable Lower Byte Select Upper Byte Select Address Bus Data Bus External Interrupt Request Fast External Interrupt Request Timer External Clock Multi-purpose Timer I/O Pin A Multi-purpose Timer I/O Pin B External Serial Clock Transmit Data Output Receive Data Input SPI Clock Master In Slave Out Master Out Slave In Slave Select Peripheral Chip Select Programmable I/O Port A Programmable I/O Port B Watchdog Timer Overflow Master Clock Input Master Clock Output Hardware Reset Input Type Output I/O Output Output Output Output Output Output Output Output Output Input Input Input Input Input Output Input Input Input Input I/O Input Input Input I/O I/O I/O Output Input I/O I/O I/O Input Output I/O I/O Output Input Output Input Active Level – – High Low Low Low Low Low Low Low Low Low – Low – High High Low Low Low – – – – – – – – – – – – – Low Low – – Low – – Low Schmitt trigger, internal pull-up PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset PIO-controlled after reset Input after reset Input after reset Open drain Schmitt trigger Sampled during reset Used in Byte Write option Used in Byte Write option Used in Byte Write option Used in Byte Select option Used in Byte Select option Used in Byte Select option Used in Byte Write option A23 - A20 after reset Comments All valid after reset 3 Table 2. AT91M63200 Pin Description (Continued) Module Name JTAGSEL TMS TDI TDO TCK NTRST VDDIO Power Emulation VDDCORE GND NTRI Function Selects between JTAG and ICE Mode Test Mode Select Test Data In Test Data Out Test Clock Test Reset Input I/O Power Core Power Ground Tristate Mode Enable Type Input Input Input Output Input Input Power Power Ground Input – – – – Low – – – Low Sampled during reset Schmitt trigger, internal pull-up Schmitt trigger, internal pull-up 3V or 5V nominal supply 2.0V or 3V nominal supply Active Level Comments High enables IEEE 1149.1 JTAG boundary scan Low enables ARM Standard ICE debug Schmitt trigger, internal pull-up Schmitt trigger, internal pull-up JTAG/ICE Figure 1. Pin Configuration (Top View) 176 1 133 132 AT91M63200 44 45 176-lead TQFP 88 89 4 AT91M63200 AT91M63200 Block Diagram Figure 2. AT91M63200 JTAGSEL NTRST TMS TDO TDI TCK JTAGSEL Reset Embedded ICE NRST MPI_A1-MPI_A9 MPI: Multiprocessor Interface MPI_D0-MPI_D15 MPI_NCS MPI_RNW MPI_BR MPI_BG P I O PB0/MPI_NOE PB1/MPI_NLB PB2/MPI_NUB D0-D15 A1-A19 A0/NLB NRD/NOE NWR0/NWE NWR1/NUB NWAIT NCS0-NCS3 A20/CS7 A21/CS6 A22/CS5 A23/CS4 PB18/BMS JTAG ARM7TDMI Core ASB MCKI PB17/MCKO PB3 PB4 PB5 PB6 PB7 PB8 PB9 PB10 PB11 PB12 PB13 PB14 PB15 PB16 PA9/IRQ0 PA10/IRQ1 PA11/IRQ2 PA12/IRQ3 PA13/FIQ PA14/SCK0 PA15/TXD0 PA16/RXD0 PA17/SCK1 PA18/TXD1/NTRI PA19/RXD1 PA20/SCK2 PA21/TXD2 PA22/RXD2 PA23/SPCK PA24/MISO PA25/MOSI PA26/NPCS0/NSS PA27/NPCS1 PA28/NPCS2 PA29/NPCS3 P I O Clock Internal RAM 2K Bytes EBI: External Bus Interface AMBA Bridge AIC: Advanced Interrupt Controller EBI User Interface TC: Timer/ Counter Block 0 APB USART1 2 PDC Channels 2 PDC Channels PMC: Power Management Controller Chip ID TC1 2 PDC Channels TC2 TC0 TC1 TC2 TC: Timer/ Counter Block 1 TC0 P I O ASB Controller USART0 2 PDC Channels PB19/TCLK0 PB22/TCLK1 PB25/TCLK2 PB20/TIOA0 PB21/TIOB0 PB23/TIOA1 PB24/TIOB1 PB26/TIOA2 PB27/TIOB2 PA0/TCLK3 PA3/TCLK4 PA6/TCLK5 PA1/TIOA3 PA2/TIOB3 PA4/TIOA4 PA5/TIOB4 PA7/TIOA5 PA8/TIOB5 USART2 SPI: Serial Peripheral Interface NWDOVF WD: Watchdog Timer PIOA: Parallel I/O Controller A PIOB: Parallel I/O Controller B 5 Architectural Overview The AT91M63200 architecture consists of two main buses, the Advanced System Bus (ASB) and the Advanced Peripheral Bus (APB). The ASB is designed for maximum performance. It interfaces the processor with the on-chip 32-bit memories and the external memories and devices by means of the External Bus Interface (EBI). The APB is designed for accesses to on-chip peripherals and is optimized for low power consumption. The AMBA Bridge provides an interface between the ASB and the APB. An on-chip Peripheral Data Controller (PDC) transfers data between the on-chip USARTs/SPI and the on- and off-chip memories without processor intervention. Most importantly, the PDC removes the processor interrupt handling overhead and significantly reduces the number of clock cycles required for a data transfer. It can transfer up to 64K contiguous bytes without reprogramming the starting address. As a result, the performance of the microcontroller is increased and the power consumption reduced. The AT91M63200 peripherals are designed to be easily programmable with a minimum number of instructions. Each peripheral has a 16K byte address space allocated in the upper 3M bytes of the 4G byte address space. Except for the interrupt controller, the peripheral base address is the lowest address of its memory space. The peripheral register set is composed of control, mode, data, status and interrupt registers. To maximize the efficiency of bit manipulation, frequentlywritten registers are mapped into three memory locations. The first address is used to set the individual register bits, the second resets the bits and the third address reads the value stored in the register. A bit can be set or reset by writing a one to the corresponding position at the appropriate address. Writing a zero has no effect. Individual bits can thus be modified without having to use costly read-modifywrite and complex bit-manipulation instructions. All of the external signals of the on-chip peripherals are under the control of the Parallel I/O Controller. The PIO Controller can be programmed to insert an input filter on each pin or generate an interrupt on a signal change. After reset, the user must carefully program the PIO Controller in order to define which peripheral signals are connected with off-chip logic. The ARM7TDMI processor operates in little-endian mode in the AT91M63200 microcontroller. The processor’s internal architecture and the ARM and Thumb instruction sets are described in the ARM7TDMI datasheet. The memory map and the on-chip peripherals are described in the subsequent sections of this datasheet. Electrical and mechanical characteristics are documented in a separate datasheet entitled “AT91M63200 Electrical and Mechanical Characteristics” (Literature No. 1090). The ARM standard In-Circuit Emulation debug interface is supported via the ICE port of the AT91M63200 via the JTAG/ICE port when JTAGSEL is low. IEEE JTAG boundary scan is supported via the JTAG/ICE port when JTAGSEL is high. PDC: Peripheral Data Controller The AT91M63200 has an 8-channel PDC dedicated to the three on-chip USARTs and to the SPI. One PDC channel is connected to the receiving channel and one to the transmitting channel of each peripheral. The user interface of a PDC channel is integrated in the memory space of each USART channel and in the memory space of the SPI. It contains a 32-bit address pointer register and a 16-bit count register. When the programmed data is transferred, an end-of-transfer interrupt is generated by the corresponding peripheral. See the USART section and the SPI section for more details on PDC operation and programming. Power Supplies The AT91M63200 has two kinds of power supply pins: • VDDCORE pins, which power the chip core • VDDIO pins, which power the I/O lines This allows core power consumption to be reduced by supplying it with a lower voltage than the I/O lines. The VDDCORE pins must never be powered at a voltage greater than the supply voltage applied to the VDDIO pins. Typical supported voltage combinations are shown in the following table: Pins VDDCORE VDDIO Typical Supply Voltages 3.0V or 3.3V 5.0V 3.0V or 3.3V 3.0V or 3.3V 2.0V 3.0V or 3.3V 6 AT91M63200 AT91M63200 Memory Map Figure 3. AT91M63200 Memory Map 0xFFFFFFFF Fixed Internal Area On-chip Peripherals 0xFFD00000 3M bytes External Memory [7] 0xXXXFFFFF 0xXXX00000 Programmable Page Size 1, 4, 16 or 64 M bytes 0xXXXFFFFF External Memory [6] 0xXXX00000 Programmable Page Size 1, 4, 16 or 64 M bytes External Memory [5] 0xXXXFFFFF 0xXXX00000 Programmable Page Size 1, 4, 16 or 64 M bytes 0xXXXFFFFF External Memory [4] Programmable Base Address and Page Size 0xXXX00000 Programmable Page Size 1, 4, 16 or 64 M bytes External Memory [3] 0xXXXFFFFF 0xXXX00000 Programmable Page Size 1, 4, 16 or 64 M bytes External Memory [2] 0xXXXFFFFF 0xXXX00000 0xXXXFFFFF 0xXXX00000 Programmable Page Size 1, 4, 16 or 64 M bytes External Memory [1] Programmable Page Size 1, 4, 16 or 64 M bytes External Memory [0] 0xXXXFFFFF 0xXXX00000 Programmable Page Size 1, 4, 16 or 64 M bytes Remapping during BOOT MPI On-chip RAM (during BOOT) Fixed Internal Area Reserved On-chip Device Reserved On-c hip Device On-chip RAM (normal) or BOOT Memory (during BOOT) 0x004FFFFF 0x00400000 0x003FFFFF 0x00300000 0x002FFFFF 0x00200000 0x001FFFFF 0x00100000 0x000FFFFF 0x00000000 1M byte 1M byte 1M byte 1M byte 1M byte 7 Peripheral Memory Map Figure 4. AT91M63200 Peripheral Memory Map AIC: Advanced Interrupt Controller Reserved 0xFFFFFFFF 0xFFFFF000 4K bytes 0xFFFFBFFF WD: Watchdog Timer 0xFFFF8000 0xFFFF7FFF PMC: Power Management Controller 0xFFFF4000 0xFFFF3FFF 0xFFFF0000 0xFFFEFFFF 0xFFFEC000 Reserved TC: Timer/Counter Channels 3, 4, 5 TC: Timer/Counter Channels 0, 1, 2 Reserved 3M bytes USART 2 0xFFFC8000 0xFFFC7FFF USART 1 0xFFFC4000 0xFFFC3FFF USART 0 SPI 0xFFFC0000 0xFFFBFFFF 16K bytes 0xFFFBC000 Reserved 0xFFF03FFF SF: Special Function 0xFFF00000 Reserved EBI: External Bus Interface 0xFFE03FFF 16K bytes 0xFFE00000 Reserved 0xFFD00000 16K bytes 16K bytes 16K bytes 0xFFFCBFFF 16K bytes 0xFFFD7FFF 0xFFFD4000 0xFFFD3FFF 0xFFFD0000 16K bytes 16K bytes PIO: Parallel I/O Controller B 16K bytes PIO: Parallel I/O Controller A 16K bytes 16K bytes 16K bytes 8 AT91M63200 AT91M63200 Initialization Reset Reset initializes the user interface registers to their default states as defined in the peripheral sections of this datasheet and forces the ARM7TDMI to perform the next instruction fetch from address zero. Except for the program counter, the ARM core registers do not have defined reset states. When reset is active, the inputs of the AT91M63200 must be held at valid logic levels. The EBI address lines drive low during reset. All the peripheral clocks are disabled during reset to save power (see "PMC: Power Management Controller" on page 139). Emulation Functions Tristate Mode The AT91M63200 provides a tristate mode, which is used for debug purposes in order to connect an emulator probe to an application board. In tristate mode the AT91M63200 continues to function, but all the output pin drivers are tristated. To enter tristate mode, the pin NTRI must be held low during the last 10 clock cycles before the rising edge of NRST. For normal operation, the pin NTRI must be held high during reset by a resistor of up to 400KΩ. NTRI must be driven to a valid logic value during reset. NTRI is multiplexed with parallel I/O P21 and USART 1 serial data transmit line TXD1. Standard RS232 drivers generally contain internal 400KΩ pull-up resistors. If TXD1 is connected to one of these drivers, this pull-up will ensure normal operation without the need for an additional external resistor. NRST Pin NRST is the active low reset input. It is asserted asynchronously, but exit from reset is synchronized internally to MCKI. MCKI must be active within specification for a minimum of 10 clock cycles up to the rising edge of NRST to ensure correct operation. The pins BMS and NTRI are sampled during the 10 clock cycles just prior to the rising edge of NRST. The NRST pin has no effect on the on-chip embedded ICE logic. Embedded ICE ARM standard embedded In-Circuit Emulation is supported via the JTAG/ICE port. It is connected to a host computer via an embedded ICE interface. Embedded ICE mode is selected when JTAGSEL is low. It is not possible to switch directly between ICE and JTAG operations. A chip reset must be performed (NRST and NTRST) after JTAGSEL is changed. The reset input to the embedded ICE (NTRST) is provided separately to facilitate debug of boot programs. Watchdog Reset The internally-generated watchdog reset has the same effect as the NRST pin, except that the pins BMS and TRI are not sampled. Boot mode and tristate mode are not updated. The NRST pin has priority if both types of reset coincide. Boot Mode Select The input level on the BMS pin during the last 10 clock cycles before the rising edge of NRST selects the type of boot memory. Boot operation is described on page 14. BMS must be driven to a valid logic value during reset. The boot mode depends on BMS and whether the device has on-chip nonvolatile memory (NVM). See Table 3 below. The correct logic level on BMS can be ensured with a resistor (pull-up or pull-down). See “AT91M63200 Electrical and Mechanical Characteristics” for the resistor value specification. The BMS pin is multiplexed with parallel I/O PB18, which can be programmed after reset like any standard PIO. Table 3. Boot Mode Select BMS 1 NVM on-chip 0 All Internal 32-bit NVM External 16-bit memory on NCS0 Architecture No NVM Boot Mode External 8-bit memory on NCS0 IEEE 1149.1 JTAG Boundary Scan IEEE 1149.1 JTAG Boundary Scan is enabled when JTAGSEL is high. The functions SAMPLE, EXTEST and BYPASS are implemented. In ICE Debug mode, the ARM core responds with a nonJTAG chip ID, which identifies the core to the ICE system. This is not IEEE 1149.1 JTAG compliant. See "SF: Special Function Registers" on page 145 for details on chip ID. It is not possible to switch directly between JTAG and ICE operations. A chip reset must be performed (NRST and NTRST) after JTAGSEL is changed. 9 EBI: External Bus Interface The EBI generates the signals which control the access to the external memory or peripheral devices. The EBI is fully programmable and can address up to 64M bytes. It has eight chip selects and a 24-bit address bus, the upper four bits of which are multiplexed with a chip select. The 16-bit data bus can be configured to interface with 8or 16-bit external devices. Separate read and write control signals allow for direct memory and peripheral interfacing. The EBI supports different access protocols, allowing single clock cycle memory accesses. The main features are: • External memory mapping • Up to eight chip select lines • 8- or 16-bit data bus • Byte-write or byte-select lines • Remap of boot memory • Two different read protocols • Programmable wait state generation • External wait request • Programmable data float time The EBI user interface is described on page 31. Figure 5. External Memory Smaller than Page Size External Memory Mapping The memory map associates the internal 32-bit address space with the external 24-bit address bus. The memory map is defined by programming the base address and page size of the external memories (see EBI user interface registers EBI_CSR0 to EBI_CSR7). Note that A0-A23 is only significant for 8-bit memory; A1-A23 is used for 16-bit memory. If the physical memory device is smaller than the programmed page size, it wraps around and appears to be repeated within the page. The EBI correctly handles any valid access to the memory device within the page (see Figure 5). In the event of an access request to an address outside any programmed page, an abort signal is generated. Two types of abort are possible: instruction prefetch abort and data abort. The corresponding exception vector addresses are, respectively, 0x0000000C and 0x00000010. It is up to the system programmer to program the error handling routine to use in case of an abort (see the ARM7TDMI datasheet for further information). Base + 4M byte 1M byte device Hi Low Base + 3M byte 1M byte device Memory Map 1M byte device Hi Low Base + 2M byte Hi Low Base + 1M byte 1M byte device Hi Low Base Repeat 1 Repeat 2 Repeat 3 10 AT91M63200 AT91M63200 Pin Description Name A0 - A23 D0 - D15 NCS0 - NCS3 CS4 - CS7 NRD NWR0 - NWR1 NOE NWE NUB, NLB NWAIT Description Address bus (output) Data bus (input/output) Active low chip selects (output) Active high chip selects (output) Read Enable (output) Lower and upper write enable (output) Output enable (output) Write enable (output) Upper and lower byte select (output) Wait request (input) Type Output I/O Output Output Output Output Output Output Output Input The following table shows how certain EBI signals are multiplexed: Multiplexed Signals A23 - A20 A0 NRD NWR0 NWR1 CS4 - CS7 NLB NOE NWE NUB Functions Allows from 4 to 8 chip select lines to be used. 8- or 16-bit data bus Byte-write or byte-select access Byte-write or byte-select access Byte-write or byte-select access 11 Chip Select Lines The EBI provides up to eight chip select lines: • Chip select lines NCS0 - NCS3 are dedicated to the EBI (not multiplexed). • Chip select lines CS4 - CS7 are multiplexed with the top four address lines A23 - A20. By exchanging address lines for chip select lines, the user can optimize the EBI to suit his external memory requirements: more external devices or larger address range for each device. The selection is controlled by the ALE field in EBI_MCR (Memory Control Register). The following combinations are possible: A20, A21, A22, A23 (configuration by default) A20, A21, A22, CS4 A20, A21, CS5, CS4 A20, CS6, CS5, CS4 CS7, CS6, CS5, CS4 Figure 6. Memory Connections for Four External Devices NCS0 - NCS3 NRD EBI NWRx A0 - A23 D0 - D15 NCS3 NCS2 NCS1 NCS0 Memory Enable Memory Enable Memory Enable Memory Enable Output Enable Write Enable A0 - A23 8 or 16 D0 - D15 or D0 - D7 Note: For four external devices, the maximum address space per device is 16M bytes. Figure 7. Memory Connections for Eight External Devices CS4 - CS7 NCS0 - NCS3 NRD EBI NWRx A0 - A19 D0 - D15 CS7 CS6 CS5 CS4 NCS3 NCS2 NCS1 NCS0 Memory Enable Memory Enable Memory Enable Memory Enable Memory Enable Memory Enable Memory Enable Memory Enable Output Enable Write Enable A0 - A19 8 or 16 D0 - D15 or D0 - D7 Note: For eight external devices, the maximum address space per device is 1M byte. 12 AT91M63200 AT91M63200 Data Bus Width A data bus width of 8 or 16 bits can be selected for each chip select. This option is controlled by the DBW field in the EBI_CSR (Chip Select Register) for the corresponding chip select. Figure 8 shows how to connect a 512K x 8-bit memory on NCS2. Figure 8. Memory Connection for an 8-bit Data Bus D0 - D7 D8 - D15 A1 - A18 EBI A0 NWR1 NWR0 NRD NCS2 Write Enable Output Enable Memory Enable A1 - A18 A0 D0 - D7 Byte Write or Byte Select Access Each chip select with a 16-bit data bus can operate with one of two different types of write access: • Byte Write access supports two byte-write and a single read signal. • Byte Select access selects upper and/or lower byte with two byte-select lines, and separate read and write signals. This option is controlled by the BAT field in the EBI_CSR (Chip Select Register) for the corresponding chip select. Byte Write access is used to connect 2 x 8-bit devices as a 16-bit memory page. • The signal A0/NLB is not used. • The signal NWR1/NUB is used as NWR1 and enables upper byte writes. • The signal NWR0/NWE is used as NWR0 and enables lower byte writes. • The signal NRD/NOE is used as NRD and enables halfword and byte reads. Figure 10 shows how to connect two 512K x 8-bit devices in parallel on NCS2. Figure 9 shows how to connect a 512K x 16-bit memory on NCS2. Figure 9. Memory Connection for a 16-bit Data Bus Figure 10. Memory Connection for 2 x 8-bit Data Buses D0 - D7 D8 - D15 EBI A1 - A19 NLB NUB NWE NOE NCS2 D0 - D7 D8 - D15 A0 - A18 Low Byte Enable High Byte Enable Write Enable Output Enable Memory Enable EBI D0 - D7 D8 - D15 A1 - A19 A0 NWR1 NWR0 NRD NCS2 D0 - D7 A0 - A18 Write Enable Read Enable Memory Enable D8 - D15 A0 - A18 Write Enable Read Enable Memory Enable 13 Byte Select access is used to connect 16-bit devices in a memory page. • The signal A0/NLB is used as NLB and enables the lower byte for both read and write operations. • The signal NWR1/NUB is used as NUB and enables the upper byte for both read and write operations. • The signal NWR0/NWE is used as NWE and enables writing for byte or half-word. • The signal NRD/NOE is used as NOE and enables reading for byte or half-word. Figure 11 shows how to connect a 16-bit device with byte and half-word access (e.g. 16-bit SRAM) on NCS2. Boot Conventional program operation requires RAM memory at page zero to support dynamic exception vectors. However, it is necessary to boot from nonvolatile memory at page zero. When the AT91M63200 is reset, the memory map is modified to place NVM at page zero. The on-chip RAM is remapped to address 0x00300000 and either on-chip 32-bit NVM or off-chip 8/16-bit NVM is remapped to address 0x00000000. The off-chip NVM is selected on NCS0. The boot memory type is selected by the BMS pin when NRST is active (see “ Boot Mode Select ” o n page 9). Watchdog reset does not change the boot memory selection but does perform a full reboot from the previouslyselected memory. The memory map is returned to its conventional configuration by writing 1 to the RCB bit of the EBI_RCR (Remap Control Register). This cancels the remapping and enables normal operation of the EBI, as programmed (see page 34). It is not possible to remap the memory by writing 0 to the RCB bit in EBI_RCR. During boot, the number of external devices (number of active chip selects) and their configurations must be programmed as described in the EBI user interface (see page 31). The chip select addresses which are programmed take effect when memory remapping is cancelled. Only NCS0 is active while the memory is remapped. Wait states take effect immediately when they are programmed to allow boot program execution to be optimized. Figure 11. Connection for a 16-bit Data Bus with Byte and Half-word Access D0 - D7 D8 - D15 EBI A1 - A19 NLB NUB NWE NOE NCS2 D0 - D7 D8 - D15 A0 - A18 Low Byte Enable High Byte Enable Write Enable Output Enable Memory Enable Figure 12 shows how to connect a 16-bit device without byte access (e.g. Flash) on NCS2. Figure 12. Connection for a 16-bit Data Bus without Byte Write Capability D0 - D7 D8 - D15 EBI A1 - A19 NLB NUB NWE NOE NCS2 D0 - D7 D8 - D15 A0 - A18 Write Enable Output Enable Memory Enable 14 AT91M63200 AT91M63200 Read Protocols The EBI provides two alternative protocols for external memory read access: standard and early read. The difference between the two protocols lies in the timing of the NRD (read cycle) waveform. The protocol is selected by the DRP field in EBI_MCR (Memory Control Register) and is valid for all memory devices. Standard read protocol is the default protocol after reset. Note: In the following waveforms and descriptions, NRD represents NRD and NOE since the two signals have the same waveform. Likewise, NWE represents NWE, NWR0 and NWR1 unless NWR0 and NWR1 are otherwise represented. ADDR represents A0-A23 and/or A1-A23. Standard Read Protocol Standard read protocol implements a read cycle in which NRD and NWE are similar. Both are active during the second half of the clock cycle. The first half of the clock cycle allows time to ensure completion of the previous access as well as the output of address and NCS before the read cycle begins. During a standard read protocol external memory access, NCS is set low and ADDR is valid at the beginning of the access while NRD goes low only in the second half of the master clock cycle to avoid bus conflict (see Figure 13). NWE is the same in both protocols. NWE always goes low in the second half of the master clock cycle (see Figure 14). Early Read Protocol Early read protocol provides more time for a read access from the memory by asserting NRD at the beginning of the clock cycle. In the case of successive read cycles in the same memory, NRD remains active continuously. Since a read cycle normally limits the speed of operation of the external memory system, early read protocol can allow a faster clock frequency to be used. However, an extra wait state is required in some cases to avoid contentions on the external bus. Early Read Wait State In early read protocol, an early read wait state is automatically inserted when an external write cycle is followed by a read cycle to allow time for the write cycle to end before the subsequent read cycle begins (see Figure 15). This wait state is generated in addition to any other programmed wait states (i.e. data float wait). No wait state is added when a read cycle is followed by a write cycle, between consecutive accesses of the same type or between external and internal memory accesses. Early read wait states affect the external bus only. They do not affect internal bus timing. Figure 13. Standard Read Protocol MCKI ADDR NCS NRD or NWE Figure 14. Early Read Protocol MCKI ADDR NCS NRD or NWE Figure 15. Early Read Wait State write cycle MCKI early read wait read cycle ADDR NCS NRD NWE 15 Write Data Hold Time During write cycles in both protocols, output data becomes valid after the falling edge of the NWE signal and remains valid after the rising edge of NWE, as illustrated in the figure below. The external NWE waveform (on the NWE pin) is used to control the output data timing to guarantee this operation. It is therefore necessary to avoid excessive loading of the NWE pins, which could delay the write signal too long and cause a contention with a subsequent read cycle in standard protocol. Figure 16. Data Hold Time MCKI Wait States The EBI can automatically insert wait states. The different types of wait states are listed below: • Standard wait states • Data float wait states • External wait states • Chip select change wait states • Early read wait states (as described in “Read Protocols”) Standard Wait States Each chip select can be programmed to insert one or more wait states during an access on the corresponding device. This is done by setting the WSE field in the corresponding EBI_CSR. The number of cycles to insert is programmed in the NWS field in the same register. Below is the correspondence between the number of standard wait states programmed and the number of cycles during which the NWE pulse is held low: 0 wait states 1/2 cycle 1 wait state 1 cycle For each additional wait state programmed, an additional cycle is added. Figure 17. One Wait State Access ADDR NWE Data output In early read protocol the data can remain valid longer than in standard read protocol due to the additional wait cycle which follows a write access. 