AT91R40807

Features • Incorporates 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) On-chip SRAM and/or ROM – 32-bit Data Bus – Single-clock Cycle Access Fully Programmable External Bus Interface (EBI) – Maximum External Address Space of 64M Bytes – Up to 8 Chip Selects – Software Programmable 8/16-bit External Databus 8-level Priority, Individually Maskable, Vectored Interrupt Controller – 4 External Interrupts, Including a High-priority Low-latency Interrupt Request 32 Programmable I/O Lines 3-channel 16-bit Timer/Counter – 3 External Clock Inputs – 2 Multi-purpose I/O Pins per Channel 2 USARTs – 2 Dedicated Peripheral Data Controller (PDC) Channels per USART Programmable Watchdog Timer Advanced Power-saving Features – CPU and Peripheral Can be Deactivated Individually Available in a 100-lead TQFP Package Microcontroller AT91M40800 AT91R40807 AT91M40807 AT91R40008 Primary SRAM Bank 8K Bytes 8K Bytes 8K Bytes 256K Bytes Secondary SRAM Bank – 128K Bytes – – ROM – – 128K Bytes – • • • • • • • • • AT91 ARM® Thumb® Microcontrollers AT91M40800 AT91R40807 AT91M40807 AT91R40008 Description The AT91X40 Series is a subset 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 AT91X40 Series features a direct connection to off-chip memory, including Flash, through the fully programmable External Bus Interface (EBI). An eight-level priority vectored interrupt controller, in conjunction with the Peripheral Data Controller significantly improve the real-time performance of the device. The devices are manufactured using Atmel’s high-density CMOS technology. By combining the ARM7TDMI processor core with on-chip high-speed memory and a wide range of peripheral functions on a monolithic chip, the Atmel AT91X40 Series is a family of powerful microcontrollers that offer a flexible, cost-effective solution to many compute-intensive embedded control applications. Rev. 1354D–ATARM–05/02 1 Pin Configuration Figure 1. AT91X40 Series Pinout (Top View) P21/TXD1/NTRI P15/RXD0 P20/SCK1 P13/SCK0 VDDCORE P14/TXD0 P6/TCLK2 P3/TCLK1 P8/TIOB2 P7/TIOA2 P11/IRQ2 P10/IRQ1 P12/FIQ VDDIO P5/TIOB1 P9/IRQ0 P4/TIOA1 P18 75 74 73 P19 72 71 P17 70 69 68 67 66 65 GND P16 64 63 62 61 60 59 58 57 56 55 54 53 GND 52 P22/RXD1 NWR1/NUB GND NRST NWDOVF VDDIO MCKI P23 P24/BMS P25/MCKO GND GND TMS TDI TDO TCK NRD/NOE NWR0/NWE VDDCORE VDDIO NWAIT NCS0 NCS1 P26/NCS2 P27/NCS3 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 51 50 49 48 47 46 45 44 43 42 41 40 P2/TIOB0 GND P1/TIOA0 P0/TCLK0 D15 D14 D13 D12 VDDIO D11 D10 D9 D8 D7 D6 D5 GND D4 D3 D2 D1 D0 P31/A23/CS4 P30/A22/CS5 VDDIO VDDCORE P29/A21/CS6 100-lead TQFP 39 38 37 36 35 34 33 32 31 30 29 28 27 26 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 A19 A16 GND A14 GND GND A11 A12 A10 A13 A15 A17 A18 A5 A6 A7 A8 A9 2 AT91X40 Series 1354D–ATARM–05/02 P28/A20/CS7 A0/NLB A4 VDDIO A1 A2 A3 25 2 3 4 5 6 7 8 1 9 AT91X40 Series Table 1. AT91X40 Series Pin Description Module EBI Name A0 - A23 D0 - D15 NCS0 - NCS3 CS4 - CS7 NWR0 NWR1 NRD NWE NOE NUB NLB NWAIT BMS AIC FIQ IRQ0 - IRQ2 TC TCLK0 - TCLK2 TIOA0 - TIOA2 TIOB0 - TIOB2 USART SCK0 - SCK1 TXD0 - TXD1 RXD0 - RXD1 PIO WD Clock P0 - P31 NWDOVF MCKI MCKO Reset NRST NTRI ICE TMS TDI TDO TCK Power VDDIO VDDCORE GND Function Address Bus Data Bus Chip Select Chip Select Lower Byte 0 Write Signal Upper Byte 1 Write Signal Read Signal Write Enable Output Enable Upper Byte Select Lower Byte Select Wait Input Boot Mode Select Fast Interrupt Request External Interrupt Request Timer External Clock Multipurpose Timer I/O Pin A Multipurpose Timer I/O Pin B External Serial Clock Transmit Data Output Receive Data Input Parallel IO Line Watchdog Overflow Master Clock Input Master Clock Output Hardware Reset Input Tri-state Mode Select Test Mode Select Test Data Input Test Data Output Test Clock I/O Power Core Power Ground Type Output I/O Output Output Output Output Output Output Output Output Output Input Input Input Input Input I/O I/O I/O Output Input I/O Output Input Output Input Input Input Input Output Input Power Power Ground Active Level – – Low High Low Low Low Low Low Low Low Low – – – – – – – – – – Low – – Low Low – – – – – – – Schmidt trigger, internal pull-up Schmidt trigger Sampled during reset Schmidt trigger, internal pull-up Schmidt trigger, internal pull-up Open-drain Schmidt trigger Sampled during 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 A23 - A20 after 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 Select option Comments All valid after reset 3 1354D–ATARM–05/02 Block Diagram TMS TDO TDI TCK Figure 2. AT91X40 Series Embedded ICE Reset NRST D0-D15 ARM7TDMI Core ASB ROM or Extended SRAM Clock P25/MCKO RAM MCKI EBI: External Bus Interface A1-A19 A0/NLB NRD/NOE NWR0/NWE NWR1/NUB NWAIT NCS0 NCS1 P26/NCS2 P27/NCS3 P28/A20/CS7 P29/A21/CS6 P30/A22/CS5 P31/A23/CS4 ASB Controller AMBA Bridge P12/FIQ P9/IRQ0 P10/IRQ1 P11/IRQ2 P I O AIC: Advanced Interrupt Controller EBI User Interface P13/SCK0 P14/TXD0 P15/RXD0 P20/SCK1 P21/TXD1/NTRI P22/RXD1 USART0 2 PDC Channels APB 2 PDC Channels TC: Timer Counter TC0 P I O P0/TCLK0 P3/TCLK1 P6/TCLK2 P1/TIOA0 P2/TIOB0 P4/TIOA1 P5/TIOB1 P7/TIOA2 P8/TIOB2 USART1 TC1 TC2 PS: Power Saving P16 P17 P18 P19 P23 P24/BMS WD: Watchdog Timer NWDOVF Chip ID PIO: Parallel I/O Controller 4 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Architectural Overview The AT91X40 Series Microcontrollers integrate an ARM7TDMI with its embedded ICE interface, memories and peripherals. The series ’ architecture consists of two main buses, the Advanced System Bus (ASB) and the Advanced Peripheral Bus (APB). Designed for maximum performance and controlled by the memory controller, the ASB interfaces the ARM7TDMI processor with the on-chip 32-bit memories, the External Bus Interface (EBI) and the AMBA™ Bridge. The AMBA Bridge drives the APB, which is designed for accesses to on-chip peripherals and optimized for low-power consumption. The AT91X40 Series Microcontrollers implement the ICE port of the ARM7TDMI processor on dedicated pins, offering a complete, low-cost and easy-to-use debug solution for target debugging. Memories The AT91X40 Series Microcontrollers embed up to 256K bytes of internal SRAM, and up to 128K bytes of ROM. The internal memories are directly connected to the 32-bit data bus and are single-cycle accessible. This provides maximum performance of 0.9 MIPS/MHz by using the ARM instruction set of the processor, minimizing system power consumption and improving the performance of separate memory solutions. The AT91X40 Series Microcontrollers feature an External Bus Interface (EBI), which enables connection of external memories and application-specific peripherals. The EBI supports 8- or 16-bit devices and can use two 8-bit devices to emulate a single 16-bit device. The EBI implements the early read