1 wait state access MCKI ADDR NCS NWE NRD (1) (2) Notes: 1. Early read protocol 2. Standard read protocol 16 AT91M63200 AT91M63200 Data Float Wait State Some memory devices are slow to release the external bus. For such devices it is necessary to add wait states (data float waits) after a read access before starting a write access or a read access to a different external memory. The data float output time (tDF) for each external memory device is programmed in the TDF field of the EBI_CSR register for the corresponding chip select. The value (0-7 clock cycles) indicates the number of data float waits to be inserted and represents the time allowed for the data output to go high impedance after the memory is disabled. Data float wait states do not delay internal memory accesses. Hence, a single access to an external memory with long tDF will not slow down the execution of a program from internal memory. The EBI keeps track of the programmed external data float time during internal accesses to ensure that the external memory system is not accessed while it is still busy. External Wait The NWAIT input can be used to add wait states at any time. NWAIT is active low and is detected on the rising edge of the clock. If NWAIT is low at the rising edge of the clock, the EBI adds a wait state and changes neither the output signals nor its internal counters and state. When NWAIT is de-asserted, the EBI finishes the access sequence. Figure 19. External Wait MCKI ADDR NWAIT Figure 18. Data Float Output Time MCKI NCS NWE ADDR NRD (1) (2) NCS Notes: NRD (1) (2) tDF D0-D15 1. Early read protocol 2. Standard read protocol The NWAIT signal must meet setup and hold requirements on the rising edge of the clock. Notes: 1. Early read protocol 2. Standard read protocol Internal memory accesses and consecutive accesses to the same external memory do not have added data float wait states. 17 Chip Select Change Wait States A chip select wait state is automatically inserted when consecutive accesses are made to two different external memories (if no wait states have already been inserted). If any wait states have already been inserted (e.g. data float wait), then none are added. Figure 20. Chip Select Wait mem 1 MCKI chip select wait mem 2 NCS 1 NCS 2 NRD (1) (2) NWE Notes: 1. Early read protocol 2. Standard read protocol 18 AT91M63200 AT91M63200 Memory Access Waveforms Figures 21 through 24 show examples of the two alternative protocols for external memory read access. Figure 21. Standard Read Protocol with No tDF read mem 2 read mem 2 write mem 2 read mem 1 chip select change wait read mem 1 write mem 1 MCKI NWE NCS 1 A0-A23 NCS 2 NRD D0-D15 (AT91) tWHDX D0-D15 (Mem 2) D0-D15 (Mem1) tWHDX 19 Figure 22. Early Read Protocol with No tDF 20 AT91M63200 read mem 1 MCKI write mem 1 early read wait cycle read mem 1 read mem 2 write mem 2 early read wait cycle read mem 2 A0-A23 NRD NWE NCS 1 chip select change wait NCS 2 D0-D15 (Mem 1) D0-D15 (AT91) long tWHDX D0-D15 (Mem 2) long tWHDX Figure 23. Standard Read Protocol with tDF read mem 1 data float wait MCKI write mem 1 read mem 1 data float wait read mem 2 read mem 2 data float wait write mem 2 write mem 2 write mem 2 A0-A23 NRD NWE NCS 1 NCS 2 tDF D0-D15 (Mem 1) tDF AT91M63200 D0-D15 (AT91) tWHDX D0-D15 (Mem 2) tDF 21 Figure 24. Early Read Protocol with tDF 22 read mem 1 data float wait MCKI write mem 1 early read wait read mem 1 data float wait read mem 2 read mem 2 data float wait write mem 2 write mem 2 write mem 2 AT91M63200 A0-A23 NRD NWE NCS 1 NCS 2 tDF D0-D15 (Mem 1) tDF D0-D15 (AT91) tWHDX D0-D15 (Mem 2) tDF AT91M63200 Figures 25 through 31 show the timing cycles and wait states for read and write access to the various AT91M63200 external memory devices. The configurations described are as follows: Table 4. Memory Access Waveforms Figure Number 25 26 27 28 29 30 31 Number of Wait States 0 1 1 0 1 1 0 Bus Width 16 16 16 8 8 8 16 Size of Data Transfer Word Word Half-Word Word Half-Word Byte Byte 23 Figure 25. 0 Wait States, 16-bit Bus Width, Word Transfer MCKI A1-A23 ADDR ADDR+1 NCS NLB NUB READ ACCESS • Standard Protocol NRD D0-D15 B 2 B1 B 4 B3 Internal Bus X X B 2 B1 B4 B 3 B2 B 1 • Early Protocol NRD D0-D15 B2 B1 B4 B3 WRITE ACCESS • Byte Write/ Byte Select Option NWE D0-D15 B2 B 1 B 4 B3 24 AT91M63200 AT91M63200 Figure 26. 1 Wait State, 16-bit Bus Width, Word Transfer 1 wait state MCKI 1 wait state A1-A23 ADDR ADDR+1 NCS NLB NUB Read Access • Standard Protocol NRD D0-D15 B2 B 1 B4 B 3 Internal Bus X X B2 B1 B4 B 3 B2 B 1 • Early Protocol NRD D0-D15 B2B1 B4B3 Write Access • Byte Write/ Byte Select Option NWE D0-D15 B2B1 B4B3 25 Figure 27. 1 Wait State, 16-bit Bus Width, Half-word Transfer 1 wait state MCKI A1-A23 NCS NLB NUB READ ACCESS • Standard Protocol NRD D0-D15 B2 B 1 Internal Bus X X B 2 B1 • Early Protocol NRD D0-D15 WRITE ACCESS B 2 B1 • Byte Write/ Byte Select Option NWE D0-D15 B 2 B1 26 AT91M63200 AT91M63200 Figure 28. 0 Wait States, 8-bit Bus Width, Word Transfer MCKI A0-A23 ADDR ADDR+1 ADDR+2 ADDR+3 NCS READ ACCESS • Standard Protocol NRD D0-D15 X B1 X B2 X B3 X B4 Internal Bus X X X B1 X X B 2 B1 X B 3 B2 B 1 B4 B 3 B2 B 1 • Early Protocol NRD D0-D15 X B1 X B2 X B3 X B4 WRITE ACCESS NWR0 NWR1 D0-D15 X B1 X B2 X B3 X B4 27 Figure 29. 1 Wait State, 8-bit Bus Width, Half-word Transfer 1 wait state MCKI 1 wait state A0-A23 ADDR ADDR+1 NCS READ ACCESS • Standard Protocol NRD D0-D15 X B1 X B2 Internal Bus X X X B1 X X B 2 B1 • Early Protocol NRD D0-D15 WRITE ACCESS X B1 X B2 NWR0 NWR1 D0-D15 X B1 X B2 28 AT91M63200 AT91M63200 Figure 30. 1 Wait State, 8-bit Bus Width, Byte Transfer 1 wait state MCKI A0-A23 NCS READ ACCESS • Standard Protocol NRD D0-D15 XB1 Internal Bus X X X B1 • Early Protocol NRD D0-D15 WRITE ACCESS X B1 NWR0 NWR1 D0-D15 X B1 29 Figure 31. 0 Wait States, 16-bit Bus Width, Byte Transfer MCKI A1-A23 ADDR X X X 0 ADDR X X X 0 Internal Address ADDR X X X 0 ADDR X X X 1 NCS NLB NUB READ ACCESS • Standard Protocol NRD D0-D15 X B1 B2X Internal Bus X X X B1 X X B2X • Early Protocol NRD D0-D15 WRITE ACCESS XB1 B2X • Byte Write Option NWR0 NWR1 D0-D15 B1B1 B2B2 • Byte Select Option NWE 30 AT91M63200 AT91M63200 EBI User Interface The EBI is programmed using the registers listed in the table below. The Remap Control Register (EBI_RCR) controls exit from boot mode (see "Boot" on page 14). The Memory Control Register (EBI_MCR) is used to program the number of active chip selects and data read protocol. Base Address: 0xFFE00000 Table 5. EBI Memory Map Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 Notes: Register Chip Select Register 0 Chip Select Register 1 Chip Select Register 2 Chip Select Register 3 Chip Select Register 4 Chip Select Register 5 Chip Select Register 6 Chip Select Register 7 Remap Control Register Memory Control Register Name EBI_CSR0 EBI_CSR1 EBI_CSR2 EBI_CSR3 EBI_CSR4 EBI_CSR5 EBI_CSR6 EBI_CSR7 EBI_RCR EBI_MCR Access Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Write only Read/Write Reset State 0x0000203E(1) 0x0000203D(2) 0x10000000 0x20000000 0x30000000 0x40000000 0x50000000 0x60000000 0x70000000 –– 0 Eight chip select registers (EBI_CSR0 to EBI_CSR7) are used to program the parameters for the individual external memories. Each EBI_CSR must be programmed with a different base address, even for unused chip selects. 1. 8-bit boot (if BMS is detected high) 2. 16-bit boot (if BMS is detected low) 31 EBI Chip Select Register Register Name: Access Type: Reset Value: Absolute Address: 31 EBI_CSR0 - EBI_CSR7 Read/Write See Table 5 0xFFE00000 - 0xFFE0001C 30 29 28 BA 27 26 25 24 23 22 BA 21 20 19 – 18 – 10 TDF 17 – 9 16 – 8 PAGES 15 – 7 PAGES 14 – 6 – 13 CSEN 5 WSE 12 BAT 4 11 3 NWS 2 1 DBW 0 • DBW: Data Bus Width DBW 0 0 1 1 0 1 0 1 Data Bus Width Reserved 16-bit data bus width 8-bit data bus width Reserved • NWS: Number of Wait States This field is valid only if WSE is set. NWS 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Number of Standard Wait States 1 2 3 4 5 6 7 8 • WSE: Wait State Enable 0 = Wait state generation is disabled. No wait states are inserted. 1 = Wait state generation is enabled. 32 AT91M63200 AT91M63200 • PAGES: Page Size PAGES 0 0 1 1 0 1 0 1 Page Size 1M byte 4M bytes 16M bytes 64M bytes Active Bits in Base Address 12 bits (31-20) 10 bits (31-22) 8 bits (31-24) 6 bits (31-26) • TDF: Data Float Output Time TDF 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Number of Cycles Added after the Transfer 0 1 2 3 4 5 6 7 • BAT: Byte Access Type 0 = Byte write access type. 1 = Byte select access type. CSEN: Chip Select Enable 0 = Chip select is disabled. 1 = Chip select is enabled. BA: Base Address These bits contain the highest bits of the base address. If the page size is larger than 1M byte, the unused bits of the base address are ignored by the EBI decoder. • • 33 EBI Remap Control Register Register Name: EBI_RCR Access Type: Write only Absolute Address: 0xFFE00020 31 – 23 – 15 – 7 – 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 – 28 – 20 – 12 – 4 – 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 – 25 – 17 – 9 – 1 – 24 – 16 – 8 – 0 RCB • RCB: Remap Command Bit 0 = No effect. 1 = Cancels the remapping (performed at reset) of the page zero memory devices. – EBI Memory Control Register Register Name: Access Type: Reset Value: Absolute Address: 31 – 23 – 15 – 7 – EBI_MCR– Read/Write See Table 5 0xFFE00024 30 –– 22 – 14 – 6 – 29 – 21 – 13 – 5 – 28 – 20 – 12 – 4 DRP 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 25 – 17 – 9 – 1 ALE 24 – 16 – 8 – 0 • ALE: Address Line Enable This field determines the number of valid address lines and the number of valid chip select lines. ALE 0 1 1 1 1 X 0 0 1 1 X 0 1 0 1 Valid Address Bits A20, A21, A22, A23 A20, A21, A22 A20, A21 A20 none Maximum Addressable Space 16M bytes 8M bytes 4M bytes 2M bytes 1M bytes Valid Chip Select none CS4 CS4, CS5 CS4, CS5, CS6 CS4, CS5, CS6, CS7 • DRP: Data Read Protocol 0 = Standard read protocol for all external memory devices enabled. 1 = Early read protocol for all external memory devices enabled. 34 AT91M63200 AT91M63200 MPI: Multi-processor Interface The AT91M63200 family features a second bus interface which is dedicated to parallel data transfers with an external processing device. The MPI is based on a 1K byte Dual-port RAM (DPRAM) and an arbiter. Both the ARM core and the external processor can read and write to any location in the DPRAM. In order to avoid conflicts when the ARM core or external processor is accessing the DPRAM, an arbiter is present. The external processor makes a bus request (MPI_BR) and waits until the bus grant (MPI_BG) is asserted before a read or write access to the DPRAM is made. The external bus request is synchronized on the main clock of the AT91M63200 microcontroller before being processed. The deactivation of the external bus grant is asynchronous and results from the deactivation of the external bus request. See Figure 35. The arbiter always gives priority to the external processor over the ARM core. If the ARM core is accessing the DPRAM when an external bus request is made, the ARM core access is suspended and finished after the bus request has been removed. Care must be taken that the Figure 32. MPI Block Diagram ARM core is not halted longer than is critical for the application. The external processor accesses the DPRAM like a standard 16-bit SRAM once the bus grant is active. The control signals MPI_NOE, MPI_NLB and MPI_NUB are multiplexed, respectively, with the PIO signals PB0, PB1 and PB2. These signals are not mandatory for proper use of the MPI. If one or more of these signals are not used, the PIO function must be selected on the respective pins. Consequently, the PIO controller will drive an active level on the MPI control signals. As an example, if all three control signals are not used, the external processor can only perform 16-bit accesses to the DPRAM and the MPI_NCS and MPI_RNW signals determine the data bus direction. Special care must be taken if the MPI_RNW is changed within the active period of the MPI_NCS. External bus conflicts may occur in this case. The ARM core has single cycle 8-, 16-, and 32-bit access to the DPRAM. MPI_BR Arbiter MPI_BG MPI_NCS MPI_RNW AMBA Interface External Interface MPI_A[9:1] MPI_D[15:0] ASB DPRAM 1K Byte Base Address 0x00400000 MPI_NOE MPI_NLB MPI_NUB PIO Controller Note: For detailed timing values, see the corresponding datasheet “M63200 Electrical and Mechanical Characteristics” (Literature No. 1090). Note: After a hardware reset, pins MPI_NOE, MPI_NLB and MPI_NUB are not enabled by default (see "PIO: Parallel I/O Controller" on page 55). The user must configure the PIO Controller to enable the corresponding pins for their MPI function. 35 Pin Description Pin Name MPI Bus Request MPI Bus Grant MPI Chip Select MPI Read/Write MPI Output Enable MPI Lower Byte Select MPI Upper Byte Select MPI Address Bus MPI Data Bus Mnemonic MPI_BR MPI_BG MPI_NCS MPI_RNW MPI_NOE MPI_NLB MPI_NUB MPI_A[9:1] MPI_D[15:0] Function Active high bus request input Active high bus grant output Active low chip select input Active high read and active low write input Active low output enable Active low lower byte select Active low upper byte select 9-bit address bus 16-bit data bus Type Input Output Input Input Input Input Input Input I/O Table 6. MPI Function Table MPI_BG L H H H H H H H H H H Note: X: H or L MPI_NCS X H L L L L L L L L L MPI_NOE X X H L L L L X X X X MPI_RNW X X X H H H H L L L L MPI_NLB X X X L L H H L L H H MPI_NUB X X X L H L H L H L H MPI_D[7:0] High-Z High-Z High-Z Output Output High-Z High-Z Input Input High-Z High-Z MPI_D[15:8] High-Z High-Z High-Z Output High-Z Output High-Z Input High-Z Input High-Z Ref. cycle – – – Read cycle (16-bit) Read cycle (lower byte) Read cycle (upper byte) – Write cycle (16-bit) Write cycle (lower byte) Write cycle (upper byte) – 36 AT91M63200 AT91M63200 MPI Connection The MPI must be connected to the bus of the external processor as a 1K byte 16-bit memory. As illustrated in Figure 33, below, the MPI only supports 16-bit data transfers by connecting the basic signals: MPI_A9 to MPI_A1, MPI_D15 to MPI_D0, MPI_NCS and MPI_RNW. Connection of the MPI_NOE signal is not mandatory, but gives the advantage of driving the bus only during the data access while the chip select line is active, in order to avoid any risk of contention on the data bus. The connection of the MPI_NUB and MPI_NLB signals is not mandatory, but allows the external processor to perform byte accesses. The connection with the interface with an external processor varies depending on the bus of the processor. Figure 34, below, shows how to connect the MPI to the External Bus Interface of an AT91 as an additional example. Figure 33. MPI Connection to External Processor Figure 34. MPI Connection to an AT91 Microcontroller M63X00 MPI MPI_BR MPI_BG MPI_A1 - MPI_A9 MPI_D0 - MPI_D15 MPI_NCS MPI_RNW 9 16 External Processor PIO Output PIO Input Address Bus Data Bus R/W M63X00 MPI AT91 Microcontroller EBI PIO Output PIO Input Address Bus Data Bus NCSx NWE/NWR0 NOE/NRD A0/NLB NUB/NWR1 MPI_BR MPI_BG MPI_A1 - MPI_A9 MPI_D0 - MPI_D15 MPI_NCS MPI_RNW PB0/MPI_NOE Address Decoder PB1/MPI_NLB PB2/MPI_NUB 37 MPI Arbitration Figure 35 below shows the hardware protocol on the bus request and bus grant signals. Figure 35. External Arbitration The MPI guarantees a maximum delay to assert the bus grant signal. Any AT91M63200 instruction execution in progress (even Swap and Load/Store Multiple) is stopped. If the ARM core is not accessing the DPRAM, the delay t1 is one MCKI cycle plus the propagation time. If the ARM core is accessing the DPRAM, the delay can be up to four MCKI cycles to allow the current instruction to be stopped cleanly (Swap or Load/Store Multiple instructions). As the de-assertion of the bus grant signal is asynchronous, t2 is in all cases less than one MCKI cycle. Note that the read/write MPI sequence must be as short as possible in order to reduce to a minimum the risk of stopping the AT91 in case it needs to access the MPI, or to reduce the time during which it is stopped. After having performed these actions, the external processor must inform the AT91M63200 that data has been read or written. This may be done by positioning an external interrupt signal NIRQ0-NIRQ3 or NFIQ, or by flagging. In the last case, a memory space in the MPI must be reserved for this flag and the AT91M63200 application software must poll it to detect an update by the external processor. The flag must be de-asserted after treatment by the AT91M63200 application software. MPI_BR t1 t2 MPI_BG MPI_D[15:0] Data Transfer The following diagram shows the actions which must be performed by the external processor to take control of the MPI. Figure 36. MPI Control Assert MPI_BR MPI_BG asserted yes Read/Write MPI no De-assert MPI_BR 38 AT91M63200 AT91M63200 AIC: Advanced Interrupt Controller T he AT91M63200 has an 8-level priority, individuallymaskable, vectored interrupt controller. This feature substantially reduces the software and real-time overhead in handling internal and external interrupts. The interrupt controller is connected to the NFIQ (fast interrupt request) and the NIRQ (standard interrupt request) inputs of the ARM7TDMI processor. The processor’s NFIQ line can only be asserted by the external fast interrupt request input: FIQ. The NIRQ line can be asserted by the interrupts generated by the on-chip peripherals and the external interrupt request lines: IRQ0 to IRQ3. The 8-level priority encoder allows the customer to define the priority between the different NIRQ interrupt sources. Internal sources are programmed to be level sensitive or edge triggered. External sources can be programmed to be positive- or negative- edge triggered or high- or low-level sensitive. The interrupt sources are listed in Table 7 and the AIC programmable registers in Table 8. Figure 37. Interrupt Controller Block Diagram FIQ Source Memorization NFIQ Manager NFIQ Advanced Peripheral Bus (APB) Control Logic ARM7TDMI Core Internal Interrupt Sources External Interrupt Sources Memorization Prioritization Controller NIRQ Manager NIRQ Note: After a hardware reset, the AIC pins are controlled by the PIO Controller. They must be configured to be controlled by the peripheral before being used. 39 Table 7. AIC Interrupt Sources Interrupt Source 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Interrupt Name FIQ SWIRQ US0IRQ US1IRQ US2IRQ SPIRQ TC0IRQ TC1IRQ TC2IRQ TC3IRQ TC4IRQ TC5IRQ WDIRQ PIOAIRQ PIOBIRQ --------------------------IRQ3 IRQ2 IRQ1 IRQ0 Interrupt Description Fast interrupt Soft interrupt (generated by the AIC) USART Channel 0 interrupt USART Channel 1 interrupt USART Channel 2 interrupt SPI interrupt Timer Channel 0 interrupt Timer Channel 1 interrupt Timer Channel 2 interrupt Timer Channel 3 interrupt Timer Channel 4 interrupt Timer Channel 5 interrupt Watchdog interrupt Parallel I/O Controller A interrupt Parallel I/O Controller B interrupt Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved External interrupt 3 External interrupt 2 External interrupt 1 External interrupt 0 40 AT91M63200 AT91M63200 Hardware Interrupt Vectoring The hardware interrupt vectoring reduces the number of instructions to reach the interrupt handler to only one. By storing the following instruction at address 0x00000018, the processor loads the program counter with the interrupt handler address stored in the AIC_IVR register. Execution is then vectored to the interrupt handler corresponding to the current interrupt. ldrPC,[PC,# -&F20] The current interrupt is the interrupt with the highest priority when the Interrupt Vector Register (AIC_IVR) is read. The value read in the AIC_IVR corresponds to the address stored in the Source Vector Register (AIC_SVR) of the current interrupt. Each interrupt source has its corresponding AIC_SVR. In order to take advantage of the hardware interrupt vectoring, it is necessary to store the address of each interrupt handler in the corresponding AIC_SVR at system initialization. Interrupt Handling The interrupt handler must read the AIC_IVR as soon as possible. This de-asserts the NIRQ request to the processor and clears the interrupt in case it is programmed to be edge triggered. This permits the AIC to assert the NIRQ line again when a higher priority unmasked interrupt occurs. At the end of the interrupt service routine, the End of Interrupt Command Register (AIC_EOICR) must be written. This allows pending interrupts to be serviced. Interrupt Masking Each interrupt source, including FIQ, can be enabled or disabled using the command registers AIC_IECR and AIC_IDCR. The interrupt mask can be read in the read-only register AIC_IMR. A disabled interrupt does not affect the servicing of other interrupts. Interrupt Clearing and Setting All interrupt sources which are programmed to be edge triggered (including FIQ) can be individually set or cleared by respectively writing to the registers AIC_ISCR and AIC_ICCR. This function of the interrupt controller is available for auto-test or software debug purposes. Priority Controller The NIRQ line is controlled by an 8-level priority encoder. Each source has a programmable priority level of 7 to 0. Level 7 is the highest priority and level 0 the lowest. When the AIC receives more than one unmasked interrupt at a time, the interrupt with the highest priority is serviced first. If both interrupts have equal priority, the interrupt with the lowest interrupt source number (see Table 7) is serviced first. The current priority level is defined as the priority level of the current interrupt at the time the register AIC_IVR is read (the interrupt which will be serviced). In the case when a higher priority unmasked interrupt occurs while an interrupt already exists, there are two possible outcomes depending on whether the AIC_IVR has been read. • If the NIRQ line has been asserted but the AIC_IVR has not been read, then the processor will read the new higher priority interrupt handler address in the AIC_IVR register and the current interrupt level is updated. • If the processor has already read the AIC_IVR, then the NIRQ line is reasserted. When the processor has authorized nested interrupts to occur and reads the AIC_IVR again, it reads the new, higher priority interrupt handler address. At the same time, the current priority value is pushed onto a first-in last-out stack and the current priority is updated to the higher priority. When the End of Interrupt Command Register (AIC_EOICR) is written, the current interrupt level is updated with the last stored interrupt level from the stack (if any). Hence, at the end of a higher priority interrupt, the AIC returns to the previous state corresponding to the preceding lower priority interrupt which had been interrupted. Fast Interrupt Request The external FIQ line is the only source which can raise a fast interrupt request to the processor. Therefore, it has no priority controller. The external FIQ line can be programmed to be positive- or negative-edge triggered or high- or low-level sensitive in the AIC_SMR0 register. The fast interrupt handler address can be stored in the AIC_SVR0 register. The value written into this register is available by reading the AIC_FVR register when an FIQ interrupt is raised. By storing the following instruction at address 0x0000001C, the processor will load the program counter with the interrupt handler address stored in the AIC_FVR register. ldrPC,[PC,# -&F20] Alternatively, the interrupt handler can be stored starting from address 0x0000001C as described in the ARM7TDMI datasheet. Software Interrupt Interrupt source 1 of the advanced interrupt controller is a software interrupt. It must be programmed to be edge triggered in order to set or clear it by writing to the AIC_ISCR and AIC_ICCR. This is totally independent of the SWI instruction of the ARM7TDMI processor. 41 Spurious Interrupt When the AIC asserts the NIRQ line, the ARM7TDMI enters IRQ mode and the interrupt handler reads the IVR. It may happen that the AIC de-asserts the NIRQ line after the core has taken into account the NIRQ assertion and before the read of the IVR. This behavior is called a spurious interrupt. The AIC is able to detect these spurious interrupts and returns the spurious vector when the IVR is read. The spurious vector can be programmed by the user when the vector table is initialized. A spurious interrupt may occur in the following cases: • With any sources programmed to be level sensitive, if the interrupt signal of the AIC input is de-asserted at the same time as it is taken into account by the ARM7TDMI. • If an interrupt is asserted at the same time as the software is disabling the corresponding source through AIC_IDCR (this can happen due to the pipelining of the ARM core). The same mechanism of spurious interrupt occurs if the ARM7TDMI reads the IVR (application software or ICE) when there is no interrupt pending. This mechanism is also valid for the FIQ interrupts. Once the AIC enters the spurious interrupt management, it asserts neither the NIRQ nor the NFIQ lines to the ARM7TDMI as long as the spurious interrupt is not acknowledged. Therefore, it is mandatory for the spurious interrupt service routine to acknowledge the “spurious” behavior by writing to the AIC_EOICR (End of Interrupt) before returning to the interrupted software. It also can perform other operation(s), e.g. trace possible undesirable behavior. strongly intrusive, and could cause the application to enter an undesired state. This is avoided by using Protect Mode. The protect mode is enabled by setting the AIC bit in the SF Protect Mode register (see "SF: Special Function Registers" on page 145). When protect mode is enabled, the AIC performs interrupt stacking only when a write access is performed on the AIC_IVR. Therefore, the interrupt service routines must write (arbitrary data) to the AIC_IVR just after reading it. The new context of the AIC, including the value of the Interrupt Status Register (AIC_ISR), is updated with the current interrupt only when IVR is written. An AIC_IVR read on its own (e.g. by a debugger) modifies neither the AIC context nor the AIC_ISR. Extra AIC_IVR reads performed in between the read and the write can cause unpredictable results. Therefore, it is strongly recommended not to set a breakpoint between these 2 actions, nor to stop the software. The debug system must not write to the AIC_IVR as this would cause undesirable effects. The following table shows the main steps of an interrupt and the order in which they are performed according to the mode: Action Calculate active interrupt (higher than current or spurious) Determine and return the vector of the active interrupt Memorize interrupt Push on internal stack the current priority level Acknowledge the interrupt (1) No effect(2) Notes: Normal Mode Read AIC_IVR Read AIC_IVR Read AIC_IVR Read AIC_IVR Read AIC_IVR Write AIC_IVR Protect Mode Read AIC_IVR Read AIC_IVR Read AIC_IVR Write AIC_IVR Write AIC_IVR – Protect Mode The protect mode permits reading of the Interrupt Vector Register without performing the associated automatic operations. This is necessary when working with a debug system. When a debug monitor or an ICE reads the AIC user interface, the IVR can be read. This has the following consequences in normal mode: • If an enabled interrupt with a higher priority than the current one is pending, it will be stacked. • If there is no enabled pending interrupt, the spurious vector will be returned. In either case, an End-of-Interrupt command would be necessary to acknowledge and to restore the context of the AIC. This operation is generally not performed by the debug system. Hence, the debug system would become 1. NIRQ de-assertion and automatic interrupt clearing if the source is programmed as level sensitive. 2. Note that software which has been written and debugged using protect mode will run correctly in normal mode without modification. However, in normal mode the AIC_IVR write has no effect and can be removed to optimize the code. 42 AT91M63200 AT91M63200 AIC User Interface Base Address: 0xFFFFF000 Table 8. AIC Memory Map Offset 0x000 0x004 – 0x07C 0x080 0x084 – 0x0FC 0x100 0x104 0x108 0x10C 0x110 0x114 0x118 0x11C 0x120 0x124 0x128 0x12C 0x130 0x134 Note: Register Source Mode Register 0 Source Mode Register 1 – Source Mode Register 31 Source Vector Register 0 Source Vector Register 1 – Source Vector Register 31 IRQ Vector Register FIQ Vector Register Interrupt Status Register Interrupt Pending Register Interrupt Mask Register Core Interrupt Status Register Reserved Reserved Interrupt Enable Command Register Interrupt Disable Command Register Interrupt Clear Command Register Interrupt Set Command Register End of Interrupt Command Register Spurious Vector Register Name AIC_SMR0 AIC_SMR1 – AIC_SMR31 AIC_SVR0 AIC_SVR1 – AIC_SVR31 AIC_IVR AIC_FVR AIC_ISR AIC_IPR AIC_IMR AIC_CISR – – AIC_IECR AIC_IDCR AIC_ICCR AIC_ISCR AIC_EOICR AIC_SPU Access Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read only Read only Read only Read only Read only Read only – – Write only Write only Write only Write only Write only Read/Write Reset State 0 0 0 0 0 0 0 0 0 0 0 (see Note 1) 0 0 – – – – – – – 0 1. The reset value of this register depends on the level of the external IRQ lines. All other sources are cleared at reset. 43 AIC Source Mode Register Register Name: Access Type: Reset Value: 31 – 23 – 15 – 7 – AIC_SMR0...AIC_SMR31 Read/Write 0 30 – 22 – 14 – 6 SRCTYPE 29 – 21 – 13 – 5 28 – 20 – 12 – 4 – 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 25 – 17 – 9 – 1 PRIOR 24 – 16 – 8 – 0 • PRIOR: Priority Level Program the priority level for all sources except source 0 (FIQ). The priority level can be between 0 (lowest) and 7 (highest). The priority level is not used for the FIQ in the SMR0. SRCTYPE: Interrupt Source Type Program the input to be positive- or negative-edge triggered or positive- or negative-level sensitive. The active level or edge is not programmable for the internal sources. SRCTYPE Internal Sources External Sources • 0 0 1 1 0 1 0 1 Level Sensitive Edge Triggered Level Sensitive Edge Triggered Low-Level Sensitive Negative-Edge Triggered High-Level Sensitive Positive-Edge Triggered 44 AT91M63200 AT91M63200 AIC Source Vector Register Register Name: Access Type: Reset Value: 31 AIC_SVR0...AIC_SVR31 Read/Write 0 30 29 28 VECTOR 27 26 25 24 23 22 21 20 VECTOR 19 18 17 16 15 14 13 12 VECTOR 11 10 9 8 7 6 5 4 VECTOR 3 2 1 0 • VECTOR: Interrupt Handler Address The user may store in these registers the addresses of the corresponding handler for each interrupt source. 45 AIC Interrupt Vector Register Register Name: Access Type: Reset Value: 31 AIC_IVR Read only 0 30 29 28 IRQV 27 26 25 24 23 22 21 20 IRQV 19 18 17 16 15 14 13 12 IRQV 11 10 9 8 7 6 5 4 IRQV 3 2 1 0 • IRQV: Interrupt Vector Register The IRQ Vector Register contains the vector programmed by the user in the Source Vector Register corresponding to the current interrupt. The Source Vector Register (1 to 31) is indexed using the current interrupt number when the Interrupt Vector Register is read. When there is no current interrupt, the IRQ Vector Register reads 0. AIC FIQ Vector Register Register Name: Access Type: Reset Value: 31 AIC_FVR Read only 0 30 29 28 FIQV 27 26 25 24 23 22 21 20 FIQV 19 18 17 16 15 14 13 12 FIQV 11 10 9 8 7 6 5 4 FIQV 3 2 1 0 • FIQV: FIQ Vector Register The FIQ Vector Register contains the vector programmed by the user in the Source Vector Register 0 which corresponds to FIQ. 46 AT91M63200 AT91M63200 AIC Interrupt Status Register Register Name: Access Type: Reset Value: 31 --23 --15 --7 --- AIC_ISR Read only 0 30 --22 --14 --6 --29 --21 --13 --5 --28 --20 --12 --4 27 --19 --11 --3 26 --18 --10 --2 IRQID 25 --17 --9 --1 24 --16 --8 --0 • IRQID: Current IRQ Identifier The Interrupt Status Register returns the current interrupt source number. 47 AIC Interrupt Pending Register Register Name: Access Type: Reset Value: 31 IRQ0 23 --15 --7 TC1IRQ AIC_IPR Read only Undefined 30 IRQ1 22 --14 PIOBIRQ 6 TC0IRQ 29 IRQ2 21 --13 PIOAIRQ 5 SPIRQ 28 IRQ3 20 --12 WDIRQ 4 US2IRQ 27 --19 --11 TC5IRQ 3 US1IRQ 26 --18 --10 TC4IRQ 2 US0IRQ 25 --17 --9 TC3IRQ 1 SWIRQ 24 --16 --8 TC2IRQ 0 FIQ • Interrupt Pending 0 = Corresponding interrupt is inactive. 1 = Corresponding interrupt is pending. AIC Interrupt Mask Register Register Name: Access Type: Reset Value: 31 IRQ0 23 --15 --7 TC1IRQ AIC_IMR Read only 0 30 IRQ1 22 --14 PIOBIRQ 6 TC0IRQ 29 IRQ2 21 --13 PIOAIRQ 5 SPIRQ 28 IRQ3 20 --12 WDIRQ 4 US2IRQ 27 --19 --11 TC5IRQ 3 US1IRQ 26 --18 --10 TC4IRQ 2 US0IRQ 25 --17 --9 TC3IRQ 1 SWIRQ 24 --16 --8 TC2IRQ 0 FIQ • Interrupt Mask 0 = Corresponding interrupt is disabled. 1 = Corresponding interrupt is enabled. 48 AT91M63200 AT91M63200 AIC Core Interrupt Status Register Register Name: Access Type: Reset Value: 31 --23 --15 --7 --- AIC_CISR Read only 0 30 --22 --14 --6 --29 --21 --13 --5 --28 --20 --12 --4 --27 --19 --11 --3 --26 --18 --10 --2 --25 --17 --9 --1 NIRQ 24 --16 --8 --0 NFIQ • NFIQ: NFIQ Status 0 = NFIQ line inactive. 1 = NFIQ line active. NIRQ: NIRQ Status 0 = NIRQ line inactive. 1 = NIRQ line active. • 49 AIC Interrupt Enable Command Register Register Name: Access Type: 31 IRQ0 23 --15 --7 TC1IRQ AIC_IECR Write only 30 IRQ1 22 --14 PIOBIRQ 6 TC0IRQ 29 IRQ2 21 --13 PIOAIRQ 5 SPIRQ 28 IRQ3 20 --12 WDIRQ 4 US2IRQ 27 --19 --11 TC5IRQ 3 US1IRQ 26 --18 --10 TC4IRQ 2 US0IRQ 25 --17 --9 TC3IRQ 1 SWIRQ 24 --16 --8 TC2IRQ 0 FIQ • Interrupt Enable 0 = No effect. 1 = Enables corresponding interrupt. AIC Interrupt Disable Command Register Register Name: Access Type: 31 IRQ0 23 --15 --7 TC1IRQ AIC_IDCR Write only 30 IRQ1 22 --14 PIOBIRQ 6 TC0IRQ 29 IRQ2 21 --13 PIOAIRQ 5 SPIRQ 28 IRQ3 20 --12 WDIRQ 4 US2IRQ 27 --19 --11 TC5IRQ 3 US1IRQ 26 --18 --10 TC4IRQ 2 US0IRQ 25 --17 --9 TC3IRQ 1 SWIRQ 24 --16 --8 TC2IRQ 0 FIQ • Interrupt Disable 0 = No effect. 1 = Disables corresponding interrupt. 50 AT91M63200 AT91M63200 AIC Interrupt Clear Command Register Register Name: Access Type: 31 IRQ0 23 --15 --7 TC1IRQ AIC_ICCR Write only 30 IRQ1 22 --14 PIOBIRQ 6 TC0IRQ 29 IRQ2 21 --13 PIOAIRQ 5 SPIRQ 28 IRQ3 20 --12 WDIRQ 4 US2IRQ 27 --19 --11 TC5IRQ 3 US1IRQ 26 --18 --10 TC4IRQ 2 US0IRQ 25 --17 --9 TC3IRQ 1 SWIRQ 24 --16 --8 TC2IRQ 0 FIQ • Interrupt Clear 0 = No effect. 1 = Clears corresponding interrupt. AIC Interrupt Set Command Register Register Name: Access Type: 31 IRQ0 23 --15 --7 TC1IRQ AIC_ISCR Write only 30 IRQ1 22 --14 PIOBIRQ 6 TC0IRQ 29 IRQ2 21 --13 PIOAIRQ 5 SPIRQ 28 IRQ3 20 --12 WDIRQ 4 US2IRQ 27 --19 --11 TC5IRQ 3 US1IRQ 26 --18 --10 TC4IRQ 2 US0IRQ 25 --17 --9 TC3IRQ 1 SWIRQ 24 --16 --8 TC2IRQ 0 FIQ • Interrupt Set 0 = No effect. 1 = Sets corresponding interrupt. 51 AIC End of Interrupt Command Register Register Name: Access Type: 31 – 23 – 15 – 7 – AIC_EOICR Write only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 – 28 – 20 – 12 – 4 – 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 – 25 – 17 – 9 – 1 – 24 – 16 – 8 – 0 – The End of Interrupt Command Register is used by the interrupt routine to indicate that the interrupt treatment is complete. Any value can be written because it is only necessary to make a write to this register location to signal the end of interrupt treatment. AIC Spurious Vector Register Register Name: Access Type: Reset Value: 31 AIC_SPU Read/Write 0 30 29 28 SPUVEC 27 26 25 24 23 22 21 20 SPUVEC 19 18 17 16 15 14 13 12 SPUVEC 11 10 9 8 7 6 5 4 SPUVEC 3 2 1 0 • SPUVEC: Spurious Interrupt Vector Handler Address The user may store the address of the spurious interrupt handler in this register. 52 AT91M63200 AT91M63200 Standard Interrupt Sequence It is assumed that: • The Advanced Interrupt Controller has been programmed, AIC_SVR are loaded with corresponding interrupt service routine addresses and interrupts are enabled. • The instruction at address 0x18 (IRQ exception vector address) is ldr pc, [pc, #-&F20] When NIRQ is asserted, if bit I of CPSR is 0, the sequence is: 1. The CPSR is stored in SPSR_irq, the current value of the Program Counter is loaded in the IRQ link register (r14_irq) and the Program Counter (r15) is loaded with 0x18. In the following cycle during fetch at address 0x1C, the ARM core adjusts r14_irq, decrementing it by 4. 2. The ARM core enters IRQ mode if it has not already. 3. When the instruction loaded at address 0x18 is executed, the Program Counter is loaded with the value read in AIC_IVR. Reading the AIC_IVR has the following effects: • Sets the current interrupt to be the pending one with the highest priority. The current level is the priority level of the current interrupt. • De-asserts the NIRQ line on the processor (Even if vectoring is not used, AIC_IVR must be read in order to de-assert NIRQ.) • Automatically clears the interrupt, if it has been programmed to be edge-triggered. • Pushes the current level on to the stack. • Returns the value written in the AIC_SVR corresponding to the current interrupt. 4. The previous step has the effect of branching to the corresponding interrupt service routine. This should start by saving the Link Register(r14_irq) and the SPSR (SPSR_irq). Note that the Link Register must be decremented by 4 when it is saved, if it is to be restored directly into the Program Counter at the end of the interrupt. 5. Further interrupts can then be unmasked by clearing the I-bit in the CPSR, allowing re-assertion of the NIRQ to be taken into account by the core. This can occur if an interrupt with a higher priority than the current one occurs. 6. The Interrupt Handler can then proceed as required, saving the registers which will be used and restoring them at the end. During this phase, an interrupt of priority higher than the current level will restart the sequence from step 1. Note that if the interrupt is programmed to be level sensitive, the source of the interrupt must be cleared during this phase. 7. The I-bit in the CPSR must be set in order to mask interrupts before exiting, to ensure that the interrupt is completed in an orderly manner. 8. The End-of-Interrupt Command Register (AIC_EOICR) must be written in order to indicate to the AIC that the current interrupt is finished. This causes the current level to be popped from the stack, restoring the previous current level if one exists on the stack. If another interrupt is pending, with lower or equal priority than old current level but with higher priority than the new current level, the NIRQ line is re-asserted, but the interrupt sequence does not immediately start because the I-bit is set in the core. 9. The SPSR (SPSR_irq) is restored. Finally, the saved value of the Link Register is restored directly into the PC. This has the effect of returning from the interrupt to whatever was being executed before, and of loading the CPSR with the stored SPSR, masking or unmasking the interrupts depending on the state saved in the SPSR (the previous state of the ARM core). Note: The I-bit in the SPSR is significant. If it is set, it indicates that the ARM core was just about to mask IRQ interrupts when the mask instruction was interrupted. Hence, when the SPSR is restored, the mask instruction is completed (IRQ is masked). 53 Fast Interrupt Sequence It is assumed that: • The Advanced Interrupt Controller has been programmed, AIC_SVR[0] is loaded with fast interrupt service routine address and the fast interrupt is enabled. • The instruction at address 0x1C (FIQ exception vector address) is: ldr pc, [pc, #-&F20] Nested fast interrupts are not needed by the user When NFIQ is asserted, if bit F of CPSR is 0, the sequence is: 1. The CPSR is stored in SPSR_fiq, the current value of the Program Counter is loaded in the FIQ link register (r14_fiq) and the Program Counter (r15) is loaded with 0x1C. In the following cycle, during fetch at address 0x20, the ARM core adjusts r14_fiq, decrementing it by 4. 2. The ARM core enters FIQ mode. 3. When the instruction loaded at address 0x1C is executed, the Program Counter is loaded with the value read in AIC_FVR. Reading the AIC_FVR has the effect of automatically clearing the fast interrupt (source 0 connected to the FIQ line), if it has been programmed to be edge triggered. In this case only, it de-asserts the NFIQ line on the processor. 4. The previous step has the effect of branching to the corresponding interrupt service routine. It is not • necessary to save the Link Register (r14_fiq) and the SPSR (SPSR_fiq) if nested fast interrupts are not needed. 5. The Interrupt Handler can then proceed as required. It is not necessary to save registers r8 to r13 because FIQ mode has its own dedicated registers and the user r8 to r13 are banked. The other registers, r0 to r7, must be saved before being used, and restored at the end (before the next step). Note that if the fast interrupt is programmed to be level sensitive, the source of the interrupt must be cleared during this phase in order to de-assert the NFIQ line. 6. Finally, the Link Register (r14_fiq) is restored into the PC after decrementing it by 4 (with instruction sub pc, lr, #4, for example). This has the effect of returning from the interrupt to whatever was being executed before, and of loading the CPSR with the SPSR, masking or unmasking the fast interrupt depending on the state saved in the SPSR. Note: The F-bit in the SPSR is significant. If it is set, it indicates that the ARM core was just about to mask FIQ interrupts when the mask instruction was interrupted. Hence, when the SPSR is restored, the interrupted instruction is completed (FIQ is masked). 54 AT91M63200 AT91M63200 PIO: Parallel I/O Controller The AT91M63200 has 58 programmable I/O lines. 14 pins on the AT91M63200 are dedicated as general-purpose I/O pins. Other I/O lines are multiplexed with an external signal of a peripheral to optimize the use of available package pins (see Tables 9 and 10). These lines are controlled by two separate and identical PIO Controllers called PIOA and PIOB. Each PIO controller also provides an internal interrupt signal to the Advanced Interrupt Controller. Note: After a hardware reset, the PIO clock is disabled by default (see “Power Management Controller” on page 139). The user must configure the Power Management Controller before any access to the user interface of the PIO. Multiplexed I/O Lines Some I/O lines are multiplexed with an I/O signal of a peripheral. After reset, the pin is controlled by the PIO Controller and is in input mode. When a peripheral signal is not used in an application, the corresponding pin can be used as a parallel I/O. Each parallel I/O line is bi-directional, whether the peripheral defines the signal as input or output. Figure 38 shows the multiplexing of the peripheral signals with parallel I/O signals. If a pin is multiplexed between the PIO Controller and a peripheral, the pin is controlled by the registers PIO_PER (PIO Enable) and PIO_PDR (PIO Disable). The register PIO_PSR (PIO Status) indicates whether the pin is controlled by the corresponding peripheral or by the PIO Controller. If a pin is a general-purpose parallel I/O pin (not multiplexed with a peripheral), PIO_PER and PIO_PDR have no effect and PIO_PSR returns 1 for the bits corresponding to these pins. When the PIO is selected, the peripheral input line is connected to zero. Output Selection The user can enable each individual I/O signal as an output wi th th e re gi s ter s PIO _ O ER ( O ut pu t E na bl e) an d PIO_ODR (Output Disable). The output status of the I/O signals can be read in the register PIO_OSR (Output Status). The direction defined has an effect only if the pin is configured to be controlled by the PIO Controller. I/O Levels Each pin can be configured to be driven high or low. The level is defined in four different ways, according to the following conditions. If a pin is controlled by the PIO Controller and is defined as an output (see “Output Selection” above), the level is programmed using the registers PIO_SODR (Set Output Data) and PIO_CODR (Clear Output Data). In this case, the programmed value can be read in PIO_ODSR (Output Data Status). If a pin is controlled by the PIO Controller and is not defined as an output, the level is determined by the external circuit. If a pin is not controlled by the PIO Controller, the state of the pin is defined by the peripheral (see peripheral datasheets). In all cases, the level on the pin can be read in the register PIO_PDSR (Pin Data Status). Filters Optional input glitch filtering is available on each pin and is controlled by the registers PIO_IFER (Input Filter Enable) and PIO_IFDR (Input Filter Disable). The input glitch filtering can be selected whether the pin is used for its peripheral function or as a parallel I/O line. The register PIO_IFSR (Input Filter Status) indicates whether or not the filter is activated for each pin. Interrupts Each parallel I/O can be programmed to generate an interrupt when a level change occurs. This is controlled by the PIO_IER (Interrupt Enable) and PIO_IDR (Interrupt Disable) registers which enable/disable the I/O interrupt by setting/clearing the corresponding bit in the PIO_IMR. When a change in level occurs, the corresponding bit in the PIO_ISR (Interrupt Status) is set whether the pin is used as a PIO or a peripheral and whether it is defined as input or output. If the corresponding interrupt in PIO_IMR (Interrupt Mask) is enabled, the PIO interrupt is asserted. When PIO_ISR is read, the register is automatically cleared. User Interface Each individual I/O is associated with a bit position in the Parallel I/O User Interface Registers. Each of these registers is 32 bits wide. If a parallel I/O line is not defined, writing to the corresponding bits has no effect. Undefined bits read as zero. Multi-driver (Open Drain) Each I/O can be programmed for multi-driver option. This means that the I/O is configured as open drain (can only drive a low level) in order to support external drivers on the same pin. An external pull-up is necessary to guarantee a logic level of one when the pin is not being driven. Registers PIO_MDER (Multi-driver Enable) and PIO_MDDR (Multi-driver Disable) control this option. Multidriver can be selected whether the I/O pin is controlled by the PIO Controller or the peripheral. PIO_MDSR (Multidriver Status) indicates which pins are configured to support external drivers. 