protocol, enabling faster memory accesses than standard memory interfaces. Peripherals The AT91X40 Series Microcontrollers integrate several peripherals, which are classified as system or user peripherals. All on-chip peripherals are 32-bit accessible by the AMBA Bridge, and can be programmed with a minimum number of instructions. The peripheral register set is composed of control, mode, data, status and enable/disable/status registers. An on-chip Peripheral Data Controller (PDC) transfers data between the on-chip USARTs and on- and off-chip memories address space without processor intervention. Most importantly, the PDC removes the processor interrupt handling overhead, making it possible to transfer up to 64K continuous bytes without reprogramming the start address, thus increasing the performance of the microcontroller, and reducing the power consumption. System Peripherals The External Bus Interface (EBI) controls the external memory or devices via an 8-bit or 16-bit data bus, and is programmed through the Advanced Peripheral Bus (APB). Each chip select line has its own programming register. The Power Saving (PS) module implements the Idle Mode (ARM7TDMI core clock stopped until the next interrupt) and enables the user to adapt the power consumption of the microcontroller to application requirements (independent peripheral clock control). The Advanced Interrupt Controller (AIC) controls the internal sources from the internal peripherals and the four external interrupt lines (including the FIQ) to provide an interrupt and/or fast interrupt request to the ARM7TDMI. It integrates an 8-level priority controller, and, using the Auto-vectoring feature, reduces the interrupt latency time. The Parallel Input/Output Controller (PIO) controls up to 32 I/O lines. It enables the user to select specific pins for on-chip peripheral input/output functions, and general-purpose input/output signal pins. The PIO controller can be programmed to detect an interrupt on a signal change from each line. 5 1354D–ATARM–05/02 The Watchdog (WD) can be used to prevent system lock-up if the software becomes trapped in a deadlock. The Special Function (SF) module integrates the Chip ID, the Reset Status and the Protect registers. User Peripherals Two USARTs, independently configurable, enable communication at a high baud rate in Synchronous or Asynchronous Mode. The format includes start, stop and parity bits and up to 8 data bits. Each USART also features a Timeout and a Time Guard register, facilitating the use of the two dedicated Peripheral Data Controller (PDC) channels. The 3-channel, 16-bit Timer Counter (TC) is highly-programmable and supports Capture or Waveform Modes. Each TC channel can be programmed to measure or generate different kinds of waves, and can detect and control two input/output signals. The TC also has 3 external clock signals. 6 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Associated Documentation Table 2. Associated Documentation Product Information Internal architecture of processor ARM/Thumb instruction sets Embedded in-circuit-emulator AT91M40800 Pinout Mechanical characteristics Ordering information Timings DC characteristics Internal architecture of processor ARM/Thumb instruction sets Embedded in-circuit-emulator AT91R40807 Pinout Mechanical characteristics Ordering information Timings DC characteristics Internal architecture of processor ARM/Thumb instruction sets Embedded in-circuit-emulator AT91M40807 Pinout Mechanical characteristics Ordering information Timings DC characteristics Internal architecture of processor ARM/Thumb instruction sets Embedded in-circuit-emulator AT91R40008 Pinout Mechanical characteristics Ordering information Timings DC characteristics Document Title ARM7TDMI (Thumb) Datasheet AT91M40800 Summary Datasheet AT91M40800 Electrical Characteristics ARM7TDMI (Thumb) Datasheet AT91R40807 Summary Datasheet AT91R40807 Electrical Characteristics ARM7TDMI (Thumb) Datasheet AT91M40807 Summary Datasheet AT91M40807 Electrical Characteristics ARM7TDMI (Thumb) Datasheet AT91R40008 Summary Datasheet AT91R40008 Electrical Characteristics 7 1354D–ATARM–05/02 Product Overview Power Supply The AT91x40 Series Microcontrollers have two types of power supply pins - VDDIO and VDDCORE. However, the AT91M40800, the AT91M40807 and the AT91R40807 have single-supply VDD, VDDIO and VDDCORE pins that have to be tied to the same voltage. For further details on power supplies and acceptable voltage range on VDD, VDDIO and VDDCORE, refer to the product Summary Datasheet or the product Electrical Characteristics datasheet. The AT91M40807, the AT91R40807 and the AT91R40008 accept voltage levels up to their power supply limit on the pads. The AT91M40800 Microcontroller I/O pads are 5V-tolerant, enabling it to interface with external 5V devices without any additional components. 5V-tolerant means that the AT91M40800 accepts 5V (3V) on the inputs even if it is powered at 3V (2V). Refer to the AT91M40800 Electrical Characteristics datasheet for further details. After the reset, the peripheral I/Os are initialized as inputs to provide the user with maximum flexibility. It is recommended that in any application phase, the inputs to the AT91X40 Series Microcontroller be held at valid logic levels to minimize the power consumption. Input/Output Considerations Master Clock The AT91X40 Series Microcontrollers have a fully static design and work on the Master Clock (MCK), provided on the MCKI pin from an external source. The Master Clock is also provided as an output of the device on the pin MCKO, which is multiplexed with a general-purpose I/O line. While NRST is active, the MCKO stays low. After the reset, the MCKO is valid and outputs an image of the MCK signal. The PIO Controller must be programmed to use this pin as standard I/O line. Reset Reset restores the default states of the user interface registers (defined in the user interface of each peripheral), and forces the ARM7TDMI to perform the next instruction fetch from address zero. Except for the program counter the ARM7TDMI registers do not have defined reset states. NRST is active low-level input. It is asserted asynchronously, but exit from reset is synchronized internally to the MCK. The signal presented on MCK must be active within the specification for a minimum of 10 clock cycles up to the rising edge of NRST, to ensure correct operation. The first processor fetch occurs 80 clock cycles after the rising edge of NRST. The watchdog can be programmed to generate an internal reset. In this case, the reset has the same effect as the NRST pin assertion, but the pins BMS and NTRI are not sampled. Boot Mode and Tri-state Mode are not updated. If the NRST pin is asserted and the watchdog triggers the internal reset, the NRST pin has priority. NRST Pin Watchdog Reset Emulation Function Tri-state Mode The AT91X40 Series provides a tri-state mode, which is used for debug purposes. This enables the connection of an emulator probe to an application board without having to desolder the device from the target board. In tri-state mode, all the output pin drivers of the AT91X40 Series Microcontroller are disabled. 