55 Figure 38. Parallel I/O Multiplexed with a Bi-directional Signal PIO_OSR 1 Pad Output Enable 0 1 PIO_PSR PIO_ODSR PIO_MDSR Pad Output Pad 0 Peripheral Output Enable 1 0 Peripheral Output Pad Input Filter 1 0 0 1 PIO_IFSR PIO_PSR Peripheral Input PIO_PDSR Event Detection PIO_ISR PIO_IMR PIOIRQ 56 AT91M63200 AT91M63200 Table 9. PIO Controller A Connection Table PIO Controller Bit Number(1) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Note: Port Name PA0 PA1 PA2 PA3 PA4 PA5 PA6 PA7 PA8 PA9 PA10 PA11 PA12 PA13 PA14 PA15 PA16 PA17 PA18 PA19 PA20 PA21 PA22 PA23 PA24 PA25 PA26 PA27 PA28 PA29 – – Port Name TCLK3 TIOA3 TIOB3 TCLK4 TIOA4 TIOB4 TCLK5 TIOA5 TIOB5 IRQ0 IRQ1 IRQ2 IRQ3 FIQ SCK0 TXD0 RXD0 SCK1 TXD1 RXD1 SCK2 TXD2 RXD2 SPCK MISO MOSI NPCS0 NPCS1 NPCS2 NPCS3 – – Peripheral Signal Description Timer 3 Clock Signal Timer 3 Signal A Timer 3 Signal B Timer 4 Clock Signal Timer 4 Signal A Timer 4 Signal B Timer 5 Clock Signal Timer 5 Signal A Timer 5 Signal B External Interrupt 0 External Interrupt 1 External Interrupt 2 External Interrupt 3 Fast Interrupt USART 0 Clock Signal USART 0 Transmit Data Signal USART 0 Receive Data Signal USART 1 Clock Signal USART 1 Transmit Data Signal USART 1 Receive Data Signal USART 2 Clock Signal USART 2 Transmit Data Signal USART 2 Receive Data Signal SPI Clock Signal SPI Master In Slave Out SPI Master Out Slave In SPI Peripheral Chip Select 0 SPI Peripheral Chip Select 1 SPI Peripheral Chip Select 2 SPI Peripheral Chip Select 3 – – Signal Direction Input Bi-directional Bi-directional Input Bi-directional Bi-directional Input Bi-directional Bi-directional Input Input Input Input Input Bi-directional Output Input Bi-directional Output Input Bi-directional Output Input Bi-directional Bi-directional Bi-directional Bi-directional Output Output Output – – Reset State PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input – – Pin Number 66 67 68 69 70 71 72 75 76 77 78 79 80 81 82 83 84 85 86 91 92 93 94 95 96 97 98 99 100 101 – – 1. Bit number refers to the data bit which corresponds to this signal in each of the User Interface registers 57 Table 10. PIO Controller B Connection Table PIO Controller Bit Number(1) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Port Name PB0 PB1 PB2 PB3 PB4 PB5 PB6 PB7 PB8 PB9 PB10 PB11 PB12 PB13 PB14 PB15 PB16 PB17 PB18 PB19 PB20 PB21 PB22 PB23 PB24 PB25 PB26 PB27 – – – – Port Name MPI_NOE MPI_NLB MPI_NUB – – – – – – – – – – – – – – MCKO BMS TCLK0 TIOA0 TIOB0 TCLK1 TIOA1 TIOB1 TCLK2 TIOA2 TIOB2 – – – – Peripheral Signal Description MPI Output Enable MPI Lower Byte Select MPI Upper Byte Select – – – – – – – – – – – – – – Master Clock Output Boot Mode Select Timer 0 Clock Signal Timer 0 Signal A Timer 0 Signal B Timer 1 Clock Signal Timer 1 Signal A Timer 1 Signal B Timer 2 Clock Signal Timer 2 Signal A Timer 2 Signal B – – – – Signal Direction Input Input Input – – – – – – – – – – – – – – Output Input Input Bi-directional Bi-directional Input Bi-directional Bi-directional Input Bi-directional Bi-directional – – – – Reset State PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input PIO Input – – – – Pin Number 139 140 141 142 143 144 145 146 149 150 151 152 153 154 155 156 157 158 163 55 56 57 58 61 62 63 64 65 – – – – Note: 1. Bit number refers to the data bit which corresponds to this signal in each of the User Interface registers 58 AT91M63200 AT91M63200 PIO User Interface PIO Controller A Base Address: 0xFFFEC000 PIO Controller B Base Address: 0xFFFF0000 Table 11. PIO Controller Memory Map Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 0x28 0x2C 0x30 0x34 0x38 0x3C 0x40 0x44 0x48 0x4C 0x50 0x54 0x58 0x5C Notes: Register PIO Enable Register PIO Disable Register PIO Status Register Reserved Output Enable Register Output Disable Register Output Status Register Reserved Input Filter Enable Register Input Filter Disable Register Input Filter Status Register Reserved Set Output Data Register Clear Output Data Register Output Data Status Register Pin Data Status Register Interrupt Enable Register Interrupt Disable Register Interrupt Mask Register Interrupt Status Register Multi-driver Enable Register Multi-driver Disable Register Multi-driver Status Register Reserved Name PIO_PER PIO_PDR PIO_PSR – PIO_OER PIO_ODR PIO_OSR – PIO_IFER PIO_IFDR PIO_IFSR – PIO_SODR PIO_CODR PIO_ODSR PIO_PDSR PIO_IER PIO_IDR PIO_IMR PIO_ISR PIO_MDER PIO_MDDR PIO_MDSR – Access Write only Write only Read only – Write only Write only Read only – Write only Write only Read only – Write only Write only Read only Read only Write only Write only Read only Read only Write only Write only Read only – Reset State – – 0x3FFFFFFF (A) 0x0FFFFFFF (B) – – – 0 – – – 0 – – – 0 (see Note 1) – – 0 (see Note 2) – – 0 – 1. The reset value of this register depends on the level of the external pins at reset. 2. This register is cleared at reset. However, the first read of the register can give a value not equal to zero if any changes have occurred on any pins between the reset and the read. 59 PIO Enable Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_PER Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to enable individual pins to be controlled by the PIO Controller instead of the associated peripheral. When the PIO is enabled, the associated peripheral (if any) is held at logic zero. 1 = Enables the PIO to control the corresponding pin (disables peripheral control of the pin). 0 = No effect. PIO Disable Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_PDR Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to disable PIO control of individual pins. When the PIO control is disabled, the normal peripheral function is enabled on the corresponding pin. 1 = Disables PIO control (enables peripheral control) on the corresponding pin. 0 = No effect. 60 AT91M63200 AT91M63200 PIO Status Register Register Name: Access Type: Reset Value: 31 P31 23 P23 15 P15 7 P7 PIO_PSR Read only 0x3FFFFFFF (A) 0x0FFFFFFF (B) 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register indicates which pins are enabled for PIO control. This register is updated when PIO lines are enabled or disabled. 1 = PIO is active on the corresponding line (peripheral is inactive). 0 = PIO is inactive on the corresponding line (peripheral is active). 61 PIO Output Enable Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_OER Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to enable PIO output drivers. If the pin is driven by a peripheral, this has no effect on the pin, but the information is stored. The register is programmed as follows: 1 = Enables the PIO output on the corresponding pin. 0 = No effect. PIO Output Disable Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_ODR Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to disable PIO output drivers. If the pin is driven by the peripheral, this has no effect on the pin, but the information is stored. The register is programmed as follows: 1 = Disables the PIO output on the corresponding pin. 0 = No effect. 62 AT91M63200 AT91M63200 PIO Output Status Register Register Name: Access Type: Reset Value: 31 P31 23 P23 15 P15 7 P7 PIO_OSR Read only 0 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register shows the PIO pin control (output enable) status which is programmed in PIO_OER and PIO ODR. The defined value is effective only if the pin is controlled by the PIO. The register reads as follows: 1 = The corresponding PIO is output on this line. 0 = The corresponding PIO is input on this line. 63 PIO Input Filter Enable Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_IFER Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to enable input glitch filters. It affects the pin whether or not the PIO is enabled. The register is programmed as follows: 1 = Enables the glitch filter on the corresponding pin. 0 = No effect. PIO Input Filter Disable Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_IFDR Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to disable input glitch filters. It affects the pin whether or not the PIO is enabled. The register is programmed as follows: 1 = Disables the glitch filter on the corresponding pin. 0 = No effect. 64 AT91M63200 AT91M63200 PIO Input Filter Status Register Register Name: Access Type: Reset Value: 31 P31 23 P23 15 P15 7 P7 PIO_IFSR Read only 0 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register indicates which pins have glitch filters selected. It is updated when PIO outputs are enabled or disabled by writing to PIO_IFER or PIO_IFDR. 1 = Filter is selected on the corresponding input (peripheral and PIO). 0 = Filter is not selected on the corresponding input. 65 PIO Set Output Data Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_SODR Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to set PIO output data. It affects the pin only if the corresponding PIO output line is enabled and if the pin is controlled by the PIO. Otherwise, the information is stored. 1 = PIO output data on the corresponding pin is set. 0 = No effect. PIO Clear Output Data Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_CODR Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to clear PIO output data. It affects the pin only if the corresponding PIO output line is enabled and if the pin is controlled by the PIO. Otherwise, the information is stored. 1 = PIO output data on the corresponding pin is cleared. 0 = No effect. 66 AT91M63200 AT91M63200 PIO Output Data Status Register Register Name: Access Type: Reset Value: 31 P31 23 P23 15 P15 7 P7 PIO_ODSR Read only 0 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register shows the output data status which is programmed in PIO_SODR or PIO_CODR. The defined value is effective only if the pin is controlled by the PIO Controller and only if the pin is defined as an output. 1 = The output data for the corresponding line is programmed to 1. 0 = The output data for the corresponding line is programmed to 0. PIO Pin Data Status Register Register Name: Access Type: Reset Value: 31 P31 23 P23 15 P15 7 P7 PIO_PDSR Read only Undefined 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register shows the state of the physical pin of the chip. The pin values are always valid, regardless of whether the pins are enabled as PIO, peripheral, input or output. The register reads as follows: 1 = The corresponding pin is at logic 1. 0 = The corresponding pin is at logic 0. 67 PIO Interrupt Enable Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_IER Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to enable PIO interrupts on the corresponding pin. It has an effect whether PIO is enabled or not. 1 = Enables an interrupt when a change of logic level is detected on the corresponding pin. 0 = No effect. PIO Interrupt Disable Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_IDR Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to disable PIO interrupts on the corresponding pin. It has an effect whether the PIO is enabled or not. 1 = Disables the interrupt on the corresponding pin. Logic level changes are still detected. 0 = No effect. 68 AT91M63200 AT91M63200 PIO Interrupt Mask Register Register Name: Access Type: Reset Value: 31 P31 23 P23 15 P15 7 P7 PIO_IMR Read only 0 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register shows which pins have interrupts enabled. It is updated when interrupts are enabled or disabled by writing to PIO_IER or PIO_IDR. 1 = Interrupt is enabled on the corresponding input pin. 0 = Interrupt is not enabled on the corresponding input pin. PIO Interrupt Status Register Register Name: Access Type: Reset Value: 31 P31 23 P23 15 P15 7 P7 PIO_ISR Read only 0 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register indicates for each pin when a logic value change has been detected (rising or falling edge). This is valid whether the PIO is selected for the pin or not and whether the pin is an input or an output. The register is reset to zero following a read, and at reset. 1 = At least one input change has been detected on the corresponding pin since the register was last read. 0 = No input change has been detected on the corresponding pin since the register was last read. 69 PIO Multi-drive Enable Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_MDER Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to enable PIO output drivers to be configured as open drain to support external drivers on the same pin. 1 = Enables multi-drive option on the corresponding pin. 0 = No effect. PIO Multi-drive Disable Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_MDDR Write only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register is used to disable the open drain configuration of the output buffer. 1 = Disables the multi-driver option on the corresponding pin. 0 = No effect. 70 AT91M63200 AT91M63200 PIO Multi-drive Status Register Register Name: Access Type: 31 P31 23 P23 15 P15 7 P7 PIO_MDSR Read only 30 P30 22 P22 14 P14 6 P6 29 P29 21 P21 13 P13 5 P5 28 P28 20 P20 12 P12 4 P4 27 P27 19 P19 11 P11 3 P3 26 P26 18 P18 10 P10 2 P2 25 P25 17 P17 9 P9 1 P1 24 P24 16 P16 8 P8 0 P0 This register indicates which pins are configured with open drain drivers. 1 = PIO is configured as an open drain. 0 = PIO is not configured as an open drain. 71 USART: Universal Synchronous/Asynchronous Receiver/Transmitter The AT91M63200 provides three identical, full-duplex, universal synchronous/asynchronous receiver/transmitters that interface to the APB and are connected to the Peripheral Data Controller. The main features are: • Programmable baud rate generator • Parity, framing and overrun error detection Figure 39. USART Block Diagram ASB Peripheral Data Controller AMBA Receiver Channel Transmitter Channel PIO: Parallel I/O Controller • • • • • • Line break generation and detection Automatic echo, local loopback and remote loopback channel modes Multi-drop mode: address detection and generation Interrupt generation Two dedicated peripheral data controller channels 5-, 6-, 7-, 8- and 9-bit character length USART Channel APB Control Logic Receiver RXD USxIRQ Interrupt Control MCKI Baud Rate Generator MCKI/8 Baud Rate Clock Transmitter TXD SCK Pin Description Each USART channel has the following external signals: Name SCK TXD RXD Description USART serial clock can be configured as input or output: SCK is configured as input if an external clock is selected (USCLKS[1] = 1) SCK is driven as output if the external clock is disabled (USCLKS[1] = 0) and clock output is enabled (CLKO = 1) Transmit Serial Data is an output Receive Serial Data is an input Note: After a hardware reset, the USART clock is disabled by default (see “PMC: Power Management Controller” on page 139). The user must configure the Power Management Controller before any access to the user interface of the USART. Note: After a hardware reset, the USART pins are deselected by default (see “ PIO: Parallel I/O Controller ” o n page 55). The user must configure the PIO Controller before enabling the transmitter or receiver. If the user selects one of the internal clocks, SCK can be configured as a PIO. 72 AT91M63200 AT91M63200 Baud Rate Generator The Baud Rate Generator provides the bit period clock (the baud rate clock) to both the receiver and the transmitter. The Baud Rate Generator can select between external and internal clock sources. The external clock source is SCK. The internal clock sources can be either the master clock MCKI or the master clock divided by 8 (MCKI/8). Note: In all cases, if an external clock is used, the duration of each of its levels must be longer than the system clock (MCKI) period. The external clock frequency must be at least 2.5 times lower than the system clock. When the USART is programmed to operate in asynchronous mode (SYNC = 0 in the Mode Register US_MR), the selected clock is divided by 16 times the value (CD) written i n US _ B R G R ( B a u d Ra t e G e ne r at o r R eg i s t e r ) . I f US_BRGR is set to 0, the baud rate clock is disabled. Baud Rate = Selected Clock 16 x CD When the USART is programmed to operate in synchronous mode (SYNC = 1) and the selected clock is internal (USCLKS[1] = 0 in the Mode Register US_MR), the baud rate clock is the internal selected clock divided by the value written in US_BRGR. If US_BRGR is set to 0, the baud rate clock is disabled. Baud Rate = Selected Clock CD In synchronous mode with external clock selected (USCLKS[1] = 1), the clock is provided directly by the signal on the SCK pin. No division is active. The value written in US_BRGR has no effect. Figure 40. Baud Rate Generator USCLKS [0] USCLKS [1] MCKI MCKI/8 SCK 0 1 0 CLK CD CD 16-bit Counter OUT 1 >1 1 0 0 1 SYNC USCLKS [1] SYNC 0 Divide by 16 0 Baud Rate Clock 1 73 Receiver Asynchronous Receiver The USART is configured for asynchronous operation when SYNC = 0 (bit 7 of US_MR). In asynchronous mode, the USART detects the start of a received character by sampling the RXD signal until it detects a valid start bit. A low level (space) on RXD is interpreted as a valid start bit if it is detected for more than 7 cycles of the sampling clock, which is 16 times the baud rate. Hence, a space which is longer than 7/16 of the bit period is detected as a valid start bit. A space which is 7/16 of a bit period or shorter is ignored and the receiver continues to wait for a valid start bit. When a valid start bit has been detected, the receiver samples the RXD at the theoretical mid-point of each bit. It is assumed that each bit lasts 16 cycles of the sampling clock (1-bit period) so the sampling point is 8 cycles (0.5-bit periods) after the start of the bit. The first sampling point is therefore 24 cycles (1.5-bit periods) after the falling edge of the start bit was detected. Each subsequent bit is sampled 16 cycles (1-bit period) after the previous one. Figure 41. Asynchronous Mode: Start Bit Detection 16 x Baud Rate Clock RXD Sampling True Start Detection D0 Figure 42. Asynchronous Mode: Character Reception Example: 8-bit, parity enabled 1 stop 0.5-bit periods 1-bit period RXD Sampling D0 D1 True Start Detection D2 D3 D4 D5 D6 D7 Parity Bit Stop Bit 74 AT91M63200 AT91M63200 Synchronous Receiver When configured for synchronous operation (SYNC = 1), the receiver samples the RXD signal on each rising edge of the baud rate clock. If a low level is detected, it is considered as a start. Data bits, parity bit and stop bit are sampled and the receiver waits for the next start bit. See the example in Figure 43. Receiver Ready When a complete character is received, it is transferred to the US_RHR and the RXRDY status bit in US_CSR is set. If US_RHR has not been read since the last transfer, the OVRE status bit in US_CSR is set. Parity Error Each time a character is received, the receiver calculates the parity of the received data bits, in accordance with the field PAR in US_MR. It then compares the result with the received parity bit. If different, the parity error bit PARE in US_CSR is set. Framing Error If a character is received with a stop bit at low level and with at least one data bit at high level, a framing error is generated. This sets FRAME in US_CSR. Time-out This function allows an idle condition on the RXD line to be detected. The maximum delay for which the USART should wait for a new character to arrive while the RXD line is inactive (high level) is programmed in US_RTOR (Receiver Time-out). When this register is set to 0, no time-out is detected. Otherwise, the receiver waits for a first character and then initializes a counter which is decremented at each bit period and reloaded at each byte reception. When the counter reaches 0, the TIMEOUT bit in US_CSR is set. The user can restart the wait for a first character with the STTTO (Start Time-out) bit in US_CR. Calculation of time-out duration: Duration = Value × 4 × Bit Period Figure 43. Synchronous Mode: Character Reception Example: 8-bit, parity enabled 1 stop SCK RXD Sampling D0 D1 True Start Detection D2 D3 D4 D5 D6 D7 Parity Bit Stop Bit 75 Transmitter The transmitter has the same behavior in both synchronous and asynchronous operating modes. Start bit, data bits, parity bit and stop bits are serially shifted, lowest significant bit first, on the falling edge of the serial clock. See the example in Figure 44. The number of data bits is selected in the CHRL field in US_MR. The parity bit is set according to the PAR field in US_MR. The number of stop bits is selected in the NBSTOP field in US_MR. When a character is written to US_THR (Transmit Holding), it is transferred to the Shift Register as soon as it is empty. When the transfer occurs, the TXRDY bit in US_CSR is set until a new character is written to US_THR. If Transmit Shift Register and US_THR are both empty, the TXEMPTY bit in US_CSR is set. Time-guard The Time-guard function allows the transmitter to insert an idle state on the TXD line between two characters. The duration of the idle state is programmed in US_TTGR (Transmitter Time-guard). When this register is set to zero, no time-guard is generated. Otherwise, the transmitter holds a high level on TXD after each transmitted byte during the number of bit periods programmed in US_TTGR. Idle state duration between two characters = Time-guard value x Bit period Multi-drop Mode When the field PAR in US_MR equals 11X (binary value), the USART is configured to run in multi-drop mode. In this case, the parity error bit PARE in US_CSR is set when data is detected with a parity bit set to identify an address byte. PARE is cleared with the Reset Status Bits Command (RSTSTA) in US_CR. If the parity bit is detected low, identifying a data byte, PARE is not set. The transmitter sends an address byte (parity bit set) when a Send Address Command (SENDA) is written to US_CR. In this case, the next byte written to US_THR will be transmitted as an address. After this, any byte transmitted will have the parity bit cleared. Figure 44. Synchronous and Asynchronous Modes: Character Transmission Example: 8-bit, parity enabled 1 stop Baud Rate Clock TXD Start Bit D0 D1 D2 D3 D4 D5 D6 D7 Parity Bit Stop Bit 76 AT91M63200 AT91M63200 Break A break condition is a low signal level which has a duration of at least one character (including start/stop bits and parity). Transmit Break The transmitter generates a break condition on the TXD line when STTBRK is set in US_CR (Control Register). In this case, the character present in the Transmit Shift Register is completed before the line is held low. To cancel a break condition on the TXD line, the STPBRK command in US_CR must be set. The USART completes a minimum break duration of one character length. The TXD line then returns to high level (idle state) for at least 12 bit periods to ensure that the end of break is correctly detected. Then the transmitter resumes normal operation. The BREAK is managed like a character: • The STTBRK and the STPBRK commands are performed only if the transmitter is ready (bit TXRDY = 1 in US_CSR). • The STTBRK command blocks the transmitter holding register (bit TXRDY is cleared in US_CSR) until the break has started. • A break is started when the Shift Register is empty (any previous character is fully transmitted). US_CSR.TXEMPTY is cleared. The break blocks the transmitter shift register until it is completed (high level for at least 12 bit periods after the STPBRK command is requested). In order to avoid unpredictable states: • STTBRK and STPBRK commands must not be requested at the same time. • Once an STTBRK command is requested, further STTBRK commands are ignored until the BREAK is ended (high level for at least 12 bit periods). • All STPBRK commands requested without a previous STTBRK command are ignored. • A byte written into the Transmit Holding Register while a break is pending but not started (bit TXRDY = 0 in US_CSR) is ignored. • It is not permitted to write new data in the Transmit Holding Register while a break is in progress (STPBRK has not been requested), even though TXRDY = 1 in US_CSR. • A new STTBRK command must not be issued until an existing break has ended (TXEMPTY = 1 in US_CSR). The standard break transmission sequence is: 1. Wait for the transmitter ready (US_CSR.TXRDY = 1). 2. Send the STTBRK command (write 0x0200 to US_CR). 3. Wait for the transmitter ready (bit TXRDY = 1 in US_CSR). 4. Send the STPBRK command (write 0x0400 to US_CR). The next byte can then be sent: 5. Wait for the transmitter ready (bit TXRDY = 1 in US_CSR). 6. Send the next byte (write byte to US_THR). Each of these steps can be scheduled by using the interrupt if the bit TXRDY in US_IMR is set. For character transmission, the USART channel must be enabled before sending a break. Receive Break The receiver detects a break condition when all data, parity and stop bits are low. When the low stop bit is detected, the receiver asserts the RXBRK bit in US_CSR. An end-ofreceive break is detected by a high level for at least 2/16 of a bit period in asynchronous operating mode or at least one sample in synchronous operating mode. RXBRK is also asserted when an end-of-break is detected. Both the beginning and the end of a break can be detected by interrupt if the bit US_IMR.RXBRK is set. Peripheral Data Controller Each USART channel is closely connected to a corresponding Peripheral Data Controller channel. One is dedicated to the receiver. The other is dedicated to the transmitter. N ote: T he PDC is disabled if 9-bit character length is selected (MODE9 = 1) in US_MR. The PDC channel is programmed using US_TPR (Transmit Pointer) and US_TCR (Transmit Counter) for the transmitter and US_RPR (Receive Pointer) and US_RCR (Receive Counter) for the receiver. The status of the PDC is given in US_CSR by the ENDTX bit for the transmitter and by the ENDRX bit for the receiver. The pointer registers (US_TPR and US_RPR) are used to store the address of the transmit or receive buffers. The counter registers (US_TCR and US_RCR) are used to store the size of these buffers. The receiver data transfer is triggered by the RXRDY bit and the transmitter data transfer is triggered by TXRDY. When a transfer is performed, the counter is decremented and the pointer is incremented. When the counter reaches 0, the status bit is set (ENDRX for the receiver, ENDTX for the transmitter in US_CSR) and can be programmed to generate an interrupt. Transfers are then disabled until a new non-zero counter value is programmed. 77 Interrupt Generation Each status bit in US_CSR has a corresponding bit in US_IER (Interrupt Enable) and US_IDR (Interrupt Disable) which controls the generation of interrupts by asserting the USART interrupt line connected to the Advanced Interrupt Controller. US_IMR (Interrupt Mask Register) indicates the status of the corresponding bits. When a bit is set in US_CSR and the same bit is set in US_IMR, the interrupt line is asserted. Figure 45. Channel Modes Automatic Echo Receiver RXD Transmitter Disabled TXD Channel Modes The USART can be programmed to operate in three different test modes, using the field CHMODE in US_MR. Automatic echo mode allows bit-by-bit re-transmission. When a bit is received on the RXD line, it is sent to the TXD line. Programming the transmitter has no effect. Local loopback mode allows the transmitted characters to be received. TXD and RXD pins are not used and the output of the transmitter is internally connected to the input of the receiver. The RXD pin level has no effect and the TXD pin is held high, as in idle state. Remote loopback mode directly connects the RXD pin to the TXD pin. The transmitter and the receiver are disabled and have no effect. This mode allows bit-by-bit re-transmission. Local Loopback Receiver Disabled RXD VDD Transmitter Disabled TXD Remote Loopback Receiver VDD Disabled RXD Transmitter Disabled TXD 78 AT91M63200 AT91M63200 USART User Interface Base Address USART0: Base Address USART1: Base Address USART2: Table 1. USART Memory Map Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 0x28 0x2C 0x30 0x34 0x38 0x3C Register Control Register Mode Register Interrupt Enable Register Interrupt Disable Register Interrupt Mask Register Channel Status Register Receiver Holding Register Transmitter Holding Register Baud Rate Generator Register Receiver Time-out Register Transmitter Time-guard Register Reserved Receive Pointer Register Receive Counter Register Transmit Pointer Register Transmit Counter Register Name US_CR US_MR US_IER US_IDR US_IMR US_CSR US_RHR US_THR US_BRGR US_RTOR US_TTGR – US_RPR US_RCR US_TPR US_TCR Access Write only Read/write Write only Write only Read only Read only Read only Write only Read/write Read/write Read/write – Read/write Read/write Read/write Read/Write Reset State – 0 – – 0 0x18 0 – 0 0 0 – 0 0 0 0 0xFFFC0000 0xFFFC4000 0xFFFC8000 79 USART Control Register Name: Access Type: 31 – 23 – 15 – 7 TXDIS US_CR Write only 30 – 22 – 14 – 6 TXEN 29 – 21 – 13 – 5 RXDIS 28 – 20 – 12 SENDA 4 RXEN 27 – 19 – 11 STTTO 3 RSTTX 26 – 18 – 10 STPBRK 2 RSTRX 25 – 17 – 9 STTBRK 1 – 24 – 16 – 8 RSTSTA 0 – • • • • • • • • • • • RSTRX: Reset Receiver 0 = No effect. 1 = The receiver logic is reset. RSTTX: Reset Transmitter 0 = No effect. 1 = The transmitter logic is reset. RXEN: Receiver Enable 0 = No effect. 1 = The receiver is enabled if RXDIS is 0. RXDIS: Receiver Disable 0 = No effect. 1 = The receiver is disabled. TXEN: Transmitter Enable 0 = No effect. 1 = The transmitter is enabled if TXDIS is 0. TXDIS: Transmitter Disable 0 = No effect. 1 = The transmitter is disabled. RSTSTA: Reset Status Bits 0 = No effect. 1 = Resets the status bits PARE, FRAME, OVRE and RXBRK in the US_CSR. STTBRK: Start Break 0 = No effect. 1 = If break is not being transmitted, start transmission of a break after the characters present in US_THR and the Transmit Shift Register have been transmitted. STPBRK: Stop Break 0 = No effect. 1 = If a break is being transmitted, stop transmission of the break after a minimum of one character length and transmit a high level during 12 bit periods. STTTO: Start Time-out 0 = No effect. 1 = Start waiting for a character before clocking the time-out counter. SENDA: Send Address 0 = No effect. 1 = In multi-drop mode only, the next character written to the US_THR is sent with the address bit set. 80 AT91M63200 AT91M63200 USART Mode Register Name: Access Type: 31 – 23 – 15 CHMODE 7 CHRL 6 5 USCLKS US_MR Read/Write 30 – 22 – 14 29 – 21 – 13 NBSTOP 4 3 – 28 – 20 – 12 27 – 19 – 11 26 – 18 CLKO 10 PAR 2 – 1 – 25 – 17 MODE9 9 24 – 16 – 8 SYNC 0 – • USCLKS: Clock Selection (Baud Rate Generator Input Clock) USCLKS 0 0 1 0 1 X Selected Clock MCKI MCKI/8 External (SCK) • CHRL: Character Length CHRL 0 0 1 1 0 1 0 1 Character Length Five bits Six bits Seven bits Eight bits • • Start, stop and parity bits are added to the character length. SYNC: Synchronous Mode Select 0 = USART operates in asynchronous mode. 1 = USART operates in synchronous mode. PAR: Parity Type PAR 0 0 0 0 1 1 0 0 1 1 0 1 0 1 0 1 x x Parity Type Even parity Odd parity Parity forced to 0 (space) Parity forced to 1 (mark) No parity Multi-drop mode 81 • NBSTOP: Number of Stop Bits The interpretation of the number of stop bits depends on SYNC. NBSTOP 0 0 1 1 0 1 0 1 Asynchronous (SYNC = 0) 1 stop bit 1.5 stop bits 2 stop bits Reserved Synchronous (SYNC = 1) 1 stop bit Reserved 2 stop bits Reserved • CHMODE: Channel Mode CHMODE 0 0 1 1 0 1 0 1 Mode Description Normal Mode The USART Channel operates as an Rx/Tx USART. Automatic Echo Receiver Data Input is connected to TXD pin. Local Loopback Transmitter Output Signal is connected to Receiver Input Signal. Remote Loopback RXD pin is internally connected to TXD pin. • • MODE9: 9-bit Character Length 0 = CHRL defines character length. 1 = 9-bit character length. CKLO: Clock Output Select 0 = The USART does not drive the SCK pin. 1 = The USART drives the SCK pin if USCLKS[1] is 0. 82 AT91M63200 AT91M63200 USART Interrupt Enable Register Name: Access Type: 31 COMMRX 23 – 15 – 7 PARE US_IER Write only 30 COMMTX 22 – 14 – 6 FRAME 29 – 21 – 13 – 5 OVRE 28 – 20 – 12 – 4 ENDTX 27 – 19 – 11 – 3 ENDRX 26 – 18 – 10 – 2 RXBRK 25 – 17 – 9 TXEMPTY 1 TXRDY 24 – 16 – 8 TIMEOUT 0 RXRDY • • • • • • • • • • • • RXRDY: Enable RXRDY Interrupt 0 = No effect. 1 = Enables RXRDY Interrupt. TXRDY: Enable TXRDY Interrupt 0 = No effect. 1 = Enables TXRDY Interrupt. RXBRK: Enable Receiver Break Interrupt 0 = No effect. 1 = Enables Receiver Break Interrupt. ENDRX: Enable End of Receive Transfer Interrupt 0 = No effect. 1 = Enables End of Receive Transfer Interrupt. ENDTX: Enable End of Transmit Transfer Interrupt 0 = No effect. 1 = Enables End of Transmit Transfer Interrupt. OVRE: Enable Overrun Error Interrupt 0 = No effect. 1 = Enables Overrun Error Interrupt. FRAME: Enable Framing Error Interrupt 0 = No effect. 1 = Enables Framing Error Interrupt. PARE: Enable Parity Error Interrupt 0 = No effect. 1 = Enables Parity Error Interrupt. TIMEOUT: Enable Time-out Interrupt 0 = No effect. 1 = Enables Reception Time-out Interrupt. TXEMPTY: Enable TXEMPTY Interrupt 0 = No effect. 1 = Enables TXEMPTY Interrupt. COMMTX: Enable ARM7TDMI ICE Debug Communication Channel Transmit Interrupt This bit is implemented for USART0 only. 0 = No effect. 1 = Enables COMMTX Interrupt. COMMRX: Enable ARM7TDMI ICE Debug Communication Channel Receive Interrupt This bit is implemented for USART0 only. 0 = No effect. 1 = Enables COMMRX Interrupt. 83 USART Interrupt Disable Register Name: Access Type: 31 COMMRX 23 – 15 – 7 PARE US_IDR Write only 30 COMMTX 22 – 14 – 6 FRAME 29 – 21 – 13 – 5 OVRE 28 – 20 – 12 – 4 ENDTX 27 – 19 – 11 – 3 ENDRX 26 – 18 – 10 – 2 RXBRK 25 – 17 – 9 TXEMPTY 1 TXRDY 24 – 16 – 8 TIMEOUT 0 RXRDY • • • • • • • • • • • • RXRDY: Disable RXRDY Interrupt 0 = No effect. 1 = Disables RXRDY Interrupt. TXRDY: Disable TXRDY Interrupt 0 = No effect. 1 = Disables TXRDY Interrupt. RXBRK: Disable Receiver Break Interrupt 0 = No effect. 1 = Disables Receiver Break Interrupt. ENDRX: Disable End of Receive Transfer Interrupt 0 = No effect. 1 = Disables End of Receive Transfer Interrupt. ENDTX: Disable End of Transmit Transfer Interrupt 0 = No effect. 1 = Disables End of Transmit Transfer Interrupt. OVRE: Disable Overrun Error Interrupt 0 = No effect. 1 = Disables Overrun Error Interrupt. FRAME: Disable Framing Error Interrupt 0 = No effect. 1 = Disables Framing Error Interrupt. PARE: Disable Parity Error Interrupt 0 = No effect. 1 = Disables Parity Error Interrupt. TIMEOUT: Disable Time-out Interrupt 0 = No effect. 1 = Disables Receiver Time-out Interrupt. TXEMPTY: Disable TXEMPTY Interrupt 0 = No effect. 1 = Disables TXEMPTY Interrupt. COMMTX: Disable ARM7TDMI ICE Debug Communication Channel Transmit Interrupt This bit is implemented for USART0 only. 0 = No effect. 1 = Disables COMMTX Interrupt. COMMRX: Disable ARM7TDMI ICE Debug Communication Channel Receive Interrupt This bit is implemented for USART0 only. 0 = No effect. 1 = Disables COMMRX Interrupt. 84 AT91M63200 AT91M63200 USART Interrupt Mask Register Name: Access Type: 31 COMMRX 23 – 15 – 7 PARE US_IMR Read only 30 COMMTX 22 – 14 – 6 FRAME 29 – 21 – 13 – 5 OVRE 28 – 20 – 12 – 4 ENDTX 27 – 19 – 11 – 3 ENDRX 26 – 18 – 10 – 2 RXBRK 25 – 17 – 9 TXEMPTY 1 TXRDY 24 – 16 – 8 TIMEOUT 0 RXRDY • • • • • • • • • • • • RXRDY: RXRDY Interrupt Mask 0 = RXRDY Interrupt is disabled. 1 = RXRDY Interrupt is enabled. TXRDY: TXRDY Interrupt Mask 0 = TXRDY Interrupt is disabled. 1 = TXRDY Interrupt is enabled. RXBRK: Receiver Break Interrupt Mask 0 = Receiver Break Interrupt is disabled. 1 = Receiver Break Interrupt is enabled. ENDRX: End of Receive Transfer Interrupt Mask 0 = End of Receive Transfer Interrupt is disabled. 1 = End of Receive Transfer Interrupt is enabled. ENDTX: End of Transmit Transfer Interrupt Mask 0 = End of Transmit Transfer Interrupt is disabled. 1 = End of Transmit Transfer Interrupt is enabled. OVRE: Overrun Error Interrupt Mask 0 = Overrun Error Interrupt is disabled. 1 = Overrun Error Interrupt is enabled. FRAME: Framing Error Interrupt Mask 0 = Framing Error Interrupt is disabled. 1 = Framing Error Interrupt is enabled. PARE: Parity Error Interrupt Mask 0 = Parity Error Interrupt is disabled. 1 = Parity Error Interrupt is enabled. TIMEOUT: Time-out Interrupt Mask 0 = Receive Time-out Interrupt is disabled. 1 = Receive Time-out Interrupt is enabled. TXEMPTY: TXEMPTY Interrupt Mask 0 = TXEMPTY Interrupt is disabled. 1 = TXEMPTY Interrupt is enabled. COMMTX: ARM7TDMI ICE Debug Communication Channel Transmit Interrupt Mask This bit is implemented for USART0 only. 0 = COMMTX Interrupt is disabled. 1 = COMMTX Interrupt is enabled. COMMRX: ARM7TDMI ICE Debug Communication Channel Receive Interrupt Mask This bit is implemented for USART0 only. 0 = COMMRX Interrupt is disabled. 1 = COMMRX Interrupt is enabled. 85 USART Channel Status Register Name: Access Type: 31 COMMRX 23 – 15 – 7 PARE US_CSR Read only 30 COMMTX 22 – 14 – 6 FRAME 29 – 21 – 13 – 5 OVRE 28 – 20 – 12 – 4 ENDTX 27 – 19 – 11 – 3 ENDRX 26 – 18 – 10 – 2 RXBRK 25 – 17 – 9 TXEMPTY 1 TXRDY 24 – 16 – 8 TIMEOUT 0 RXRDY • • • • • • • • • • • • RXRDY: Receiver Ready 0 = No complete character has been received since the last read of the US_RHR or the receiver is disabled. 1 = At least one complete character has been received and the US_RHR has not yet been read. TXRDY: Transmitter Ready 0 = US_THR contains a character waiting to be transferred to the Transmit Shift Register, or an STTBRK command has been requested. 1 = US_THR is empty and there is no break request pending TSR availability. Equal to zero when the USART is disabled or at reset. Transmitter Enable command (in US_CR) sets this bit to one. RXBRK: Break Received/End of Break 0 = No Break Received nor End of Break detected since the last “Reset Status Bits” command in the Control Register. 1 = Break Received or End of Break detected since the last “Reset Status Bits” command in the Control Register. ENDRX: End of Receive Transfer 0 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the receiver is inactive. 1 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the receiver is active. ENDTX: End of Transmit Transfer 0 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the transmitter is inactive. 1 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the transmitter is active. OVRE: Overrun Error 0 = No byte has been transferred from the Receive Shift Register to the US_RHR when RxRDY was asserted since the last “Reset Status Bits” command. 1 = At least one byte has been transferred from the Receive Shift Register to the US_RHR when RxRDY was asserted since the last “Reset Status Bits” command. FRAME: Framing Error 0 = No stop bit has been detected low since the last “Reset Status Bits” command. 1 = At least one stop bit has been detected low since the last “Reset Status Bits” command. PARE: Parity Error 1 = At least one parity bit has been detected false (or a parity bit high in multi-drop mode) since the last “Reset Status Bits” command. 0 = No parity bit has been detected false (or a parity bit high in multi-drop mode) since the last “Reset Status Bits” command. TIMEOUT: Receiver Time-out 0 = There has not been a time-out since the last “Start Time-out” command or the Time-out Register is 0. 1 = There has been a time-out since the last “Start Time-out” command. TXEMPTY: Transmitter Empty 0 = There are characters in either US_THR or the Transmit Shift Register or a break is being transmitted. 1 = There are no characters in US_THR and the Transmit Shift Register and break is not active. Equal to zero when the USART is disabled or at reset. Transmitter Enable command (in US_CR) sets this bit to one. COMMTX: ARM7TDMI ICE Debug Communication Channel Transmit Status For USART0 only. Refer to the ARM7TDMI datasheet for a complete description of this flag. COMMRX: ARM7TDMI ICE Debug Communication Channel Receive Status For USART0 only. Refer to the ARM7TDMI datasheet for a complete description of this flag. 86 AT91M63200 AT91M63200 USART Receiver Holding Register Name: Access Type: 31 – 23 – 15 – 7 US_RHR Read only 30 – 22 – 14 – 6 29 – 21 – 13 – 5 28 – 20 – 12 – 4 RXCHR 27 – 19 – 11 – 3 26 – 18 – 10 – 2 25 – 17 – 9 – 1 24 – 16 – 8 RXCHR 0 • RXCHR: Received Character Last character received if RXRDY is set. When number of data bits is less than 9 bits, the bits are right-aligned. All unused bits read as zero. USART Transmitter Holding Register Name: Access Type: 31 – 23 – 15 – 7 US_THR Write only 30 – 22 – 14 – 6 29 – 21 – 13 – 5 28 – 20 – 12 – 4 TXCHR 27 – 19 – 11 – 3 26 – 18 – 10 – 2 25 – 17 – 9 – 1 24 – 16 – 8 TXCHR 0 • TXCHR: Character to be Transmitted Next character to be transmitted after the current character if TXRDY is not set. When number of data bits is less than 9 bits, the bits are right-aligned. 87 USART Baud Rate Generator Register Name: Access Type: 31 – 23 – 15 US_BRGR Read/Write 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 CD 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 5 4 CD 3 2 1 0 • CD: Clock Divisor This register has no effect if synchronous mode is selected with an external clock. CD 0 1 2 to 65535 Disables clock Clock Divisor bypass Baud Rate (asynchronous mode) = Selected clock / (16 x CD) Baud Rate (synchronous mode) = Selected clock / CD Note: In synchronous mode, the value programmed must be even to ensure a 50:50 mark:space ratio. Note: Clock divisor bypass (CD = 1) must not be used when internal clock MCKI is selected (USCLKS = 0). 88 AT91M63200 AT91M63200 USART Receiver Time-out Register Name: Access Type: 31 – 23 – 15 – 7 US_RTOR Read/Write 30 – 22 – 14 – 6 29 – 21 – 13 – 5 28 – 20 – 12 – 4 TO 27 – 19 – 11 – 3 26 – 18 – 10 – 2 25 – 17 – 9 – 1 24 – 16 – 8 – 0 • TO: Time-out Value When a value is written to this register, a Start Time-out command is automatically performed. TO 0 1-255 Disables the RX Time-out function. The Time-out counter is loaded with TO when the Start Time-out command is given or when each new data character is received (after reception has started). Time-out duration = TO x 4 x Bit period USART Transmitter Time-guard Register Name: Access Type: 31 – 23 – 15 – 7 US_TTGR Read/Write 30 – 22 – 14 – 6 29 – 21 – 13 – 5 28 – 20 – 12 – 4 TG 27 – 19 – 11 – 3 26 – 18 – 10 – 2 25 – 17 – 9 – 1 24 – 16 – 8 – 0 • TG: Time-guard Value TG 0 1-255 Disables the TX Time-guard function. TXD is inactive high after the transmission of each character for the time-guard duration. Time-guard duration = TG x Bit period 89 USART Receive Pointer Register Name: Access Type: 31 US_RPR Read/Write 30 29 28 RXPTR 27 26 25 24 23 22 21 20 RXPTR 19 18 17 16 15 14 13 12 RXPTR 11 10 9 8 7 6 5 4 RXPTR 3 2 1 0 • RXPTR: Receive Pointer RXPTR must be loaded with the address of the receive buffer. USART Receive Counter Register Name: Access Type: 31 – 23 – 15 US_RCR Read/Write 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 RXCTR 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 5 4 RXCTR 3 2 1 0 • RXCTR: Receive Counter RXCTR must be loaded with the size of the receive buffer. 0: Stop peripheral data transfer dedicated to the receiver. 1-65535: Start peripheral data transfer if RXRDY is active. 90 AT91M63200 AT91M63200 USART Transmit Pointer Register Name: Access Type: 31 US_TPR Read/Write 30 29 28 TXPTR 27 26 25 24 23 22 21 20 TXPTR 19 18 17 16 15 14 13 12 TXPTR 11 10 9 8 7 6 5 4 TXPTR 3 2 1 0 • TXPTR: Transmit Pointer TXPTR must be loaded with the address of the transmit buffer. USART Transmit Counter Register Name: Access Type: 31 – 23 – 15 US_TCR Read/Write 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 TXCTR 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 5 4 TXCTR 3 2 1 0 • TXCTR: Transmit Counter TXCTR must be loaded with the size of the transmit buffer. 0: Stop peripheral data transfer dedicated to the transmitter. 1-65535: Start peripheral data transfer if TXRDY is active. 91 SPI: Serial Peripheral Interface The AT91M63200 includes an SPI which provides communication with external devices in master or slave mode. Pin Description Seven pins are associated with the SPI interface. When not needed for the SPI function, each of these pins can be configured as a PIO. Support for an external master is provided by the PIO Controller multi-driver option. To configure an SPI pin as open- drain to support external drivers, set the corresponding bits in the PIO_MDSR register (see page 70). An input filter can be enabled on the SPI input pins by setting the corresponding bits in the PIO_IFSR (see page 64). The NPCS0/NSS pin can function as a peripheral chip select output or slave select input. Refer to Table 12 for a description of the SPI pins. Figure 46. SPI Block Diagram MCKI MCKI/32 Serial Peripheral Interface Parallel I/O Controller MISO MOSI SPCK NPCS0/NSS NPCS1 NPCS2 NPCS3 MISO MOSI SPCK APB NPCS0/NSS NPCS1 NPCS2 INT NPCS3 Advanced Interrupt Controller Table 12. SPI Pins Pin Name Master In Slave Out Master Out Slave In Serial Clock Peripheral Chip Selects Peripheral Chip Select/ Slave Select Mnemonic MISO MOSI SPCK NPCS[3:1] NPCS0/ NSS Mode Master Slave Master Slave Master Slave Master Master Master Slave Function Serial data input to SPI Serial data output from SPI Serial data output from SPI Serial data input to SPI Clock output from SPI Clock input to SPI Select peripherals Output: selects peripheral Input: low causes mode fault Input: chip select for SPI Note: After a hardware reset, the SPI clock is disabled by default (see “ PMC: Power Management Controller ” o n page 139). The user must configure the Power Management Controller before any access to the user interface of the SPI. Note: After a hardware reset, the SPI pins are deselected by default (see “PIO: Parallel I/O Controller” on page 55). The user must configure the PIO Controller to enable the corresponding pins for their SPI function. NPCS0/NSS must be configured as open-drain in the Parallel I/O Controller for multi-master operation. 