8 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series To enter tri-state 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 400K Ohm. NTRI is multiplexed with I/O line P21 and USART 1 serial data transmit line TXD1. Standard RS-232 drivers generally contain internal 400K Ohm pull-up resistors. If TXD1 is connected to a device not including this pull-up, the user must make sure that a high level is tied on NTRI while NRST is asserted. JTAG/ICE Debug ARM standard embedded In-circuit Emulation is supported via the JTAG/ICE port. The pins TDI, TDO, TCK and TMS are dedicated to this debug function and can be connected to a host computer via the external ICE interface. In ICE Debug Mode, the ARM7TDMI core responds with a non-JTAG chip ID that identifies the microcontroller. This is not fully IEEE1149.1 compliant. Memory Controller The ARM7TDMI processor address space is 4G bytes. The memory controller decodes the internal 32-bit address bus and defines three address spaces: • • • Internal Memories in the four lowest megabytes Middle Space reserved for the external devices (memory or peripherals) controlled by the EBI Internal Peripherals in the four highest megabytes In any of these address spaces, the ARM7TDMI operates in Little-Endian Mode only. Internal Memories The AT91X40 Series Microcontrollers integrate one or two banks of internal static SRAM and/or one bank of ROM. All internal memories are 32 bits wide and single-clock cycle accessible. Byte (8-bit), halfword (16-bit) or word (32-bit) accesses are supported and are executed within one cycle. Fetching Thumb or ARM instructions is supported and internal memory can store twice as many Thumb instructions as ARM ones. All the AT91X40 Series Microcontrollers integrate a primary 8-Kbyte or 256-Kbyte SRAM bank, accessible at address 0x0 (after the remap). The AT91R40807 integrates a secondary SRAM memory bank of 128K bytes at address 0x10 0000. This secondary bank can be used to emulate the ROM of the AT91M40807. The AT91M40807 Microcontroller integrates 128K bytes of internal ROM at address 0x10 0000. It offers a reduced-cost option of the AT91R40807 for high-volume applications in which the software is stable. Using Internal Memories The primary RAM bank is always mapped at address 0x30 0000 before remap and at address 0x0 after the remap, allowing ARM7TDMI exception vectors to be modified by the software. Making the RAM bank accessible before remap allows the user to copy ARM exception vectors and boot code into the bank prior to remap. The rest of the bank can be used for stack allocation to speed up context saving and restoration, or as data and program storage for critical algorithms. Placing the SRAM on-chip and using a 32-bit data bus bandwidth maximizes microcontroller performance while minimizing system power consumption. The 32-bit bus optimizes use of the ARM instruction set and offers the ability to process data wider than 16 bits, thus making optimal use of the ARM7TDMI advanced performance. The capability to update application software dynamically in an internal SRAM bank adds an extra dimension to the AT91X40 Series Microcontrollers. 9 1354D–ATARM–05/02 ROM Emulation T he AT9 1 R 4 0 8 0 7 p r ov id e s a n id e a l m e an s o f e mu la t in g th e R O M v e rs io n AT91M40807. The secondary SRAM bank of the AT91R40807 is mapped to the same address as the ROM of the AT91M40807. It is write-protected after a reset; writing 0x1 in the Memory Mode Register of the Special Function Module can disable this protection. At system power-up, the code is downloaded from an external non-volatile memory or through a debugger to the on-chip secondary SRAM bank of the AT91R40807. After the secondary SRAM bank write-protection is enabled, the application is in the same environment as though it were running on an AT91M40807. Boot Mode Select The ARM reset vector is at address 0x0. After the NRST line is released, the ARM7TDMI executes the instruction stored at this address. This means that this address must be mapped in non-volatile memory after the reset. The input level on the BMS pin during the last 10 clock cycles before the rising edge of the NRST selects the type of boot memory. The Boot Mode depends on BMS and whether or not the AT91X40 Series Microcontroller has on-chip ROM or extended SRAM (see Table 3). The AT91R40807 supports boot in on-chip extended SRAM, for the purpose of emulating ROM versions. In this case, the microcontroller must first boot from external nonvolatile memory, and ensure that a valid program is downloaded in the on-chip extended SRAM. Then, the NRST must be reasserted by external circuitry after the level on the pin BMS is changed. The pin BMS is multiplexed with the I/O line P24 that can be programmed after reset like any standard PIO line. Table 3. Boot Mode Select BMS Product AT91M40800 AT91R40807 1 AT91M40807 AT91R40008 0 All Internal 32-bit ROM External 8-bit memory on NCS0 External 16-bit memory on NCS0 Boot Memory External 8-bit memory on NCS0 Internal 32-bit extended SRAM Remap Command The ARM vectors (Reset, Abort, Data Abort, Prefetch Abort, Undefined Instruction, Interrupt, Fast Interrupt) are mapped from address 0x0 to address 0x20. In order to allow these vectors to be redefined dynamically by the software, the AT91X40 Series Microcontrollers use a remap command that enables switching between the boot memory and the internal primary SRAM bank addresses. The remap command is accessible through the EBI User Interface, by writing one in RCB of EBI_RCR (Remap Control Register). Performing a remap command is mandatory if access to the other external devices (connected to chip selects 1 to 7) is required. The remap operation can only be changed back by an internal reset or an NRST assertion. The abort signal providing a Data Abort or a Prefetch Abort exception to the ARM7TDMI is asserted in the following cases: • • When accessing an undefined address in the EBI address space When writing to a write-protected internal memory area on the AT91R40807 Abort Control 10 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series No abort is generated when reading the internal memory or by accessing the internal peripheral, whether the address is defined or not. When a write-protected area is accessed, the memory controller detects it and generates an abort but does not cancel the access. External Bus Interface The External Bus Interface handles the accesses between addresses 0x0040 