92 AT91M63200 AT91M63200 Master Mode In master mode, the SPI controls data transfers to and from the slave(s) connected to the SPI bus. The SPI drives the chip select(s) to the slave(s) and the serial clock (SPCK). After enabling the SPI, a data transfer begins when the ARM core writes to the SP_TDR (Transmit Data Register). See Table 13. Transmit and receive buffers maintain the data flow at a constant rate with a reduced requirement for high-priority interrupt servicing. When new data is available in the SP_TDR (Transmit Data Register) the SPI continues to transfer data. If the SP_RDR (Receive Data Register) has not been read before new data is received, the Overrun Error (OVRES) flag is set. The delay between the activation of the chip select and the start of the data transfer (DLYBS), as well as the delay between each data transfer (DLYBCT), can be programmed for each of the four external chip selects. All data transfer characteristics including the two timing values are programmed in registers SP_CSR0 to SP_CSR3 (Chip Select Registers). See Table 13. In master mode, the peripheral selection can be defined in two different ways: • Fixed Peripheral Select: SPI exchanges data with only one peripheral • Variable Peripheral Select: Data can be exchanged with more than one peripheral Figures 47 and 48 show the operation of the SPI in master mode. For details concerning the flag and control bits in these diagrams, see the tables in the “ Programmer ’ s Model”, starting on page 99. Fixed Peripheral Select This mode is ideal for transferring memory blocks without the extra overhead in the transmit data register to determine the peripheral. Fixed Peripheral Select is activated by setting bit PS to zero in SP_MR (Mode Register). The peripheral is defined by the PCS field, also in SP_MR. This option is only available when the SPI is programmed in master mode. Variable Peripheral Select Variable Peripheral Select is activated by setting bit PS to one. The PCS field in SP_TDR (Transmit Data Register) is used to select the destination peripheral. The data transfer characteristics are changed when the selected peripheral changes, according to the associated chip select register. The PCS field in the SP_MR has no effect. This option is only available when the SPI is programmed in master mode. Chip Selects The chip select lines are driven by the SPI only if it is programmed in master mode. These lines are used to select the destination peripheral. The PCSDEC field in SP_MR (Mode Register) selects 1 to 4 peripherals (PCSDEC = 0) or up to 15 peripherals (PCSDEC = 1). If Variable Peripheral Select is active, the chip select signals are defined for each transfer in the PCS field in SP_TDR. Chip select signals can thus be defined independently for each transfer. If Fixed Peripheral Select is active, chip select signals are defined for all transfers by the field PCS in SP_MR. If a transfer with a new peripheral is necessary, the software must wait until the current transfer is completed, then change the value of PCS in SP_MR before writing new data in SP_TDR. The value on the NPCS pins at the end of each transfer can be read in the SP_RDR (Receive Data Register). By default, all NPCS signals are high (equal to one) before and after each transfer. Mode Fault Detection A mode fault is detected when the SPI is programmed in master mode and a low level is driven by an external master on the NPCS0/NSS signal. When a mode fault is detected, the MODF bit in the SP_SR is set until the SP_SR is read and the SPI is disabled until re-enabled by bit SPIEN in the SP_CR (Control Register). 93 Figure 47. Functional Flow Diagram in Master Mode SPI Enable 1 TDRE 0 0 PS 1 Variable peripheral NPCS = SP_MR(PCS) Fixed peripheral NPCS = SP_TDR(PCS) Delay DLYBS Serializer = SP_TDR(TD) TDRE = 1 Data Transfer SP_RDR(RD) = Serializer RDRF = 1 Delay DLYBCT TDRE 0 1 NPCS = 0xF PS 1 0 Fixed peripheral Variable peripheral Same peripheral Delay DLYBCS SP_TDR(PCS) New peripheral NPCS = 0xF Delay DLYBCS NPCS = SP_TDR(PCS) 94 AT91M63200 AT91M63200 Figure 48. SPI in Master Mode SP_MR(MCK32) MCKI 0 1 SPI Master Clock SPCK Clock Generator SP_CSRx[15:0] SPCK MCKI/32 SPIDIS SPIEN S Q R SP_RDR PCS LSB MISO RD MSB Serializer MOSI SP_TDR PCS TD NPCS3 NPCS2 SP_MR(PS) NPCS1 NPCS0 1 SP_MR(PCS) 0 SP_MR(MSTR) SP_SR M O D F T D R E R D R F O V R E S P I E N S SP_IER SP_IDR SP_IMR SPIRQ 95 Slave Mode In slave mode, the SPI waits for NSS to go active low before receiving the serial clock from an external master. In s la ve mode , CPO L, N CPHA and BITS fiel ds of SP_CSR0 are used to define the transfer characteristics. The other chip select registers are not used in slave mode. Figure 49. SPI in Slave Mode SCK NSS SPIDIS SPIEN S Q R SP_RDR RD LSB MOSI MSB Serializer MISO SP_TDR TD SP_SR S P I E N S T D R E R D R F O V R E SP_IER SP_IDR SP_IMR SPIRQ 96 AT91M63200 AT91M63200 Data Transfer The following waveforms show examples of data transfers. Figure 50. SPI Transfer Format (NCPHA Equals One, 8 Bits per Transfer) SPCK cycle (for reference) SPCK (CPOL=0) 1 2 3 4 5 6 7 8 SPCK (CPOL=1) MOSI (from master) MSB 6 5 4 3 2 1 LSB MISO (from slave) MSB 6 5 4 3 2 1 LSB X NSS (to slave) Figure 51. SPI Transfer Format (NCPHA Equals Zero, 8 Bits per Transfer) SPCK cycle (for reference) SPCK (CPOL=0) 1 2 3 4 5 6 7 8 SPCK (CPOL=1) MOSI (from master) MSB 6 5 4 3 2 1 LSB MISO (from slave) X MSB 6 5 4 3 2 1 LSB NSS (to slave) 97 Figure 52. Programmable Delays (DLYBCS, DLYBS and DLYBCT) Chip Select 1 Change peripheral Chip Select 2 No change of peripheral SPCK Output DLYBCS DLYBS DLYBCT DLYBCT Clock Generation In master mode, the SPI master clock is either MCKI or MCKI/32, as defined by the MCK32 field of SP_MR. The SPI baud rate clock is generated by dividing the SPI master clock by a value between 4 and 510. The divisor is defined in the SCBR field in each chip select register. The transfer speed can thus be defined independently for each chip select signal. CPOL and NCPHA in the chip select registers define the clock/data relationship between master and slave devices. CPOL defines the inactive value of the SPCK. NCPHA defines which edge causes data to change and which edge causes data to be captured. In slave mode, the input clock low and high pulse duration must strictly be longer than two system clock (MCKI) periods. The PDC channel is programmed using SP_TPR (Transmit Pointer) and SP_TCR (Transmit Counter) for the transmitter and SP_RPR (Receive Pointer) and SP_RCR (Receive Counter) for the receiver. The status of the PDC is given in SP_SR by the SPENDTX bit for the transmitter and by the SPENDRX bit for the receiver. The pointer registers (SP_TPR and SP_RPR) are used to store the address of the transmit or receive buffers. The counter registers (SP_TCR and SP_RCR) are used to store the size of these buffers. The receiver data transfer is triggered by the RDRF bit and the transmitter data transfer is triggered by TDRE. When a transfer is performed, the counter is decremented and the pointer is incremented. When the counter reaches 0, the status bit is set (SPENDRX for the receiver, SPENDTX for the transmitter in SP_SR) and can be programmed to generate an interrupt. While the counter is at zero, the status bit is asserted and transfers are disabled. Peripheral Data Controller The SPI is closely connected to two Peripheral Data Controller channels. One is dedicated to the receiver. The other is dedicated to the transmitter. 98 AT91M63200 AT91M63200 SPI Programmer’s Model SPI Base Address: 0xFFFBC000 Table 13. SPI Memory Map Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 0x28 0x2C 0x30 0x34 0x38 0x3C Register Control Register Mode Register Receive Data Register Transmit Data Register Status Register Interrupt Enable Register Interrupt Disable Register Interrupt Mask Register Receive Pointer Register Receive Counter Register Transmit Pointer Register Transmit Counter Register Chip Select Register 0 Chip Select Register 1 Chip Select Register 2 Chip Select Register 3 Name SP_CR SP_MR SP_RDR SP_TDR SP_SR SP_IER SP_IDR SP_IMR SP_RPR SP_RCR SP_TPR SP_TCR SP_CSR0 SP_CSR1 SP_CSR2 SP_CSR3 Access Write only Read/Write Read only Write only Read only Write only Write only Read only Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write Reset State – 0 0 – 0 – – 0 0 0 0 0 0 0 0 0 99 SPI Control Register Register Name: Access Type: 31 – 23 – 15 – 7 SWRST SP_CR Write only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 – 28 – 20 – 12 – 4 – 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 – 25 – 17 – 9 – 1 SPIDIS 24 – 16 – 8 – 0 SPIEN • • • SPIEN: SPI Enable 0 = No effect. 1 = Enables the SPI to transfer and receive data. SPIDIS: SPI Disable 0 = No effect. 1 = Disables the SPI. All pins are set in input mode and no data is received or transmitted. If a transfer is in progress, the transfer is finished before the SPI is disabled. If both SPIEN and SPIDIS are equal to one when the control register is written, the SPI is disabled. SWRST: SPI Software reset 0 = No effect. 1 = Resets the SPI. A software-triggered hardware reset of the SPI interface is performed. 100 AT91M63200 AT91M63200 SPI Mode Register Register Name: Access Type: 31 SP_MR Read/Write 30 29 28 DLYBCS 27 26 25 24 23 – 15 – 7 LLB 22 – 14 – 6 – 21 – 13 – 5 – 20 – 12 – 4 – 19 18 PCS 17 16 11 – 3 MCK32 10 – 2 PCSDEC 9 – 1 PS 8 – 0 MSTR • • • • • • • MSTR: Master/Slave Mode 0 = SPI is in Slave mode. 1 = SPI is in Master mode. MSTR configures the SPI interface for either master or slave mode operation. PS: Peripheral Select 0 = Fixed Peripheral Select. 1 = Variable Peripheral Select. PCSDEC: Chip Select Decode 0 = The chip selects are directly connected to a peripheral device. 1 = The four chip select lines are connected to a 4- to 16-bit decoder. When PCSDEC equals one, up to 16 chip select signals can be generated with the four lines using an external 4- to 16bit decoder. The chip select registers define the characteristics of the 16 chip selects according to the following rules: SP_CSR0 defines peripheral chip select signals 0 to 3. SP_CSR1 defines peripheral chip select signals 4 to 7. SP_CSR2 defines peripheral chip select signals 8 to 11. SP_CSR3 defines peripheral chip select signals 12 to 15*. *Note: The 16th state corresponds to a state in which all chip selects are inactive. This allows a different clock configuration to be defined by each chip select register. MCK32: Clock Selection 0 = SPI master clock equals MCKI. 1 = SPI master clock equals MCKI/32. LLB: Local Loopback Enable 0 = Local loopback path disabled. 1 = Local loopback path enabled. LLB controls the local loopback on the data serializer for testing in master mode only. PCS: Peripheral Chip Select This field is only used if Fixed Peripheral Select is active (PS=0). If PCSDEC=0: PCS = xxx0 NPCS[3:0] = 1110 PCS = xx01 NPCS[3:0] = 1101 PCS = x011 NPCS[3:0] = 1011 PCS = 0111 NPCS[3:0] = 0111 PCS = 1111 forbidden (no peripheral is selected) (x = don’t care) If PCSDEC=1: NPCS[3:0] output signals = PCS DLYBCS: Delay Between Chip Selects This field defines the delay from NPCS inactive to the activation of another NPCS. The DLYBCS time guarantees nonoverlapping chip selects and solves bus contentions in case of peripherals having long data float times. If DLYBCS is less than or equal to six, six SPI master clock periods will be inserted by default. Otherwise, the following equation determines the delay: Delay_ Between_Chip_Selects = DLYBCS * SPI_Master_Clock_period 101 SPI Receive Data Register Register Name: Access Type: 31 – 23 – 15 SP_RDR Read only 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 RD 11 10 27 – 19 26 – 18 PCS 9 8 25 – 17 24 – 16 7 6 5 4 RD 3 2 1 0 • • RD: Receive Data Data received by the SPI interface is stored in this register right-justified. Unused bits read zero. PCS: Peripheral Chip Select Status In master mode only, these bits indicate the value on the NPCS pins at the end of a transfer. Otherwise, these bits read as zero. SPI Transmit Data Register Register Name: Access Type: 31 – 23 – 15 SP_TDR Write only 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 TD 11 10 27 – 19 26 – 18 PCS 9 8 25 – 17 24 – 16 7 6 5 4 TD 3 2 1 0 • • TD: Transmit Data Data which is to be transmitted by the SPI interface is stored in this register. Information to be transmitted must be written to the transmit data register in a right-justified format. PCS: Peripheral Chip Select This field is only used if Variable Peripheral Select is active (PS = 1) and if the SPI is in master mode. If PCSDEC = 0: PCS = xxx0 NPCS[3:0] = 1110 PCS = xx01 NPCS[3:0] = 1101 PCS = x011 NPCS[3:0] = 1011 PCS = 0111 NPCS[3:0] = 0111 PCS = 1111 forbidden (no peripheral is selected) (x = don’t care) If PCSDEC = 1: NPCS[3:0] output signals = PCS 102 AT91M63200 AT91M63200 SPI Status Register Register Name: Access Type: 31 – 23 – 15 – 7 – SP_SR Read only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 SPENDTX 28 – 20 – 12 – 4 SPENDRX 27 – 19 – 11 – 3 OVRES 26 – 18 – 10 – 2 MODF 25 – 17 – 9 – 1 TDRE 24 – 16 SPIENS 8 – 0 RDRF • • • • • • • RDRF: Receive Data Register Full 0 = No data has been received since the last read of SP_RDR. 1 = Data has been received and the received data has been transferred from the serializer to SP_RDR since the last read of SP_RDR. TDRE: Transmit Data Register Empty 0 = Data has been written to SP_TDR and not yet transferred to the serializer. 1 = The last data written in the Transmit Data Register has been transferred in the serializer. TDRE equals zero when the SPI is disabled or at reset. The SPI enable command sets this bit to one. MODF: Mode Fault Error 0 = No mode fault has been detected since the last read of SP_SR. 1 = A mode fault occurred since the last read of the SP_SR. OVRES: Overrun Error Status 0 = No overrun has been detected since the last read of SP_SR. 1 = An overrun has occurred since the last read of SP_SR. An overrun occurs when SP_RDR is loaded at least twice from the serializer since the last read of the SP_RDR. SPENDRX: End of Receiver Transfer 0 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the receiver is inactive. 1 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the receiver is active. SPENDTX: End of Transmitter Transfer 0 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the transmitter is inactive. 1 = The End of Transfer signal from the Peripheral Data Controller channel dedicated to the transmitter is active. SPIENS: SPI Enable Status 0 = SPI is disabled. 1 = SPI is enabled. 103 SPI Interrupt Enable Register Register Name: Access Type: 31 – 23 – 15 – 7 – SP_IER Write only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 SPENDTX 28 – 20 – 12 – 4 SPENDRX 27 – 19 – 11 – 3 OVRES 26 – 18 – 10 – 2 MODF 25 – 17 – 9 – 1 TDRE 24 – 16 – 8 – 0 RDRF • • • • • • RDRF: Receive Data Register Full Interrupt Enable 0 = No effect. 1 = Enables the Receiver Data Register Full Interrupt. TDRE: SPI Transmit Data Register Empty Interrupt Enable 0 = No effect. 1 = Enables the Transmit Data Register Empty Interrupt. MODF: Mode Fault Error Interrupt Enable 0 = No effect. 1 = Enables the Mode Fault Interrupt. OVRES: Overrun Error Interrupt Enable 0 = No effect. 1 = Enables the Overrun Error Interrupt. SPENDRX: End of Receiver Transfer Interrupt Enable 0 = No effect. 1 = Enables the End of Receiver Transfer Interrupt. SPENDTX: End of Transmitter Transfer Interrupt Enable 0 = No effect. 1 = Enables the End of Transmitter Transfer Interrupt. 104 AT91M63200 AT91M63200 SPI Interrupt Disable Register Register Name: Access Type: 31 – 23 – 15 – 7 – SP_IDR Write only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 SPENDTX 28 – 20 – 12 – 4 SPENDRX 27 – 19 – 11 – 3 OVRES 26 – 18 – 10 – 2 MODF 25 – 17 – 9 – 1 TDRE 24 – 16 – 8 – 0 RDRF • • • • • • RDRF: Receive Data Register Full Interrupt Disable 0 = No effect. 1 = Disables the Receiver Data Register Full Interrupt. TDRE: Transmit Data Register Empty Interrupt Disable 0 = No effect. 1 = Disables the Transmit Data Register Empty Interrupt. MODF: Mode Fault Interrupt Disable 0 = No effect. 1 = Disables the Mode Fault Interrupt. OVRES: Overrun Error Interrupt Disable 0 = No effect. 1 = Disables the Overrun Error Interrupt. SPENDRX: End of Receiver Transfer Interrupt Disable 0 = No effect. 1 = Disables the End of Receiver Transfer Interrupt. SPENDTX: End of Transmitter Transfer Interrupt Disable 0 = No effect. 1 = Disables the End of Transmitter Transfer Interrupt. 105 SPI Interrupt Mask Register Register Name: Access Type: 31 – 23 – 15 – 7 – SP_IMR Read only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 SPENDTX 28 – 20 – 12 – 4 SPENDRX 27 – 19 – 11 – 3 OVRES 26 – 18 – 10 – 2 MODF 25 – 17 – 9 – 1 TDRE 24 – 16 – 8 – 0 RDRF • • • • • • RDRF: Receive Data Register Full Interrupt Mask 0 = Receive Data Register Full Interrupt is disabled. 1 = Receive Data Register Full Interrupt is enabled. TDRE: Transmit Data Register Empty Interrupt Mask 0 = Transmit Data Register Empty Interrupt is disabled. 1 = Transmit Data Register Empty Interrupt is enabled. MODF: Mode Fault Interrupt Mask 0 = Mode Fault Interrupt is disabled. 1 = Mode Fault Interrupt is enabled. OVRES: Overrun Error Interrupt Mask 0 = Overrun Error Interrupt is disabled. 1 = Overrun Error Interrupt is enabled. SPENDRX: End of Receiver Transfer Interrupt Mask 0 = End of Receiver Transfer Interrupt is disabled. 1 = End of Receiver Transfer Interrupt is enabled. SPENDTX: End of Transmitter Transfer Interrupt Mask 0 = End of Transmitter Transfer Interrupt is disabled. 1 = End of Transmitter Transfer Interrupt is enabled. 106 AT91M63200 AT91M63200 SPI Receive Pointer Register Name: Access Type: 31 SP_RPR Read/Write 30 29 28 RXPTR 27 26 25 24 23 22 21 20 RXPTR 19 18 17 16 15 14 13 12 RXPTR 11 10 9 8 7 6 5 4 RXPTR 3 2 1 0 • RXPTR: Receive Pointer RXPTR must be loaded with the address of the receive buffer. SPI Receive Counter Register Name: Access Type: 31 – 23 – 15 SP_RCR Read/Write 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 RXCTR 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 5 4 RXCTR 3 2 1 0 • RXCTR: Receive Counter RXCTR must be loaded with the size of the receive buffer. 0: Stop peripheral data transfer dedicated to the receiver. 1-65535: Start peripheral data transfer if RDRF is active. 107 SPI Transmit Pointer Register Name: Access Type: 31 SP_TPR Read/Write 30 29 28 TXPTR 27 26 25 24 23 22 21 20 TXPTR 19 18 17 16 15 14 13 12 TXPTR 11 10 9 8 7 6 5 4 TXPTR 3 2 1 0 • TXPTR: Transmit Pointer TXPTR must be loaded with the address of the transmit buffer. SPI Transmit Counter Register Name: Access Type: 31 – 23 – 15 SP_TCR Read/Write 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 TXCTR 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 5 4 TXCTR 3 2 1 0 • TXCTR: Transmit Counter TXCTR must be loaded with the size of the transmit buffer. 0: Stop peripheral data transfer dedicated to the transmitter. 1-65535: Start peripheral data transfer if TDRE is active. 108 AT91M63200 AT91M63200 SPI Chip Select Register Register Name: Access Type: 31 SP_CSR0...SP_CSR3 Read/Write 30 29 28 DLYBCT 27 26 25 24 23 22 21 20 DLYBS 19 18 17 16 15 14 13 12 SCBR 11 10 9 8 7 6 BITS 5 4 3 – 2 – 1 NCPHA 0 CPOL • • • CPOL: Clock Polarity 0 = The inactive state value of SPCK is logic level zero. 1 = The inactive state value of SPCK is logic level one. CPOL is used to determine the inactive state value of the serial clock (SPCK). It is used with NCPHA to produce a desired clock/data relationship between master and slave devices. NCPHA: Clock Phase 0 = Data is changed on the leading edge of SPCK and captured on the following edge of SPCK. 1 = Data is captured on the leading edge of SPCK and changed on the following edge of SPCK. NCPHA determines which edge of SPCK causes data to change and which edge causes data to be captured. NCPHA is used with CPOL to produce a desired clock/data relationship between master and slave devices. BITS: Bits Per Transfer The BITS field determines the number of data bits transferred. Reserved values should not be used. BITS[3:0] 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 1010 1011 1100 1101 1110 1111 Bits per Transfer 8 9 10 11 12 13 14 15 16 Reserved Reserved Reserved Reserved Reserved Reserved Reserved 109 • SCBR: Serial Clock Baud Rate In master mode, the SPI interface uses a modulus counter to derive the SPCK baud rate from the SPI master clock (selected between MCKI and MCKI/32). The baud rate is selected by writing a value from 2 to 255 in the field SCBR. The following equation determines the SPCK baud rate: SPCK_Baud_Rate = SPI_Master_Clock_frequency • • 2 x SCBR Giving SCBR a value of zero or one disables the baud rate generator. SPCK is disabled and assumes its inactive state value. No serial transfers may occur. At reset, baud rate is disabled. DLYBS: Delay Before SPCK This field defines the delay from NPCS valid to the first valid SPCK transition. When DLYBS equals zero, the NPCS valid to SPCK transition is 1/2 the SPCK clock period. Otherwise, the following equation determines the delay: NPCS_to_SPCK_Delay = DLYBS * SPI_Master_Clock_period DLYBCT: Delay Between Consecutive Transfers This field defines the delay between two consecutive transfers with the same peripheral without removing the chip select. The delay is always inserted after each transfer and before removing the chip select if needed. When DLYBCT equals zero, a delay of four SPI master clock periods are inserted. Otherwise, the following equation determines the delay: Delay_After_Transfer = 32 * DLYBCT * SPI_Master_Clock_period 110 AT91M63200 AT91M63200 TC: Timer/Counter The AT91M63200 features two Timer/Counter blocks, each containing three identical 16-bit Timer/Counter channels. Each channel can be independently programmed to perform a wide range of functions including frequency measurement, event counting, interval measurement, pulse generation, delay timing and pulse width modulation. Each Timer/Counter channel has three external clock inputs, five internal clock inputs, and two multi-purpose input/output signals which can be configured by the user. Each channel drives an internal interrupt signal which can be programmed to generate processor interrupts via the AIC (Advanced Interrupt Controller). Figure 53. TC Block Diagram The Timer/Counter block has two global registers which act upon all three TC channels. The Block Control Register allows the three channels to be started simultaneously with the same instruction. The Block Mode Register defines the external clock inputs for each Timer/Counter channel, allowing them to be chained. Each Timer/Counter block operates independently and has a complete set of block and channel registers. Since they are identical in operation, only one block is described below (see "Timer/Counter Description" on page 113). The internal configuration of a single Timer/Counter block is shown in Figure 53. MCKI/2 Parallel I/O Controller TCLK0 TIOA1 TIOA2 XC0 XC1 XC2 TC0XC0S SYNC MCKI/8 MCKI/32 TCLK0 TCLK1 TCLK2 TIOA0 TIOB0 TCLK1 MCKI/128 MCKI/1024 Timer/Counter Channel 0 TIOA TIOA0 TIOB TCLK2 TIOB0 INT TCLK0 TCLK1 TIOA0 TIOA2 TCLK2 XC0 XC1 XC2 TC1XC1S SYNC Timer/Counter Channel 1 TIOA TIOA1 TIOB TIOB1 INT TIOA1 TIOB1 TCLK0 TCLK1 TCLK2 TIOA0 TIOA1 XC0 XC1 XC2 TC2XC2S Timer/Counter Channel 2 TIOA TIOA2 TIOB TIOB2 SYNC TIOA2 TIOB2 INT Timer/Counter Block Advanced Interrupt Controller 111 Signal Name Description Channel Signals XC0, XC1, XC2 TIOA TIOB INT SYNC Block 0 Signals TCLK0, TCLK1, TCLK2 TIOA0 TIOB0 TIOA1 TIOB1 TIOA2 TIOB2 Block 1 Signals TCLK3, TCLK4, TCLK5 TIOA3 TIOB3 TIOA4 TIOB4 TIOA5 TIOB5 Description External clock inputs Capture mode: general-purpose input Waveform mode: general-purpose output Capture mode: general-purpose input Waveform mode: general-purpose input/output Interrupt