0000 and 0xFFC0 0000. It generates the signals that control access to the external devices, and can be configured from eight 1M byte banks up to four 16M bytes banks. It supports byte, half-word and word aligned accesses. For each of these banks, the user can program: • • • • Number of wait states Number of data float times (wait time after the access is finished to prevent any bus contention in case the device is too long in releasing the bus) Data bus width (8-bit or 16-bit) With a 16-bit wide data bus, the user can program the EBI to control one 16-bit device (Byte Access Select Mode) or two 8-bit devices in parallel that emulate a 16bit memory (Byte Write Access Mode). The External Bus Interface features also the Early Read Protocol, configurable for all the devices, that significantly reduces access time requirements on an external device in the case of single clock cycle access. Peripherals The AT91X40 Series’ peripherals are connected to the 32-bit wide Advanced Peripheral Bus. Peripheral registers are only word accessible – byte and half-word accesses are not supported. If a byte or a half-word access is attempted, the memory controller automatically masks the lowest address bits and generates a word access. Each peripheral has a 16-Kbyte address space allocated (the AIC only has a 4-Kbyte address space). Peripheral Registers The following registers are common to all peripherals: • Control Register – write only register that triggers a command when a one is written to the corresponding position at the appropriate address. Writing a zero has no effect. Mode Register – read/write register that defines the configuration of the peripheral. Usually has a value of 0x0 after a reset. Data Registers – read and/or write register that enables the exchange of data between the processor and the peripheral. Status Register – read only register that returns the status of the peripheral. Enable/Disable/Status Registers are shadow command registers. Writing a one in the Enable Register sets the corresponding bit in the Status Register. Writing a one in the Disable Register resets the corresponding bit and the result can be read in the Status Register. Writing a bit to zero has no effect. This register access method maximizes the efficiency of bit manipulation, and enables modification of a register with a single non-interruptible instruction, replacing the costly read-modify-write operation. • • • • Unused bits in the peripheral registers are shown as “–“ and must be written at 0 for upward compatibility. These bits read 0. 11 1354D–ATARM–05/02 Peripheral Interrupt Control The Interrupt Control of each peripheral is controlled from the status register using the interrupt mask. The status register bits are ANDed to their corresponding interrupt mask bits and the result is then ORed to generate the Interrupt Source signal to the Advanced Interrupt Controller. The interrupt mask is read in the Interrupt Mask Register and is modified with the Interrupt Enable Register and the Interrupt Disable Register. The enable/disable/status (or mask) makes it possible to enable or disable peripheral interrupt sources with a noninterruptible single instruction. This eliminates the need for interrupt masking at the AIC or Core level in real-time and multi-tasking systems. Peripheral Data Controller The AT91X40 Series Microcontroller has a 4-channel PDC dedicated to the two on-chip USARTs. One PDC channel is dedicated to the receiver and one to the transmitter of each USART. The user interface of a PDC channel is integrated in the memory space of each USART. It contains a 32-bit Address Pointer Register (RPR or TPR) and a 16-bit Transfer Counter Register (RCR or TCR). When the programmed number of transfers are performed, a status bit indicating the end of transfer is set in the USART Status Register and an interrupt can be generated. System Peripherals PS: Power-saving The Power-saving feature optimizes power consumption, enabling the software to stop the ARM7TDMI clock (Idle Mode) and restarting it when the module receives an interrupt (or reset). It also enables on-chip peripheral clocks to be enabled and disabled individually, matching power consumption and application needs. The AIC has an 8-level priority, individually maskable, vectored interrupt controller, and drives the NIRQ and NFIQ pins of the ARM7TDMI from: • • • The external fast interrupt line (FIQ) The three external interrupt request lines (IRQ0 - IRQ2) The interrupt signals from the on-chip peripherals AIC: Advanced Interrupt Controller The AIC is extensively programmable, offering maximum flexibility, and its vectoring features reduce the real-time overhead in handling interrupts. The AIC also features a spurious vector, which reduces spurious interrupt handling to a minimum, and a protect mode that facilitates the debug capabilities. PIO: Parallel IO Controller The AT91X40 Series has 32 programmable I/O lines. Six pins are dedicated as generalpurpose I/O pins. Other I/O lines are multiplexed with an external signal of a peripheral to optimize the use of available package pins. The PIO controller enables generation of an interrupt on input change and insertion of a simple input glitch filter on any of the PIO pins. The Watchdog is built around a 16-bit counter, and is used to prevent system lock-up if the software becomes trapped in a deadlock. It can generate an internal reset or interrupt, or assert an active level on the dedicated pin NWDOVF. All programming registers are password-protected to prevent unintentional programming. WD: Watchdog 12 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series SF: Special Function The AT91X40 Series provides registers that implement the following special functions. • • • • Chip identification RESET status Protect Mode Write protection for the AT91R40807 internal 128-Kbyte memory 13 1354D–ATARM–05/02 User Peripherals USART: Universal Synchronous/ Asynchronous Receiver Transmitter The AT91X40 Series provides two identical, full-duplex, universal synchronous/asynchronous receiver/transmitters. Each USART has its own baud rate generator, and two dedicated Peripheral Data Controller channels. The data format includes a start bit, up to 8 data bits, an optional programmable parity bit and up to 2 stop bits. The USART also features a Receiver Timeout register, facilitating variable length Frame support when it is working with the PDC, and a Time Guard register, used when interfacing with slow remote equipment. TC: Timer Counter The AT91X40 Series features a Timer Counter block that includes 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. The Timer Counter can be used in Capture or Waveform Mode, and all three counter channels can be started simultaneously and chained together. 14 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Memory Map Figure 3. AT91M40800/R40008 Memory Map Before and After the Remap Command Before Address 0xFFFFFFFF On-chip Peripherals Function Size Abort Control Address 0xFFFFFFFF After Function Size Abort Control 4M Bytes No On-chip Peripherals 4M Bytes No 0xFFC00000 0xFFBFFFFF 0xFFC00000 0xFFBFFFFF Yes Reserved External Devices (Up to 8) Up to 8 Devices Programmable Page Size 1, 4, 16, 64M Bytes Yes 0x00400000 0x003FFFFF On-chip Primary RAM Bank 0x00300000 0x002FFFFF Reserved On-chip Device 0x00200000 0x001FFFFF Reserved On-chip Device 0x00100000 0x000FFFFF External Devices Selected by NCS0 0x00000000 0x00400000 0x003FFFFF 1M Byte No Reserved 1M Byte No 0x00300000 0x002FFFFF Reserved On-chip Device 0x00200000 0x001FFFFF Reserved On-chip Device 0x00100000 0x000FFFFF On-chip Primary RAM Bank 0x00000000 1M Byte No 1M Byte No 1M Byte No 1M Byte No 1M Byte No 1M Byte No 15 1354D–ATARM–05/02 Figure 4. AT91R40807/M40807 Before and After the Remap Command Before Address 0xFFFFFFFF On-chip Peripherals Function Size Abort Control Address 0xFFFFFFFF On-chip Peripherals Function After Size Abort Control 4M Bytes No 4M Bytes No 0xFFC00000 0xFFBFFFFF 0xFFC00000 0xFFBFFFFF Yes Reserved External Devices (Up to 8) Up to 8 Devices Programmable Page Size 1, 4, 16, 64M Bytes Yes 0x00400000 0x003FFFFF On-chip Primary RAM Bank 0x00300000 0x002FFFFF Reserved On-chip Device 0x00200000 0x001FFFFF On-chip ROM or Secondary RAM Bank 0x00100000 0x000FFFFF External Device Selected by NCS0 or On-chip ROM or Secondary RAM Bank Yes (AT91R40807, If Write-protect Feature is Enabled) 0x00400000 0x003FFFFF 1M Byte No Reserved 1M Byte No 0x00300000 0x002FFFFF Reserved On-chip Device 0x00200000 0x001FFFFF On-chip ROM or Secondary RAM Bank 0x00100000 0x000FFFFF On-chip Primary RAM Bank 0x00000000 Yes (AT91R40807, If Write-protect Feature is Enabled) 1M Byte No 1M Byte No 1M Byte 1M Byte 1M Byte No 1M Byte No 0x00000000 16 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Peripheral Memory Map Figure 5. Peripheral Memory Map Address 0xFFFFFFFF AIC 0xFFFFF000 Reserved 0xFFFFBFFF WD 0xFFFF8000 0xFFFF7FFF PS 0xFFFF4000 0xFFFF3FFF PIO 0xFFFF0000 Reserved 0xFFFE3FFF TC 0xFFFE0000 Reserved 0xFFFD3FFF USART0 0xFFFD0000 0xFFFCFFFF USART1 0xFFFCC000 Universal Synchronous/ Asynchronous Receiver/Transmitter 0 Universal Synchronous/ Asynchronous Receiver/Transmitter 1 Reserved 0xFFF03FFF SF 0xFFF00000 Reserved 0xFFE03FFF EBI 0xFFE00000 0xFFC00000 Reserved External Bus Interface 16K Bytes Special Function 16K Bytes Timer Counter 16K Bytes Parallel I/O Controller 16K Bytes Power Saving 16K Bytes WatchdogTimer 16K Bytes Advanced Interrupt Controller 4K Bytes Peripheral Peripheral Name Size 16K Bytes 16K Bytes 17 1354D–ATARM–05/02 EBI: External Bus Interface The EBI generates the signals that 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 8- or 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 8 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 45. 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 6). 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). If two chip selects are defined as having the same base address, an access to the overlapping address space asserts both NCS lines. The Chip Select Register with the smaller number defines the characteristics of the external access and the behavior of the control signals. 18 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Figure 6. External Memory Smaller than Page Size Base + 4M Bytes 1M Byte Device Hi Low Base + 3M Bytes 1M Byte Device Memory Map 1M Byte Device Hi Low Base + 2M Bytes Hi Low Base + 1M Bytes 1M Byte Device Hi Low Base Repeat 1 Repeat 2 Repeat 3 19 1354D–ATARM–05/02 External Bus Interface 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: Table 4. EBI Signals 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 20 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 the 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 7. 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. 21 1354D–ATARM–05/02 Figure 8. 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. 22 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 9 shows how to connect a 512K x 8-bit memory on NCS2. Figure 9. 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 Figure 10 shows how to connect a 512K x 16-bit memory on NCS2. Figure 10. Memory Connection for a 16-bit Data Bus 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 23 1354D–ATARM–05/02 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 half-word and byte reads. Figure 11 shows how to connect two 512K x 8-bit devices in parallel on NCS2. Figure 11. Memory Connection for 2 x 8-bit Data Busses D0 - D7 D8 - D15 EBI A1 - A19 A0 NWR1 NWR0 NRD NCS2 Write Enable Read Enable Memory Enable A0 - A18 D0 - D7 D8 - D15 A0 - A18 Write Enable Read Enable Memory Enable 24 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 12 shows how to connect a 16-bit device with byte and half-word access (e.g. 16bit SRAM) on NCS2. Figure 12. 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 13 shows how to connect a 16-bit device without byte access (e.g. Flash) on NCS2. Figure 13. Connection for a 16-bit Data Bus without Byte Write Capability. D0 - D7 D8 - D15 EBI A1 - A19 NLB NUB NWE NOE NCS2 Write Enable Output Enable Memory Enable D0 - D7 D8 - D15 A0 - A18 25 1354D–ATARM–05/02 Boot on NCS0 Depending on the device and the BMS pin level during the reset, the user can select either an 8-bit or 16-bit external memory device connected on NCS0 as the Boot Memory. In this case, EBI_CSR0 (Chip Select Register 0) is reset at the following configuration for chip select 0: • • 8 wait states (WSE = 1, NWS = 7) 8-bit or 16-bit data bus width, depending on BMS Byte access type and number of data float time are respectively set to Byte Write Access and 0. With a non-volatile memory interface, any values can be programmed for these parameters. Before the remap command, the user can modify the chip select 0 configuration, programming the EBI_CSR0 with exact boot memory characteristics. the base address becomes effective after the remap command, but the new number of wait states can be changed immediately. This is useful if a boot sequence needs to be faster. 26 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 14). NWE is the same in both protocols. NWE always goes low in the second half of the master clock cycle (see Figure 15). 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. 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 16). 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 14. Standard Read Protocol MCKI Early Read Wait State ADDR NCS NRD or NWE 27 1354D–ATARM–05/02 Figure 15. Early Read Protocol MCKI ADDR NCS NRD or NWE Figure 16. Early Read Wait State Write Cycle MCKI Early Read Wait Read Cycle ADDR NCS NRD NWE 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 Figure 17. 