Signal output Synchronization input Signal Description External Clock Inputs for Channels 0, 1, 2 TIOA Signal for Channel 0 TIOB Signal for Channel 0 TIOA Signal for Channel 1 TIOB Signal for Channel 1 TIOA Signal for Channel 2 TIOB Signal for Channel 2 Description External Clock Inputs for Channels 3, 4, 5 TIOA Signal for Channel 3 TIOB Signal for Channel 3 TIOA Signal for Channel 4 TIOB Signal for Channel 4 TIOA Signal for Channel 5 TIOB Signal for Channel 5 Note: After a hardware reset, the TC clock is disabled by default (see “ PMC: Power Management Controller ” o n page 139). The user must configure the Power Management Controller before any access to the user interface of the TC. Note: After a hardware reset, the Timer/Counter block pins are controlled by the PIO Controller. They must be configured to be controlled by the peripheral before being used. 112 AT91M63200 AT91M63200 Timer/Counter Description Each Timer/CTimer/Counterounter channel is identical in operation. The registers for channel programming are listed in Table 15. Counter Each Timer/Counter channel is organized around a 16-bit counter. The value of the counter is incremented at each positive edge of the input clock. When the counter reaches the value 0xFFFF and passes to 0x0000, an overflow occurs and the bit COVFS in TC_SR (Status Register) is set. The current value of the counter is accessible in real time by reading TC_CV. The counter can be reset by a trigger. In this case, the counter value passes to 0x0000 on the next valid edge of the clock. Clock Selection At block level, input clock signals of each channel can either be connected to the external inputs TCLK0, TCLK1 or TCLK2, or be connected to the configurable I/O signals TIOA0, TIOA1 or TIOA2 for chaining by programming the TC_BMR (block mode). Each channel can independently select an internal or external clock source for its counter: • Internal clock signals: MCKI/2, MCKI/8, MCKI/32, MCKI/128, MCKI/1024 • External clock signals: XC0, XC1 or XC2 The selected clock can be inverted with the CLKI bit in TC_CMR (Channel Mode). This allows counting on the opposite edges of the clock. The burst function allows the clock to be validated when an external signal is high. The BURST parameter in the Mode Register defines this signal (none, XC0, XC1, XC2). Note: In all cases, if an external clock is used, the duration of each of its levels must be longer than the system clock (MCKI) period. The external clock frequency must be at least 2.5 times lower than the system clock. Figure 54. Clock Selection CLKS CLKI MCKI/2 MCKI/8 MCKI/32 MCKI/128 MCKI/1024 XC0 XC1 XC2 Selected Clock BURST 1 113 Clock Control The clock of each counter can be controlled in two different ways: it can be enabled/disabled and started/stopped. • The clock can be enabled or disabled by the user with the CLKEN and the CLKDIS commands in the Control Register. In capture mode, it can be disabled by an RB load event if LDBDIS is set to 1 in TC_CMR. In waveform mode, it can be disabled by an RC Compare event if CPCDIS is set to 1 in TC_CMR. When disabled, the start or the stop actions have no effect: only a CLKEN command in the Control Register can re-enable the clock. When the clock is enabled, the CLKSTA bit is set in the Status Register. • The clock can also be started or stopped: a trigger (software, synchro, external or compare) always starts the clock. The clock can be stopped by an RB load event in capture mode (LDBSTOP = 1 in TC_CMR) or an RC compare event in waveform mode (CPCSTOP = 1 in TC_CMR). The start and the stop commands have an effect only if the clock is enabled. Figure 55. Clock Control Selected Clock Trigger Timer/Counter Operating Modes Each Timer/Counter channel can independently operate in two different modes: • Capture mode allows measurement on signals • Waveform mode allows wave generation The Timer/Counter mode is programmed with the WAVE bit in the TC Mode Register. In capture mode, TIOA and TIOB are configured as inputs. In waveform mode, TIOA is always configured to be an output and TIOB is an output if it is not selected to be the external trigger. Trigger A trigger resets the counter and starts the counter clock. Three types of triggers are common to both modes, and a fourth external trigger is available to each mode. The following triggers are common to both modes: • Software trigger: Each channel has a software trigger, available by setting SWTRG in TC_CCR. • SYNC: Each channel has a synchronization signal SYNC. When asserted, this signal has the same effect as a software trigger. The SYNC signals of all channels are asserted simultaneously by writing TC_BCR (Block Control) with SYNC set. • Compare RC trigger: RC is implemented in each channel and can provide a trigger when the counter value matches the RC value if CPCTRG is set in TC_CMR. The Timer/Counter channel can also be configured to have an external trigger. In capture mode, the external trigger signal can be selected between TIOA and TIOB. In waveform mode, an external event can be programmed on one of the following signals: TIOB, XC0, XC1 or XC2. This external event can then be programmed to perform a trigger by setting ENETRG in TC_CMR. If an external trigger is used, the duration of the pulses must be longer than the system clock (MCKI) period in order to be detected. CLKSTA CLKEN CLKDIS Q Q S R S R Counter Clock Stop Event Disable Event 114 AT91M63200 AT91M63200 Capture Operating Mode This mode is entered by clearing the WAVE parameter in TC_CMR (Channel Mode Register). Capture mode allows the TC channel to perform measurements such as pulse timing, frequency, period, duty cycle and phase on TIOA and TIOB signals which are considered as input. Figure 56 shows the configuration of the TC channel when programmed in capture mode. Capture Registers A and B (RA and RB) Registers A and B are used as capture registers. This means that they can be loaded with the counter value when a programmable event occurs on the signal TIOA. The parameter LDRA in TC_CMR defines the TIOA edge for the loading of Register A, and the parameter LDRB defines the TIOA edge for the loading of Register B. RA is loaded only if it has not been loaded since the last trigger or if RB has been loaded since the last loading of RA. RB is loaded only if RA has been loaded since the last trigger or the last loading of RB. Loading RA or RB before the read of the last value loaded sets the Overrun Error Flag (LOVRS) in TC_SR (Status Register). In this case, the old value is overwritten. Trigger Conditions In addition to the SYNC signal, the software trigger and the RC compare trigger, an external trigger can be defined. Bit ABETRG in TC_CMR selects input signal TIOA or TIOB as an external trigger. Parameter ETRGEDG defines the edge (rising, falling or both) detected to generate an external trigger. If ETRGEDG = 0 (none), the external trigger is disabled. Status Register The following bits in the status register are significant in capture operating mode. • CPCS: RC Compare Status There has been an RC Compare match at least once since the last read of the status. • COVFS: Counter Overflow Status The counter has attempted to count past $FFFF since the last read of the status. • LOVRS: Load Overrun Status RA or RB has been loaded at least twice without any read of the corresponding register, since the last read of the status. • LDRAS: Load RA Status RA has been loaded at least once without any read, since the last read of the status. • LDRBS: Load RB Status RB has been loaded at least once without any read, since the last read of the status. • ETRGS: External Trigger Status An external trigger on TIOA or TIOB has been detected since the last read of the status. 115 Figure 56. Capture Mode 116 TCCLKS CLKI MCKI/2 MCKI/8 MCKI/32 MCKI/128 MCKI/1024 XC0 XC1 XC2 LDBSTOP BURST Register C Capture Register A SWTRG 16-bit Counter CLK OVF RESET CLKSTA CLKEN CLKDIS AT91M63200 Q Q S R S R LDBDIS 1 Capture Register B Compare RC = SYNC ABETRG ETRGEDG MTIOB Edge Detector LDRA Edge Detector Trig CPCTRG TIOB LDRB Edge Detector If RA is loaded ETRGS COVFS LOVRS LDRAS LDRBS TC_SR CPCS MTIOA If RA is not loaded or RB is loaded TIOA TC_IMR Timer/Counter Channel INT AT91M63200 Waveform Operating Mode This mode is entered by setting the WAVE parameter in TC_CMR (Channel Mode Register). Waveform operating mode allows the TC channel to generate 1 or 2 PWM signals with the same frequency and independently-programmable duty cycles, or to generate different types of one-shot or repetitive pulses. In this mode, TIOA is configured as output and TIOB is defined as output if it is not used as an external event (EEVT parameter in TC_CMR). Figure 57 shows the configuration of the TC channel when programmed in waveform operating mode. Compare Register A, B and C (RA, RB, and RC) In waveform operating mode, RA, RB and RC are all used as compare registers. RA Compare is used to control the TIOA output. RB Compare is used to control the TIOB (if configured as output). RC Compare can be programmed to control TIOA and/or TIOB outputs. RC Compare can also stop the counter clock (CPCSTOP = 1 in TC_CMR) and/or disable the counter clock (CPCDIS = 1 in TC_CMR). As in capture mode, RC Compare can also generate a trigger if CPCTRG = 1. Trigger resets the counter so RC can control the period of PWM waveforms. External Event/Trigger Conditions An external event can be programmed to be detected on one of the clock sources (XC0, XC1, XC2) or TIOB. The external event selected can then be used as a trigger. The parameter EEVT in TC_CMR selects the external trigger. The parameter EEVTEDG defines the trigger edge for each of the possible external triggers (rising, falling or both). If EEVTEDG is cleared (none), no external event is defined. If TIOB is defined as an external event signal (EEVT = 0), TIOB is no longer used as output and the TC channel can only generate a waveform on TIOA. When an external event is defined, it can be used as a trigger by setting bit ENETRG in TC_CMR. As in capture mode, the SYNC signal, the software trigger and the RC compare trigger are also available as triggers. Output Controller The output controller defines the output level changes on TIOA and TIOB following an event. TIOB control is used only if TIOB is defined as output (not as an external event). The following events control TIOA and TIOB: software trigger, external event and RC Compare. RA Compare controls TIOA and RB Compare controls TIOB. Each of these events can be programmed to set, clear or toggle the output as defined in the corresponding parameter in TC_CMR. The tables below show which parameter in TC_CMR is used to define the effect of each event. Parameter ASWTRG AEEVT ACPC ACPA Parameter BSWTRG BEEVT BCPC BCPB TIOA Event Software trigger External event RC compare RA compare TIOB Event Software trigger External event RC compare RB compare If two or more events occur at the same time, the priority level is defined as follows: 1. Software trigger 2. External event 3. RC compare 4. RA or RB compare Status The following bits in the status register are significant in waveform mode: • CPAS: RA Compare Status There has been an RA Compare match at least once since the last read of the status. • CPBS: RB Compare Status There has been an RB Compare match at least once since the last read of the status. • CPCS: RC Compare Status There has been an RC Compare match at least once since the last read of the status. • COVFS: Counter Overflow Status Counter has attempted to count past $FFFF since the last read of the status. • ETRGS: External Trigger Status External trigger has been detected since the last read of the status. 117 Figure 57. Waveform Mode MCKI/1024 XC0 XC1 XC2 Q S R Output Controller CPCTRG EEVT BEEVT EEVTEDG Edge Detector TIOB ENETRG Output Controller 118 TCCLKS CLKSTA MCKI/2 MCKI/8 MCKI/32 MCKI/128 CLKI CLKEN CLKDIS ACPC AT91M63200 Q S CPCDIS R ACPA MTIOA TIOA CPCSTOP AEEVT BURST Register A Register B Register C ASWTRG 1 16-bit Counter CLK RESET OVF Compare RA = Compare RB = Compare RC = SWTRG BCPC SYNC Trig BCPB MTIOB TIOB ETRGS COVFS TC_SR TC_IMR CPCS CPAS CPBS BSWTRG Timer/Counter Channel INT AT91M63200 TC User Interface TC Block 0 Base Address: TC Block 1 Base Address: 0xFFFD0000 0xFFFD4000 Table 14. TC Global Memory Map Offset 0x00 0x40 0x80 0xC0 0xC4 Channel/Register TC Channel 0 TC Channel 1 TC Channel 2 TC Block Control Register TC Block Mode Register TC_BCR TC_BMR Name Access See Table 15 See Table 15 See Table 15 Write only Read/Write – 0 Reset State TC_BCR (Block Control Register) and TC_BMR (Block Mode Register) control the TC block. TC channels are controlled by the registers listed in Table 15. The offset of each of the channel registers in Table 15 is in relation to the offset of the corresponding channel as mentioned in Table 14. Table 15. TC Channel Memory Map Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 0x28 0x2C Note: Register Channel Control Register Channel Mode Register Reserved Reserved Counter Value Register A Register B Register C Status Register Interrupt Enable Register Interrupt Disable Register Interrupt Mask Register TC_CV TC_RA TC_RB TC_RC TC_SR TC_IER TC_IDR TC_IMR Read/Write Read/Write Read/Write (1) (1) Name TC_CCR TC_CMR Access Write only Read/Write Reset State – 0 – – 0 0 0 0 – – – 0 Read/Write Read only Write only Write only Read only 1. Read only if WAVE = 0 119 TC Block Control Register Register Name: Access Type: 31 – 23 – 15 – 7 – TC_BCR Write only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 – 28 – 20 – 12 – 4 – 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 – 25 – 17 – 9 – 1 – 24 – 16 – 8 – 0 SYNC • SYNC: Synchro Command 0 = No effect. 1 = Asserts the SYNC signal, which generates a software trigger simultaneously for each of the channels. 120 AT91M63200 AT91M63200 TC Block Mode Register Register Name: Access Type: 31 – 23 – 15 – 7 – TC_BMR Read/Write 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 TC2XC2S 28 – 20 – 12 – 4 27 – 19 – 11 – 3 TC1XC1S 26 – 18 – 10 – 2 25 – 17 – 9 – 1 TC0XC0S 24 – 16 – 8 – 0 • TC0XC0S: External Clock Signal 0 Selection TC0XC0S 0 0 1 1 0 1 0 1 Signal Connected to XC0 TCLK0 none TIOA1 TIOA2 • TC1XC1S: External Clock Signal 1 Selection TC1XC1S 0 0 1 1 0 1 0 1 Signal Connected to XC1 TCLK1 none TIOA0 TIOA2 • TC2XC2S: External Clock Signal 2 Selection TC2XC2S 0 0 1 1 0 1 0 1 Signal Connected to XC2 TCLK2 none TIOA0 TIOA1 121 TC Channel Control Register Register Name: Access Type: 31 – 23 – 15 – 7 – TC_CCR Write only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 – 28 – 20 – 12 – 4 – 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 SWTRG 25 – 17 – 9 – 1 CLKDIS 24 – 16 – 8 – 0 CLKEN • • • CLKEN: Counter Clock Enable Command 0 = No effect. 1 = Enables the clock if CLKDIS is not 1. CLKDIS: Counter Clock Disable Command 0 = No effect. 1 = Disables the clock. SWTRG: Software Trigger Command 0 = No effect. 1 = A software trigger is performed: the counter is reset and clock is started. 122 AT91M63200 AT91M63200 TC Channel Mode Register: Capture Mode Register Name: Access Type: 31 – 23 – 15 WAVE=0 7 LDBDIS TC_CMR Read/Write 30 – 22 – 14 CPCTRG 6 LDBSTOP 29 – 21 – 13 – 5 BURST 28 – 20 – 12 – 4 11 – 3 CLKI 27 – 19 LDRB 10 ABETRG 2 1 TCCLKS 9 ETRGEDG 0 26 – 18 25 – 17 LDRA 8 24 – 16 • TCCLKS: Clock Selection TCCLKS 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Clock Selected MCKI/2 MCKI/8 MCKI/32 MCKI/128 MCKI/1024 XC0 XC1 XC2 • • CLKI: Clock Invert 0 = Counter is incremented on rising edge of the clock. 1 = Counter is incremented on falling edge of the clock. BURST: Burst Signal Selection BURST 0 0 1 1 0 1 0 1 The clock is not gated by an external signal. XC0 is ANDed with the selected clock. XC1 is ANDed with the selected clock. XC2 is ANDed with the selected clock. • • LDBSTOP: Counter Clock Stopped with RB Loading 0 = Counter clock is not stopped when RB loading occurs. 1 = Counter clock is stopped when RB loading occurs. LDBDIS: Counter Clock Disable with RB Loading 0 = Counter clock is not disabled when RB loading occurs. 1 = Counter clock is disabled when RB loading occurs. 123 • ETRGEDG: External Trigger Edge Selection ETRGEDG 0 0 1 1 0 1 0 1 Edge none rising edge falling edge each edge • • • • ABETRG: TIOA or TIOB External Trigger Selection 0 = TIOB is used as an external trigger. 1 = TIOA is used as an external trigger. CPCTRG: RC Compare Trigger Enable 0 = RC Compare has no effect on the counter and its clock. 1 = RC Compare resets the counter and starts the counter clock. WAVE = 0 0 = Capture Mode is enabled. 1 = Capture Mode is disabled (waveform mode is enabled). LDRA: RA Loading Selection LDRA 0 0 1 1 0 1 0 1 Edge none rising edge of TIOA falling edge of TIOA each edge of TIOA • LDRB: RB Loading Selection LDRB 0 0 1 1 0 1 0 1 Edge none rising edge of TIOA falling edge of TIOA each edge of TIOA 124 AT91M63200 AT91M63200 TC Channel Mode Register: Waveform Mode Register Name: Access Type: 31 BSWTRG 23 ASWTRG 15 WAVE=1 7 CPCDIS 14 CPCTRG 6 CPCSTOP 13 – 5 BURST 22 21 AEEVT 12 ENETRG 4 3 CLKI 11 EEVT 2 1 TCCLKS TC_CMR Read/Write 30 29 BEEVT 20 19 ACPC 10 9 EEVTEDG 0 28 27 BCPC 18 17 ACPA 8 26 25 BCPB 16 24 • TCCLKS: Clock Selection TCCLKS 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Clock Selected MCKI/2 MCKI/8 MCKI/32 MCKI/128 MCKI/1024 XC0 XC1 XC2 • • CLKI: Clock Invert 0 = Counter is incremented on rising edge of the clock. 1 = Counter is incremented on falling edge of the clock. BURST: Burst Signal Selection BURST 0 0 1 1 0 1 0 1 The clock is not gated by an external signal. XC0 is ANDed with the selected clock. XC1 is ANDed with the selected clock. XC2 is ANDed with the selected clock. • • CPCSTOP: Counter Clock Stopped with RC Compare 0 = Counter clock is not stopped when counter reaches RC. 1 = Counter clock is stopped when counter reaches RC. CPCDIS: Counter Clock Disable with RC Compare 0 = Counter clock is not disabled when counter reaches RC. 1 = Counter clock is disabled when counter reaches RC. 125 • EEVTEDG: External Event Edge Selection EEVTEDG 0 0 1 1 0 1 0 1 Edge none rising edge falling edge each edge • EEVT: External Event Selection EEVT 0 0 1 1 0 1 0 1 Signal selected as external event TIOB XC0 XC1 XC2 TIOB Direction input(1) output output output Note: 1. If TIOB is chosen as the external event signal, it is configured as an input and no longer generates waveforms. • • • • ENETRG: External Event Trigger Enable 0 = The external event has no effect on the counter and its clock. In this case, the selected external event only controls the TIOA output. 1 = The external event resets the counter and starts the counter clock. CPCTRG: RC Compare Trigger Enable 0 = RC Compare has no effect on the counter and its clock. 1 = RC Compare resets the counter and starts the counter clock. WAVE = 1 0 = Waveform Mode is disabled (capture mode is enabled). 1 = Waveform Mode is enabled. ACPA: RA Compare Effect on TIOA ACPA 0 0 1 1 0 1 0 1 Effect none set clear toggle • ACPC: RC Compare Effect on TIOA ACPC 0 0 1 1 0 1 0 1 Effect none set clear toggle • AEEVT: External Event Effect on TIOA AEEVT 0 0 1 1 0 1 0 1 Effect none set clear toggle 126 AT91M63200 AT91M63200 • ASWTRG: Software Trigger Effect on TIOA ASWTRG 0 0 1 1 0 1 0 1 Effect none set clear toggle • BCPB: RB Compare Effect on TIOB BCPB 0 0 1 1 0 1 0 1 Effect none set clear toggle • BCPC: RC Compare Effect on TIOB BCPC 0 0 1 1 0 1 0 1 Effect none set clear toggle • BEEVT: External Event Effect on TIOB BEEVT 0 0 1 1 0 1 0 1 Effect none set clear toggle • BSWTRG: Software Trigger Effect on TIOB BSWTRG 0 0 1 1 0 1 0 1 Effect none set clear toggle 127 TC Counter Value Register Register Name: Access Type: 31 – 23 – 15 TC_CVR Read only 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 CV 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 5 4 CV 3 2 1 0 • CV: Counter Value CV contains the counter value in real time. TC Register A Register Name: Access Type: 31 – 23 – 15 TC_RA Read only if WAVE = 0, Read/Write if WAVE = 1 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 RA 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 5 4 RA 3 2 1 0 • RA: Register A RA contains the Register A value in real time. 128 AT91M63200 AT91M63200 TC Register B Register Name: Access Type: 31 – 23 – 15 TC_RB Read only if WAVE = 0, Read/Write if WAVE = 1 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 RB 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 5 4 RB 3 2 1 0 • RB: Register B RB contains the Register B value in real time. TC Register C Register Name: Access Type: 31 – 23 – 15 TC_RC Read/Write 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 RC 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 5 4 RC 3 2 1 0 • RC: Register C RC contains the Register C value in real time. 129 TC Status Register Register Name: Access Type: 31 – 23 – 15 – 7 ETRGS TC_SR Read/Write 30 – 22 – 14 – 6 LDRBS 29 – 21 – 13 – 5 LDRAS 28 – 20 – 12 – 4 CPCS 27 – 19 – 11 – 3 CPBS 26 – 18 MTIOB 10 – 2 CPAS 25 – 17 MTIOA 9 – 1 LOVRS 24 – 16 CLKSTA 8 – 0 COVFS • • • • • • • • • • • COVFS: Counter Overflow Status 0 = No counter overflow has occurred since the last read of the Status Register. 1 = A counter overflow has occurred since the last read of the Status Register. LOVRS: Load Overrun Status 0 = Load overrun has not occurred since the last read of the Status Register or WAVE = 1. 1 = RA or RB have been loaded at least twice without any read of the corresponding register since the last read of the Status Register, if WAVE = 0. CPAS: RA Compare Status 0 = RA Compare has not occurred since the last read of the Status Register or WAVE = 0. 1 = RA Compare has occurred since the last read of the Status Register, if WAVE = 1. CPBS: RB Compare Status 0 = RB Compare has not occurred since the last read of the Status Register or WAVE = 0. 1 = RB Compare has occurred since the last read of the Status Register, if WAVE = 1. CPCS: RC Compare Status 0 = RC Compare has not occurred since the last read of the Status Register. 1 = RC Compare has occurred since the last read of the Status Register. LDRAS: RA Loading Status 0 = RA Load has not occurred since the last read of the Status Register or WAVE = 1. 1 = RA Load has occurred since the last read of the Status Register, if WAVE = 0. LDRBS: RB Loading Status 0 = RB Load has not occurred since the last read of the Status Register or WAVE = 1. 1 = RB Load has occurred since the last read of the Status Register, if WAVE = 0. ETRGS: External Trigger Status 0 = External trigger has not occurred since the last read of the Status Register. 1 = External trigger has occurred since the last read of the Status Register. CLKSTA: Clock Enabling Status 0 = Clock is disabled. 1 = Clock is enabled. MTIOA: TIOA Mirror 0 = TIOA is low. If WAVE = 0, this means that TIOA pin is low. If WAVE = 1, this means that TIOA is driven low. 1 = TIOA is high. If WAVE = 0, this means that TIOA pin is high. If WAVE = 1, this means that TIOA is driven high. MTIOB: TIOB Mirror 0 = TIOB is low. If WAVE = 0, this means that TIOB pin is low. If WAVE = 1, this means that TIOB is driven low. 1 = TIOB is high. If WAVE = 0, this means that TIOB pin is high. If WAVE = 1, this means that TIOB is driven high. 130 AT91M63200 AT91M63200 TC Interrupt Enable Register Register Name: Access Type: 31 – 23 – 15 – 7 ETRGS TC_IER Write only 30 – 22 – 14 – 6 LDRBS 29 – 21 – 13 – 5 LDRAS 28 – 20 – 12 – 4 CPCS 27 – 19 – 11 – 3 CPBS 26 – 18 – 10 – 2 CPAS 25 – 17 – 9 – 1 LOVRS 24 – 16 – 8 – 0 COVFS • • • • • • • • COVFS: Counter Overflow 0 = No effect. 1 = Enables the Counter Overflow Interrupt. LOVRS: Load Overrun 0 = No effect. 1: Enables the Load Overrun Interrupt. CPAS: RA Compare 0 = No effect. 