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. 28 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Figure 17. Data Hold Time MCK 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. 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 (see “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 states1/2 cycle 1 wait state1 cycle For each additional wait state programmed, an additional cycle is added. 29 1354D–ATARM–05/02 Figure 18. One Wait State Access 1 Wait State Access MCK ADDR NCS NWE NRD (1) (2) Notes: 1. Early Read Protocol 2. Standard Read Protocol 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. Internal memory accesses and consecutive accesses to the same external memory do not have added Data Float wait states. 30 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Figure 19. Data Float Output Time MCK ADDR NCS NRD (1) (2) tDF D0 - D15 Notes: 1. Early Read Protocol 2. Standard Read Protocol 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 deasserted, the EBI finishes the access sequence. The NWAIT signal must meet setup and hold requirements on the rising edge of the clock. Figure 20. External Wait MCK ADDR NWAIT NCS NWE NRD (1) (2) Notes: 1. Early Read Protocol 2. Standard Read Protocol 31 1354D–ATARM–05/02 Additional constraints are applicable to the AT91R40807, the AT91M40807 and the AT91 40800. The behavior of the EBI is correct when NWAIT is asserted during an external memory access: • • When NWAIT is asserted before the first rising edge of MCKI When NWAIT is de-asserted and at least one standard wait state remains to be executed These constraints are not applicable to the AT91R40008. 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 21. Chip Select Wait Mem 1 MCK Chip Select Wait Mem 2 NCS1 NCS2 NRD (1) (2) NWE Notes: 1. Early Read Protocol 2. Standard Read Protocol 32 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Memory Access Waveforms Figures 22 through 25 show examples of the two alternative protocols for external memory read access. Figure 22. Standard Read Protocol without tDF Read Mem 2 Read Mem 2 Write Mem 2 Read Mem 1 Chip Select Change Wait Read Mem 1 Write Mem 1 MCK A0 - A23 NRD NCS1 NCS2 D0 - D15 (Mem 1) D0 - D15 (AT91) tWHDX D0 - D15 (Mem 2) NWE tWHDX 33 1354D–ATARM–05/02 34 AT91X40 Series MCK A0 - A23 NRD NWE NCS1 NCS2 D0 - D15 (Mem 1) D0- D15 (AT91) 1354D–ATARM–05/02 Figure 23. Early Read Protocol Without tDF Read Mem 1 Write Mem 1 Early Read Wait Cycle Read Mem 1 Read Mem 2 Write Mem 2 Early Read Wait Cycle Read Mem 2 Chip Select Change Wait Long tWHDX D0 - D15 (Mem 2) Long tWHDX 1354D–ATARM–05/02 Figure 24. Standard Read Protocol with tDF Read Mem 1 Data Float Wait MCK 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 NCS1 NCS2 tDF D0 - D15 (Mem 1) tDF AT91X40 Series D0 - D15 (AT91) tWHDX D0 - D15 (Mem 2) tDF 35 36 AT91X40 Series MCK A0 - A23 NRD NWE NCS1 NCS2 D0 - D15 (Mem 1) 1354D–ATARM–05/02 Figure 25. Early Read Protocol With tDF Read Mem 1 Data Float Wait 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 tDF tDF D0 - D15 (AT91) tWHDX D0 - D15 (Mem 2) tDF AT91X40 Series Figures 26 through 32 show the timing cycles and wait states for read and write access to the various AT91X40 Series external memory devices. The configurations described are shown in the following table: Table 5. Memory Access Waveforms Figure Number 26 27 28 29 30 31 32 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 37 1354D–ATARM–05/02 Figure 26. 0 Wait States, 16-bit Bus Width, Word Transfer MCK A1 - A23 ADDR ADDR+1 NCS NLB NUB READ ACCESS · Standard Protocol NRD D0 - D15 B2 B1 B 4 B3 Internal Bus X X B 2 B1 B4 B 3 B2 B 1 · Early Protocol NRD D0 - D15 B 2 B1 B 4 B3 WRITE ACCESS · Byte Write/ Byte Select Option NWE D0 - D15 B2 B 1 B 4 B3 38 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Figure 27. 1 Wait, 16-bit Bus Width, Word Transfer 1 Wait State MCK 1 Wair State A1 - A23 ADDR ADDR+1 NCS NLB NUB READ ACCESS · Standard Protocol NRD D0 - D15 B2 B1 B4 B 3 Internal Bus X X B2 B1 B 4 B 3 B2 B 1 · Early Protocol NRD D0 - D15 B2 B 1 B 4 B3 WRITE ACCESS · Byte Write/ Byte Select Option NWE D0 - D15 B2 B1 B 4 B3 39 1354D–ATARM–05/02 Figure 28. 1 Wait State, 16-bit Bus Width, Half-word Transfer 1 Wait State MCK A1 - A23 NCS NLB NUB READ ACCESS · Standard Protocol NRD D0 - D15 B2 B1 Internal Bus X X B 2 B1 · Early Protocol NRD D0 - D15 WRITE ACCESS B2 B 1 · Byte Write/ Byte Select Option NWE D0 - D15 B 2 B1 40 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Figure 29. 0 Wait States, 8-bit Bus Width, Word Transfer MCK 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 B 2 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 41 1354D–ATARM–05/02 Figure 30. 1 Wait State, 8-bit Bus Width, Half-word Transfer 1 Wait State MCK 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 42 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Figure 31. 1 Wait State, 8-bit Bus Width, Byte Transfer 1 Wait State MCK 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 43 1354D–ATARM–05/02 Figure 32. 0 Wait States, 16-bit Bus Width, Byte Transfer MCK 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 44 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 NCS0” on page 26.) The Memory Control Register (EBI_MCR) is used to program the number of active chip selects and data read protocol. 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. Base Address: 0xFFE00000 (Code Label EBI_BASE) Table 6. EBI Memory Map Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 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 Notes: 1. 8-bit boot (if BMS is detected high) 2. 16-bit boot (if BMS is detected low) 45 1354D–ATARM–05/02 EBI Chip Select Register Register Name: EBI_CSR0 - EBI_CSR7 Access Type: Reset Value: Offset: 31 Read/Write See Table 6 0x00 - 0x1C 30 29 28 BA 27 26 25 24 Absolute Address:0xFFE00000 - 0xFFE0001C 23 22 BA 21 20 19 – 18 – 10 TDF 17 – 9 16 – 8 PAGES 15 14 13 CSEN 5 WSE 12 BAT 4 11 – 7 PAGES – 6 3 NWS 2 1 DBW 0 – • DBW: Data Bus Width Code Label DBW 0 0 1 1 0 1 0 1 Data Bus Width Reserved 16-bit data bus width 8-bit data bus width Reserved EBI_DBW – EBI_DBW_16 EBI_DBW_8 – • NWS: Number of Wait States This field is valid only if WSE is set. Code Label 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 EBI_NWS EBI_NWS_1 EBI_NWS_2 EBI_NWS_3 EBI_NWS_4 EBI_NWS_5 EBI_NWS_6 EBI_NWS_7 EBI_NWS_8 • WSE: Wait State Enable (Code Label EBI_WSE) 0 = Wait state generation is disabled. No wait states are inserted. 1 = Wait state generation is enabled. 46 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series • PAGES: Page Size Code Label 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) EBI_PAGES EBI_PAGES_1M EBI_PAGES_4M EBI_PAGES_16M EBI_PAGES_64M • TDF: Data Float Output Time Code Label 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 EBI_TDF EBI_TDF_0 EBI_TDF_1 EBI_TDF_2 EBI_TDF_3 EBI_TDF_4 EBI_TDF_5 EBI_TDF_6 EBI_TDF_7 • BAT: Byte Access Type Code Label BAT 0 1 Selected BAT Byte-write access type. Byte-select access type. EBI_BAT EBI_BAT_BYTE_WRITE EBI_BAT_BYTE_SELECT • CSEN: Chip Select Enable (Code Label EBI_CSEN) 0 = Chip select is disabled. 1 = Chip select is enabled. • BA: Base Address (Code Label EBI_BA) 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. 47 1354D–ATARM–05/02 EBI Remap Control Register Register Name: EBI_RCR Access Type: Offset: 31 Write Only 0x20 30 29 28 27 26 25 24 Absolute Address:0xFFE00020 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 – 3 – 2 – 1 – 0 RCB – – – – – – – • RCB: Remap Command Bit (Code Label EBI_RCB) 0 = No effect. 1 = Cancels the remapping (performed at reset) of the page zero memory devices. 48 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series EBI Memory Control Register Register Name: EBI_MCR Access Type: Reset Value: Offset: 31 Read/Write 0 0x24 30 29 28 27 26 25 24 Absolute Address:0xFFE00024 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 DRP – 3 – 2 – 1 ALE – 0 – – – – • ALE: Address Line Enable This field determines the number of valid address lines and the number of valid chip select lines. Code Label 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 Byte Valid Chip Select None CS4 CS4, CS5 CS4, CS5, CS6 CS4, CS5, CS6, CS7 EBI_ALE EBI_ALE_16M EBI_ALE_8M EBI_ALE_4M EBI_ALE_2M EBI_ALE_1M • DRP: Data Read Protocol Code Label DRP 0 1 Selected DRP Standard read protocol for all external memory devices enabled Early read protocol for all external memory devices enabled EBI_DRP EBI_DRP_STANDARD EBI_DRP_EARLY 49 1354D–ATARM–05/02 PS: Power-saving The AT91X40 Series’ Power-saving feature enables optimization of power consumption. The PS controls the CPU and Peripheral Clocks. One control register (PS_CR) enables the user to stop the ARM7TDMI Clock and enter Idle Mode. One set of registers with a set/clear mechanism enables and disables the peripheral clocks individually. The ARM7TDMI clock is enabled after a reset and is automatically re-enabled by any enabled interrupt in the Idle Mode. Peripheral Clocks The clock of each peripheral integrated in the AT91X40 Series can be individually enabled and disabled by writing to the Peripheral Clock Enable (PS_PCER) and Peripheral Clock Disable Registers (PS_PCDR). The status of the peripheral clocks can be read in the Peripheral Clock Status Register (PS_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. To avoid data corruption or erroneous behavior of the system, the system software only disables the clock after all programmed peripheral operations have finished. The peripheral clocks are automatically enabled after a reset. The bits that control the peripheral clocks are the same as those that control the Interrupt Sources in the AIC. 50 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series PS User Interface Base Address: 0xFFFF4000 (Code Label PS_BASE) Table 7. PS Memory Map Offset 0x00 0x04 0x08 0x0C Register Control Register Peripheral Clock Enable Register Peripheral Clock Disable Register Peripheral Clock Status Register Name PS_CR PS_PCER PS_PCDR PS_PCSR Access Write Only Write Only Write Only Read Only Reset State – – – 0x17C 51 1354D–ATARM–05/02 PS Control Register Name: Access: Offset: 31 PS_CR Write Only 0x00 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 – 3 – 2 – 1 – 0 CPU – – – – – – – • CPU: CPU Clock Disable 0 = No effect. 1 = Disables the CPU clock. The CPU clock is re-enabled by any enabled interrupt or by hardware reset. 52 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series PS Peripheral Clock Enable Register Name: Offset: 31 PS_PCER 0x04 30 29 28 27 26 25 24 Access: Write Only – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 PIO 0 – 7 – 6 TC2 – 5 TC1 – 4 TC0 – 3 US1 – 2 US0 – 1 – – – • US0: USART 0 Clock Enable 0 = No effect. 1 = Enables the USART 0 clock. • US1: USART 1 Clock Enable 0 = No effect. 1 = Enables the USART 1 clock. • TC0: Timer Counter 0 Clock Enable 0 = No effect. 1 = Enables the Timer Counter 0 clock. • TC1: Timer Counter 1 Clock Enable 0 = No effect. 1 = Enables the Timer Counter 1 clock. • TC2: Timer Counter 2 Clock Enable 0 = No effect. 1 = Enables the Timer Counter 2 clock. • PIO: Parallel IO Clock Enable 0 = No effect. 1 = Enables the Parallel IO clock. 53 1354D–ATARM–05/02 PS Peripheral Clock Disable Register Name: Access: Offset: 31 PS_PCDR Write Only 0x08 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 PIO 0 – 7 – 6 TC2 – 5 TC1 – 4 TC0 – 3 US1 – 2 US0 – 1 – – – • US0: USART 0 Clock Disable 0 = No effect. 1 = Disables the USART 0 clock. • US1: USART 1 Clock Disable 0 = No effect. 1 = Disables the USART 1 clock. • TC0: Timer Counter 0 Clock Disable 0 = No effect. 1 = Disables the Timer Counter 0 clock. • TC1: Timer Counter 1 Clock Disable 0 = No effect. 1 = Disables the Timer Counter 1 clock. • TC2: Timer Counter 2 Clock Disable 0 = No effect. 1 = Disables the Timer Counter 2 clock. • PIO: Parallel IO Clock Disable 0 = No effect. 1 = Disables the Parallel IO clock. 54 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series PS Peripheral Clock Status Register Name: Access: Offset: 31 PS_PCSR Read Only 0x0C 30 29 28 27 26 25 24 Reset Value : 0x17C – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 PIO 0 – 7 – 6 TC2 – 5 TC1 – 4 TC0 – 3 US1 – 2 US0 – 1 – – – • US0: USART 0 Clock Status 0 = USART 0 clock is disabled. 1 = USART 0 clock is enabled. • US1: USART 1 Clock Status 0 = USART 1 clock is disabled. 1 = USART 1 clock is enabled. • TC0: Timer Counter 0 Clock Status 0 = Timer Counter 0 clock is disabled. 1 = Timer Counter 0 clock is enabled. • TC1: Timer Counter 1 Clock Status 0 = Timer Counter 1 clock is disabled. 1 = Timer Counter 1 clock is enabled. • TC2: Timer Counter 2 Clock Status 0 = Timer Counter 2 clock is disabled. 1 = Timer Counter 2 clock is enabled. • PIO: Parallel IO Clock Status 0 = Parallel IO clock is disabled. 1 = Parallel IO clock is enabled. 55 1354D–ATARM–05/02 AIC: Advanced Interrupt Controller The AT91X40 Series has an 8-level priority, individually maskable, 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 IRQ2. 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 lowlevel sensitive. The interrupt sources are listed in Table 8 and the AIC programmable registers in Table 9. Figure 33. 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 Priority 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. 