1 = Enables the RA Compare Interrupt. CPBS: RB Compare 0 = No effect. 1 = Enables the RB Compare Interrupt. CPCS: RC Compare 0 = No effect. 1 = Enables the RC Compare Interrupt. LDRAS: RA Loading 0 = No effect. 1 = Enables the RA Load Interrupt. LDRBS: RB Loading 0 = No effect. 1 = Enables the RB Load Interrupt. ETRGS: External Trigger 0 = No effect. 1 = Enables the External Trigger Interrupt. 131 TC Interrupt Disable Register Register Name: Access Type: 31 – 23 – 15 – 7 ETRGS TC_IDR Write only 30 – 22 – 14 – 6 LDRBS 29 – 21 – 13 – 5 LDRAS 28 – 20 – 12 – 4 CPCS 27 – 19 – 11 – 3 CPBS 26 – 18 – 10 – 2 CPAS 25 – 17 – 9 – 1 LOVRS 24 – 16 – 8 – 0 COVFS • • • • • • • • COVFS: Counter Overflow 0 = No effect. 1 = Disables the Counter Overflow Interrupt. LOVRS: Load Overrun 0 = No effect. 1 = Disables the Load Overrun Interrupt (if WAVE = 0). CPAS: RA Compare 0 = No effect. 1 = Disables the RA Compare Interrupt (if WAVE = 1). CPBS: RB Compare 0 = No effect. 1 = Disables the RB Compare Interrupt (if WAVE = 1). CPCS: RC Compare 0 = No effect. 1 = Disables the RC Compare Interrupt. LDRAS: RA Loading 0 = No effect. 1 = Disables the RA Load Interrupt (if WAVE = 0). LDRBS: RB Loading 0 = No effect. 1 = Disables the RB Load Interrupt (if WAVE = 0). ETRGS: External Trigger 0 = No effect. 1 = Disables the External Trigger Interrupt. 132 AT91M63200 AT91M63200 TC Interrupt Mask Register Register Name: Access Type: 31 – 23 – 15 – 7 ETRGS TC_IMR Read only 30 – 22 – 14 – 6 LDRBS 29 – 21 – 13 – 5 LDRAS 28 – 20 – 12 – 4 CPCS 27 – 19 – 11 – 3 CPBS 26 – 18 – 10 – 2 CPAS 25 – 17 – 9 – 1 LOVRS 24 – 16 – 8 – 0 COVFS • • • • • • • • COVFS: Counter Overflow 0 = The Counter Overflow Interrupt is disabled. 1 = The Counter Overflow Interrupt is enabled. LOVRS: Load Overrun 0 = The Load Overrun Interrupt is disabled. 1 = The Load Overrun Interrupt is enabled. CPAS: RA Compare 0 = The RA Compare Interrupt is disabled. 1 = The RA Compare Interrupt is enabled. CPBS: RB Compare 0 = The RB Compare Interrupt is disabled. 1 = The RB Compare Interrupt is enabled. CPCS: RC Compare 0 = The RC Compare Interrupt is disabled. 1 = The RC Compare Interrupt is enabled. LDRAS: RA Loading 0 = The Load RA Interrupt is disabled. 1 = The Load RA Interrupt is enabled. LDRBS: RB Loading 0 = The Load RB Interrupt is disabled. 1 = The Load RB Interrupt is enabled. ETRGS: External Trigger 0 = The External Trigger Interrupt is disabled. 1 = The External Trigger Interrupt is enabled. 133 WD: Watchdog Timer The AT91 series microcontrollers have an internal Watchdog timer which can be used to prevent system lock-up if the software becomes trapped in a deadlock. In normal operation the user reloads the Watchdog at regular intervals before the timer overflow occurs. If an overflow does occur, the Watchdog timer generates one or a combination of the following signals, depending on the parameters in WD_OMR (Overflow Mode Register): • If RSTEN is set, an internal reset is generated (WD_RESET as shown in Figure 58). See also “Watchdog Reset” on page 9. • If IRQEN is set, a pulse is generated on the signal WDIRQ, which is connected to the Advanced Interrupt Controller. • If EXTEN is set, a low level is driven on the NWDOVF signal for a duration of 8 MCKI cycles. Figure 58. Watchdog Timer Block Diagram The Watchdog timer has a 16-bit down counter. Bits 12-15 of the value loaded when the Watchdog is restarted are programmable using the HPVC parameter in WD_CMR (Clock Mode). Four clock sources are available to the Watchdog counter: MCKI/32, MCKI/128, MCKI/1024 or MCKI/4096. The selection is made using the WDCLKS parameter in WD_CMR. This provides a programmable time-out period of 4ms to 8s with a 33 MHz system clock. All write accesses are protected by control access keys to help prevent corruption of the Watchdog should an error condition occur. To update the contents of the mode and control registers, it is necessary to write the correct bit pattern to the control access key bits at the same time as the control bits are written (the same write access). Advanced Peripheral Bus (APB) WD_RESET WDIRQ Control Logic Overflow NWDOVF MCKI/32 MCKI/128 Clock Select MCKI/1024 MCKI/4096 CLK_CNT Clear 16-bit Programmable Down Counter WD User Interface WD Base Address: 0xFFFF8000 Table 16. WD Memory Map Offset 0x00 0x04 0x08 0x0C Register Overflow Mode Register Clock Mode Register Control Register Status Register Name WD_OMR WD_CMR WD_CR WD_SR Access Read/Write Read/Write Write only Read only Reset State 0 0 – 0 134 AT91M63200 AT91M63200 WD Overflow Mode Register Name: Access: Reset Value: 31 – 23 – 15 WD_OMR Read/Write 0 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 OKEY 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 OKEY 5 4 3 EXTEN 2 IRQEN 1 RSTEN 0 WDEN • • • • • WDEN: Watchdog Enable 0 = Watchdog is disabled and does not generate any signals. 1 = Watchdog is enabled and generates enabled signals. RSTEN: Reset Enable 0 = Generation of an internal reset by the Watchdog is disabled. 1 = When overflow occurs, the Watchdog generates an internal reset. IRQEN: Interrupt Enable 0 = Generation of an interrupt by the Watchdog is disabled. 1 = When overflow occurs, the Watchdog generates an interrupt. EXTEN: External Signal Enable 0 = Generation of a pulse on the pin NWDOVF by the Watchdog is disabled. 1 = When an overflow occurs, a pulse on the pin NWDOVF is generated. OKEY: Overflow Access Key Used only when writing WD_OMR. OKEY is read as 0. 0x234 = Write access in WD_OMR is allowed. Other value = Write access in WD_OMR is prohibited. 135 WD Clock Mode Register Name: Access: Reset Value: 31 – 23 – 15 WD_CMR Read/Write 0 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 CKEY 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 CKEY 6 – 5 4 HPCV 3 2 1 WDCLKS 0 • WDCLKS: Clock Selection WDCLKS 0 0 1 1 0 1 0 1 Clock Selected MCKI/32 MCKI/128 MCKI/1024 MCKI/4096 • • HPCV: High Preload Counter Value Counter is preloaded when Watchdog counter is restarted with bits 0 to 11 set (FFF) and bits 12 to 15 equaling HPCV. CKEY: Clock Access Key Used only when writing WD_CMR. CKEY is read as 0. 0x06E: Write access in WD_CMR is allowed. Other value: Write access in WD_CMR is prohibited. 136 AT91M63200 AT91M63200 WD Control Register Name: Access: 31 – 23 – 15 WD_CR Write only 30 – 22 – 14 29 – 21 – 13 28 – 20 – 12 RSTKEY 27 – 19 – 11 26 – 18 – 10 25 – 17 – 9 24 – 16 – 8 7 6 5 4 RSTKEY 3 2 1 0 • RSTKEY: Restart Key 0xC071 = Watchdog counter is restarted. Other value = No effect. WD Status Register Name: Access: 31 – 23 – 15 – 7 – WD_SR Read only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 – 28 – 20 – 12 – 4 – 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 – 25 – 17 – 9 – 1 – 24 – 16 – 8 – 0 WDOVF • WDOVF: Watchdog Overflow 0 = No Watchdog overflow. 1 = A Watchdog overflow has occurred since the last restart of the Watchdog counter or since internal or external reset. 137 WD Enabling Sequence To enable the Watchdog timer the sequence is as follows: 1. Disable the Watchdog by clearing the bit WDEN: Write 0x2340 to WD_OMR. This step is unnecessary if the WD is already disabled (reset state). 2. Initialize the WD Clock Mode Register: Write 0x373C to WD_CMR (HPCV = 15 and WDCLKS = MCK/8). 3. Restart the timer: Write 0xC071 to WD_CR. 4. Enable the Watchdog: Write 0x2345 to WD_OMR (interrupt enabled). 138 AT91M63200 AT91M63200 PMC: Power Management Controller The AT91M63200 Power Management Controller allows optimization of power consumption. The PMC controls the system clocks and the peripheral clocks. Two sets of registers are mapped in the user interface in order to enable and to disable these clocks. Peripheral Clocks The clock of each peripheral integrated in the AT91M63200 can be individually enabled and disabled by writing in the Peripheral Clock Enable (PMC_PCER) and Peripheral Clock Disable Registers (PMC_PCDR). The status of the peripheral clocks can be read in the Peripheral Clock Status Register (PMC_PCSR). When a peripheral clock is disabled, the clock is immediately stopped. When the clock is re-enabled, the peripheral resumes action where it left off. In order to stop a peripheral, it is recommended that the system software waits until the peripheral has executed its last programmed operation before disabling the clock. This is to avoid data corruption or erroneous behavior of the system. The peripheral clocks are automatically disabled after a reset. The bits defined to control the clocks of the peripherals correspond to the bits controlling the interrupt sources in the AIC. System Clock The AT91M63200 has only one system clock: the ARM core clock. It can be enabled and disabled by writing the System Clock Enable (PMC_SCER) and System Clock Disable Registers (PMC_SCDR). The status of this clock (at least for debug purpose) can be read in the System Clock Status Register (PMC_SCSR). The ARM core clock is enabled after a reset and is automatically re-enabled by any enabled interrupt. When the ARM core clock is disabled, the current instruction is finished before the clock is stopped. Note: Stopping the ARM core does not prevent PDC transfers. PMC User Interface Base Address: 0xFFFF4000 Table 17. PMC Memory Map Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 Register System Clock Enable Register System Clock Disable Register System Clock Status Register Reserved Peripheral Clock Enable Register Peripheral Clock Disable Register Peripheral Clock Status Register PMC_PCER PMC_PCDR PMC_PCSR Write only Write only Read only – – 0x0 Name PMC_SCER PMC_SCDR PMC_SCSR Access Write only Write only Read only Reset State – – 0x1 139 PMC System Clock Enable Register Register Name: Access Type: 31 – 23 – 15 – 7 – PMC_SCER Write only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 – 28 – 20 – 12 – 4 – 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 – 25 – 17 – 9 – 1 – 24 – 16 – 8 – 0 CPU • CPU: CPU Clock Enable 0 = No effect. 1 = Enables the CPU clock. PMC System Clock Disable Register Register Name: Access Type: 31 – 23 – 15 – 7 – PMC_SCDR Write only 30 – 22 – 14 – 6 – 29 – 21 – 13 – l 28 – 20 – 12 – 4 – 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 – 25 – 17 – 9 – 1 – 24 – 16 – 8 – 0 CPU 5 – • CPU: CPU Clock Disable 0 = No effect. 1 = Disables the CPU (ARM core) clock. 140 AT91M63200 AT91M63200 PMC System Clock Status Register Register Name: Access Type: 31 – 23 – 15 – 7 – PMC_SCSR Read only 30 – 22 – 14 – 6 – 29 – 21 – 13 – 5 – 28 – 20 – 12 – 4 – 27 – 19 – 11 – 3 – 26 – 18 – 10 – 2 – 25 – 17 – 9 – 1 – 24 – 16 – 8 – 0 CPU • CPU: CPU Clock Status 0 = CPU clock is enabled. 1 = CPU clock is disabled. 141 PMC Peripheral Clock Enable Register Register Name: Access Type: 31 – 23 – 15 – 7 TC1 PMC_PCER Write only 30 – 22 – 14 PIOB 6 TC0 29 – 21 – 13 PIOA 5 SPI 28 – 20 – 12 – 4 US2 27 – 19 – 11 TC5 3 US1 26 – 18 – 10 TC4 2 US0 25 – 17 – 9 TC3 1 – 24 – 16 – 8 TC2 0 – • • • • • • • • • • • • US0: USART0 Clock. Enable 0 = No effect. 1 = Enables the USART0 clock. US1: USART1 Clock. Enable 0 = No effect. 1 = Enables the USART1 clock. US2: USART2 Clock. Enable 0 = No effect. 1 = Enables the USART2 clock. SPI: SPI Clock. Enable 0 = No effect. 1 = Enables the SPI clock. TC0: TC0 Clock. Enable 0 = No effect. 1 = Enables the TC0 clock. TC1: TC1 Clock. Enable 0 = No effect. 1 = Enables the TC1 clock. TC2: TC2 Clock. Enable 0 = No effect. 1 = Enables the TC2 clock. TC3: TC3 Clock. Enable 0 = No effect. 1 = Enables the TC3 clock. TC4: TC4 Clock. Enable 0 = No effect. 1 = Enables the TC4 clock. TC5: TC5 Clock. Enable 0 = No effect. 1 = Enables the TC5 clock. PIOA: PIOA Clock. Enable 0 = No effect. 1 = Enables the PIOA clock. PIOB: PIOB Clock. Enable 0 = No effect. 1 = Enables the PIOB clock. 142 AT91M63200 AT91M63200 PMC Peripheral Clock Disable Register Register Name: Access Type: 31 – 23 – 15 – 7 TC1 PMC_PCDR Write only 30 – 22 – 14 PIOB 6 TC0 29 – 21 – 13 PIOA 5 SPI 28 – 20 – 12 – 4 US2 27 – 19 – 11 TC5 3 US1 26 – 18 – 10 TC4 2 US0 25 – 17 – 9 TC3 1 – 24 – 16 – 8 TC2 0 – • • • • • • • • • • • • US0: USART0 Clock. Disable 0 = No effect. 1 = Disables the USART0 clock. US1: USART1 Clock. Disable 0 = No effect. 1 = Disables the USART1 clock. US2: USART2 Clock. Disable 0 = No effect. 1 = Disables the USART2 clock. SPI: SPI Clock. Disable 0 = No effect. 1 = Disables the SPI clock. TC0: TC0 Clock. Disable 0 = No effect. 1 = Disables the TC0 clock. TC1: TC1 Clock. Disable 0 = No effect. 1 = Disables the TC1 clock. TC2: TC2 Clock. Disable 0 = No effect. 1 = Disables the TC2 clock. TC3: TC3 Clock. Disable 0 = No effect. 1 = Disables the TC3 clock. TC4: TC4 Clock. Disable 0 = No effect. 1 = Disables the TC4 clock. TC5: TC5 Clock. Disable 0 = No effect. 1 = Disables the TC5 clock. PIOA: PIOA Clock. Disable 0 = No effect. 1 = Disables the Parallel IO A clock. PIOB: PIOB Clock. Disable 0 = No effect. 1 = Disables the Parallel IO B clock. 143 PMC Peripheral Clock Status Register Register Name: Access Type: 31 – 23 – 15 – 7 TC1 PMC_PCSR Read only 30 – 22 – 14 PIOB 6 TC0 29 – 21 – 13 PIOA 5 SPI 28 – 20 – 12 – 4 US2 27 – 19 – 11 TC5 3 US1 26 – 18 – 10 TC4 2 US0 25 – 17 – 9 TC3 1 – 24 – 16 – 8 TC2 0 – • • • • • • • • • • • • US0: USART0 Clock Status 0 = USART0 clock is disabled. 1 = USART0 clock is enabled. US1: USART1 Clock Status 0 = USART1 clock is disabled. 1 = USART1 clock is enabled. US2: USART2 Clock Status 0 = USART2 clock is disabled. 1 = USART2 clock is enabled. SPI: SPI Clock Status 0 = SPI clock is disabled. 1 = SPI clock is enabled. TC0: TC0 Clock Status 0 = TC0 clock is disabled. 1 = TC0 clock is enabled. TC1: TC1 Clock Status 0 = TC1 clock is disabled. 1 = TC1 clock is enabled. TC2: TC2 Clock Status 0 = TC2 clock is disabled. 1 = TC2 clock is enabled. TC3: TC3 Clock Status 0 = TC3 clock is disabled. 1 = TC3 clock is enabled. TC4: TC4 Clock Status 0 = TC4 clock is disabled. 1 = TC4 clock is enabled. TC5: TC5 Clock Status 0 = TC5 clock is disabled. 1 = TC5 clock is enabled. PIOA: PIOA Clock Status 0 = PIOA clock is disabled. 1 = PIOA clock is enabled. PIOB: PIOB Clock Status 0 = PIOB clock is disabled. 1 = PIOB clock is enabled. 144 AT91M63200 AT91M63200 SF: Special Function Registers The M63X00 provides registers which implement the following special functions: • Chip identification: a chip identifier module which enables software to recognize certain characteristics of the chip and the version number • RESET status • Protect mode (see “Protect Mode” on page 42) SF User Interface Chip ID Base Address: 0xFFF00000 Table 18. SF Memory Map Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 Register Chip ID Register Chip ID Extension Register Reset Status Register Reserved Reserved Reserved Protect Mode Register Name SF_CIDR SF_EXID SF_RSR – – – SF_PMR Access Read only Read only Read only – – – Read/Write Reset State Hardwired Hardwired See register description – – – 0x0 Chip ID Register Register Name: Access Type: 31 EXT 23 22 ARCH 15 14 NVDSIZ 7 0 6 1 5 0 4 3 2 VERSION 13 12 11 10 NVPSIZ 1 0 SF_CIDR Read only 30 29 NVPTYP 21 20 19 18 VDSIZ 9 8 28 27 26 ARCH 17 16 25 24 • VERSION: Version of the chip This value is incremented by one with each new version of the chip (from zero to a maximum value of 31). 145 • NVPSIZ: Nonvolatile Program Memory Size NVPSIZ 0 0 0 0 1 0 0 1 1 0 Others 0 1 0 1 0 0 1 1 1 1 Size None 32K bytes 64K bytes 128K bytes 256K bytes Reserved • NVDSIZ: Nonvolatile Data Memory Size NVDSIZ 0 0 Others 0 0 Size None Reserved • VDSIZ: Volatile Data Memory Size VDSIZ 0 0 0 0 1 0 0 0 1 0 Others 0 0 1 0 0 0 1 0 0 0 Size None 1K bytes 2K bytes 4K bytes 8K bytes Reserved • ARCH: Chip Architecture Code of Architecture: Two BCD digits 0110 0011 0100 0000 AT91x63yyy AT91x40yyy • NVPTYP: Nonvolatile Program Memory Type NVPTYP 0 0 0 0 1 0 0 1 1 x 0 1 0 1 x Type Reserved “M” Series (Mask ROM or ROM less) “C” Series (Programmable Flash through Parallel Port) “S” Series (Programmable Flash through Serial Port) Reserved • EXT: Extension Flag 0 = Chip ID has a single register definition without extensions. 1 = An extended chip ID exists (to be defined in the future). 146 AT91M63200 AT91M63200 Chip ID Extension Register Register Name: SF_EXID Access Type: Read only This register is reserved for future use. It will be defined when needed. Reset Status Register Register Name: Access Type: 31 – 23 – 15 – 7 SF_RSR Read only 30 – 22 – 14 – 6 29 – 21 – 13 – 5 28 – 20 – 12 – 4 RESET 27 – 19 – 11 – 3 26 – 18 – 10 – 2 25 – 17 – 9 – 1 24 – 16 – 8 – 0 • RESET: Reset Status Information This field indicates whether the reset was demanded by the external system (via NRST) or by the Watchdog internal reset request. Reset 0x6C 0x53 Cause of Reset External Pin Internal Watchdog SF Protect Mode Register Register Name: Access Type: Reset Value: 31 SF_PMR Read/Write 0 30 29 28 PMRKEY 27 26 25 24 23 22 21 20 PMRKEY 19 18 17 16 15 – 7 – 14 – 6 – 13 – 5 AIC 12 – 4 – 11 – 3 – 10 – 2 – 9 – 1 – 8 – 0 – • • PMRKEY: Protect Mode Register Key Used only when writing SF_PMR. PMRKEY is read as 0. 0x27A8: Write access in SF_PMR is allowed. Other value: Write access in SF_PMR is prohibited. AIC: AIC Protect Mode Enable 0 = The Advanced Interrupt Controller runs in normal mode. 1 = The Advanced Interrupt Controller runs in protect mode. See “Protect Mode” on page 42. 147 JTAG Boundary Scan Register The Boundary Scan Register (BSR) contains 303 bits which correspond to active pins and associated control signals. Each AT91M63200 input pin has a corresponding bit in the Boundary Scan Register for observability. Each AT91M63200 output pin has a corresponding 2-bit register in the BSR. The OUTPUT bit contains data which can be forced on the pad. The CTRL bit can put the pad into high impedance. Each AT91M63200 in/out pin corresponds to a 3-bit register in the BSR. The OUTPUT bit contains data which can be forced on the pad. The INPUT bit is for the observability of data applied to the pad. The CTRL bit selects the direction of the pad. Table 19. JTAG Boundary Scan Register Bit Number 303 302 301 300 299 298 297 NWDOVF 296 295 294 293 292 291 290 289 288 287 286 285 284 283 282 281 PB13 INOUT PB14 INOUT PB15 INOUT PB16 INOUT PB17/MCKO INOUT OUTPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL MCKI INPUT PB18/BMS INOUT Pin Name NWAIT NRST Pin Type INPUT INPUT Associated BSR Cells INPUT INPUT OUTPUT INPUT CTRL INPUT OUTPUT Table 19. JTAG Boundary Scan Register (Continued) Bit Number 280 279 278 277 276 275 274 273 272 271 270 269 268 267 266 265 264 263 262 261 260 259 258 257 256 255 254 253 252 251 250 249 248 PB2/MPI_NUB INOUT PB3 INOUT PB4 INOUT PB5 INOUT PB6 INOUT PB7 INOUT PB8 INOUT PB9 INOUT PB10 INOUT PB11 INOUT PB12 INOUT Pin Name Pin Type Associated BSR Cells OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL 148 AT91M63200 AT91M63200 Table 19. JTAG Boundary Scan Register (Continued) Bit Number 247 246 245 244 243 242 241 MPI_D15 240 239 MPI_D14 238 237 MPI_D13 236 235 MPI_D12 234 233 MPI_D11 232 231 MPI_D10 230 229 MPI_D9 228 227 MPI_D8 226 225 224 MPI_D7 223 222 MPI_D6 221 220 MPI_D5 219 218 MPI_D4 217 216 MPI_D3 215 214 MPI_D2 213 INOUT INPUT INOUT INPUT OUTPUT 180 179 PA25MOSI INOUT INPUT CTRL INOUT INPUT OUTPUT 182 181 CTRL OUTPUT INOUT INPUT OUTPUT 184 183 PA26NPCS0 INOUT OUTPUT INPUT INOUT INPUT OUTPUT 186 185 PA27NPCS1 INOUT INPUT CTRL INOUT INPUT OUTPUT 188 187 CTRL OUTPUT MPI_D[15:8] INOUT INOUT INPUT CTRL OUTPUT 191 190 189 PA28NPCS2 INOUT CTRL OUTPUT INPUT INOUT INPUT OUTPUT 193 192 PA29NPCS3 INOUT OUTPUT INPUT INOUT INPUT OUTPUT 195 194 MPI_A2 MPI_A1 INPUT INPUT INPUT INPUT INOUT INPUT OUTPUT 197 196 MPI_A4 MPI_A3 INPUT INPUT INPUT INPUT INOUT INPUT OUTPUT 199 198 MPI_A6 MPI_A5 INPUT INPUT INPUT INPUT INOUT INPUT OUTPUT 201 200 MPI_A8 MPI_A7 INPUT INPUT INPUT INPUT INOUT INPUT OUTPUT 203 202 MPI_NCS MPI_A9 INPUT INPUT INPUT INPUT INOUT INPUT OUTPUT 205 204 MPI_BR MPI_RNW INPUT INPUT INPUT INPUT PB0/MPI_NOE INOUT PB1/MPI_NLB INOUT Pin Name Pin Type Associated BSR Cells OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT Table 19. JTAG Boundary Scan Register (Continued) Bit Number 212 MPI_D1 211 210 MPI_D0 209 208 207 MPI_BG 206 OUTPUT CTRL MPI_D[7:0] INOUT INOUT INPUT CTRL OUTPUT INOUT INPUT OUTPUT Pin Name Pin Type Associated BSR Cells OUTPUT 149 Table 19. JTAG Boundary Scan Register (Continued) Bit Number 178 177 176 175 174 173 172 171 170 169 168 167 166 165 164 163 162 161 160 159 158 157 156 155 154 153 152 151 150 149 148 147 146 PA14/SCK0 INOUT PA15/TXD0 INOUT PA16/RXD0 INOUT PA17/SCK1 INOUT PA18/TXD1/NTRI INOUT PA19RXD1 INOUT PA20SCK2 INOUT PA21TXD2 INOUT PA22RXD2 INOUT PA23SPCK INOUT PA24MISO INOUT Pin Name Pin Type Associated BSR Cells OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL Table 19. JTAG Boundary Scan Register (Continued) Bit Number 145 144 143 142 141 140 139 138 137 136 135 134 133 132 131 130 129 128 127 126 125 124 123 122 121 120 119 118 117 116 115 114 113 PA3/TCLK4 INOUT PA4/TIOA4 INOUT PA5/TIOB4 INOUT PA6/TCLK5 INOUT PA7/TIOA5 INOUT PA8/TIOB5 INOUT PA9/IRQ0 INOUT PA10/IRQ1 INOUT PA11/IRQ2 INOUT PA12/IRQ3 INOUT PA13/FIQ INOUT Pin Name Pin Type Associated BSR Cells OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL 150 AT91M63200 AT91M63200 Table 19. JTAG Boundary Scan Register (Continued) Bit Number 112 111 110 109 108 107 106 105 104 103 102 101 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 PB20/TIOA0 INOUT PB21/TIOB0 INOUT PB22/TCLK1 INOUT PB23/TIOA1 INOUT PB24/TIOB1 INOUT PB25/TCLK2 INOUT PB26/TIOA2 INOUT PB27/TIOB2 INOUT PA0/TCLK3 INOUT PA1/TIOA3 INOUT PA2/TIOB3 INOUT Pin Name Pin Type Associated BSR Cells OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL OUTPUT INPUT CTRL Table 19. JTAG Boundary Scan Register (Continued) Bit Number 79 78 77 76 D15 75 74 D14 73 72 D13 71 70 D12 69 68 D11 67 66 D10 65 64 D9 63 62 D8 61 60 59 D7 58 57 D6 56 55 D5 54 53 D4 52 51 D3 50 49 D2 48 47 D1 46 INOUT OUTPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT D[15:8] INOUT INOUT OUTPUT CTRL INPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT INOUT OUTPUT INPUT PB19/TCLK0 INOUT Pin Name Pin Type Associated BSR Cells OUTPUT INPUT CTRL INPUT 151 Table 19. JTAG Boundary Scan Register (Continued) Bit Number 45 D0 44 43 42 A23/CS4 41 40 A22/CS5 39 38 A21/CS6 37 36 A20/CS7 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 A19 A18 A17 A16 A[19:16] A15 A14 A13 A12 A11 A10 A9 A8 A[15:8] A7 A6 A5 A4 A3 A2 A1 NLB/A0 A[7:0] NCS3 OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT CTRL OUTPUT OUTPUT OUTPUT OUTPUT CTRL OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT CTRL OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT CTRL OUTPUT OUTPUT CTRL OUTPUT OUTPUT CTRL OUTPUT OUTPUT CTRL OUTPUT D[7:0] INOUT INOUT OUTPUT CTRL OUTPUT Pin Name Pin Type Associated BSR Cells INPUT Table 19. JTAG Boundary Scan Register (Continued) Bit Number 10 9 8 7 NUB/NWR1 6 5 NWE/NWR0 4 3 NOE/NRD 2 NCS[3:0] NUB/NWR1 NWE/NWR0 NOE/NRD INOUT INPUT INOUT INPUT OUTPUT INOUT INPUT OUTPUT Pin Name NCS2 NCS1 NCS0 Pin Type OUTPUT OUTPUT OUTPUT Associated BSR Cells OUTPUT OUTPUT OUTPUT OUTPUT 1 INOUT CTRL 152 AT91M63200 Atmel Headquarters Corporate Headquarters 2325 Orchard Parkway San Jose, CA 95131 TEL (408) 436-4228 (408) 487-2610 FAX (408) 487-2600 Atmel Operations Atmel Colorado Springs 1150 E. Cheyenne Mtn. Blvd. Colorado Springs, CO 80906 TEL (719) 576-3300 FAX (719) 540-1759 Europe Atmel U.K., Ltd. Coliseum Business Centre Riverside Way Camberley, Surrey GU15 3YL England TEL (44) 1276-686677 FAX (44) 1276-686697 Atmel Rousset Zone Industrielle 13106 Rousset Cedex, France TEL (33) 4 42 53 60 00 FAX (33) 4 42 53 60 01 Asia Atmel Asia, Ltd. Room 1219 Chinachem Golden Plaza 77 Mody Road Tsimshatsui East Kowloon, Hong Kong TEL (852) 27219778 FAX (852) 27221369 Japan Atmel Japan K.K. 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