56 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Table 8. AIC Interrupt Sources Interrupt Source (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 Note: Interrupt Name FIQ SWIRQ US0IRQ US1IRQ TC0IRQ TC1IRQ TC2IRQ WDIRQ PIOIRQ – – – – – – – IRQ0 IRQ1 IRQ2 – – – – – – – – – – – – Interrupt Description Fast Interrupt Software Interrupt USART Channel 0 interrupt USART Channel 1 interrupt Timer Channel 0 interrupt Timer Channel 1 interrupt Timer Channel 2 interrupt Watchdog interrupt Parallel I/O Controller interrupt Reserved Reserved Reserved Reserved Reserved Reserved Reserved External interrupt 0 External interrupt 1 External interrupt 2 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 31 – Reserved 1. Reserved interrupt sources are not available. Corresponding registers must not be used and read 0. 57 1354D–ATARM–05/02 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. ldr PC,[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. 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 8) 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. 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. 58 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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. 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. ldr PC,[PC,# -&F20] Alternatively the interrupt handler can be stored starting from address 0x0000001C as described in the ARM7TDMI datasheet. Fast Interrupt Request 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. 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. 59 1354D–ATARM–05/02 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 could be read. This would have the following consequences in Normal Mode. • • If an enabled interrupt with a higher priority than the current one is pending, it would be stacked If there is no enabled pending interrupt, the spurious vector would 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 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 94). 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 two 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 No effect (2) (1) Normal Mode Read AIC_IVR Read AIC_IVR Read AIC_IVR Read AIC_IVR Read AIC_IVR Write AIC_IVR Notes: Protect Mode Read AIC_IVR Read AIC_IVR Read AIC_IVR Write AIC_IVR Write AIC_IVR – 1. NIRQ de-assertion and automatic interrupt clearing if the source is programmed as level sensitive. 2. Software that 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. 60 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series AIC User Interface • Base Address: 0xFFFFF000 (Code Label AIC_BASE) Table 9. 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 The reset value of this register depends on the level of the External IRQ lines. All other sources are cleared at reset. 61 1354D–ATARM–05/02 AIC Source Mode Register Register Name : AIC_SMR0 - AIC_SMR31 Access Type: Reset Value : Offset: 31 Read/Write 0 0x000 - 0x07C 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 SRCTYPE – 5 – 4 – 3 – 2 – 1 PRIOR – 0 – – – • PRIOR: Priority Level (Code Label AIC_PRIOR) 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 level sensitive or positive or negative edge triggered. The active level or edge is not programmable for the internal sources. Code Label SRCTYPE 0 0 1 1 0 1 0 1 External Sources Low Level Sensitive Negative Edge Triggered High Level Sensitive Positive Edge Triggered AIC_SRCTYPE AIC_SRCTYPE_EXT_LOW_LEVEL AIC_SRCTYPE_EXT_NEGATIVE_EDGE AIC_SRCTYPE_EXT_HIGH_LEVEL AIC_SRCTYPE_EXT_POSITIVE_EDGE Code Label SRCTYPE x x 0 1 Internal Sources Level Sensitive Edge Triggered AIC_SRCTYPE AIC_SRCTYPE_INT_LEVEL AIC_SRCTYPE_INT_EDGE 62 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series AIC Source Vector Register Register Name : AIC_SVR0 - AIC_SVR31 Access Type: Reset Value : Offset: 31 Read/Write 0 0x080 - 0x0FC 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. 63 1354D–ATARM–05/02 AIC Interrupt Vector Register Register Name : AIC_IVR Access Type: Reset Value : Offset: 31 Read Only 0 0x100 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 : AIC_FVR Access Type: Reset Value : Offset: 31 Read Only 0 0x104 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. 64 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series AIC Interrupt Status Register Register Name : AIC_ISR Access Type: Reset Value : Offset: 31 Read Only 0 0x108 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 – 3 – 2 IRQID – 1 – 0 – – – • IRQID: Current IRQ Identifier (Code Label AIC_IRQID) The Interrupt Status Register returns the current interrupt source number. AIC Interrupt Pending Register Register Name : AIC_IPR Access Type: Reset Value : Offset: 31 Read Only 0 0x10C 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 IRQ2 10 – 17 IRQ1 9 – 16 IRQ0 8 PIOIRQ 0 FIQ – 15 – 14 – 13 – 12 – 11 – 7 WDIRQ – 6 TC2IRQ – 5 TC1IRQ – 4 TC0IRQ – 3 US1IRQ – 2 US0IRQ – 1 SWIRQ • Interrupt Pending 0 = Corresponding interrupt is inactive. 1 = Corresponding interrupt is pending. 65 1354D–ATARM–05/02 AIC Interrupt Mask Register Register Name : AIC_IMR Access Type: Reset Value : Offset: 31 Read Only 0 0x110 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 IRQ2 10 – 17 IRQ1 9 – 16 IRQ0 8 PIOIRQ 0 FIQ – 15 – 14 – 13 – 12 – 11 – 7 WDIRQ – 6 TC2IRQ – 5 TC1IRQ – 4 TC0IRQ – 3 US1IRQ – 2 US0IRQ – 1 SWIRQ • Interrupt Mask 0 = Corresponding interrupt is disabled. 1 = Corresponding interrupt is enabled. 66 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series AIC Core Interrupt Status Register Register Name : AIC_CISR Access Type: Reset Value : Offset: 31 Read Only 0 0x114 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 – 3 – 2 – 1 NIRQ – 0 NFIQ – – – – – – • NFIQ: NFIQ Status (Code Label AIC_NFIQ ) 0 = NFIQ line inactive. 1 = NFIQ line active. • NIRQ: NIRQ Status (Code Label AIC_NIRQ) 0 = NIRQ line inactive. 1 = NIRQ line active. 67 1354D–ATARM–05/02 AIC Interrupt Enable Command Register Register Name : AIC_IECR Access Type: Offset: 31 Write Only 0x120 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 IRQ2 10 – 17 IRQ1 9 – 16 IRQ0 8 PIOIRQ 0 FIQ – 15 – 14 – 13 – 12 – 11 – 7 WDIRQ – 6 TC2IRQ – 5 TC1IRQ – 4 TC0IRQ – 3 US1IRQ – 2 US0IRQ – 1 SWIRQ • Interrupt Enable 0 = No effect. 1 = Enables corresponding interrupt. AIC Interrupt Disable Command Register Register Name : AIC_IDCR Access Type: Offset: 31 Write Only 0x124 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 IRQ2 10 – 17 IRQ1 9 – 16 IRQ0 8 PIOIRQ 0 FIQ – 15 – 14 – 13 – 12 – 11 – 7 WDIRQ – 6 TC2IRQ – 5 TC1IRQ – 4 TC0IRQ – 3 US1IRQ – 2 US0IRQ – 1 SWIRQ • Interrupt Disable 0 = No effect. 1 = Disables corresponding interrupt. 68 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series AIC Interrupt Clear Command Register Register Name : AIC_ICCR Access Type: Offset: 31 Write Only 0x128 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 IRQ2 10 – 17 IRQ1 9 – 16 IRQ0 8 PIOIRQ 0 FIQ – 15 – 14 – 13 – 12 – 11 – 7 WDIRQ – 6 TC2IRQ – 5 TC1IRQ – 4 TC0IRQ – 3 US1IRQ – 2 US0IRQ – 1 SWIRQ • Interrupt Clear 0 = No effect. 1 = Clears corresponding interrupt. AIC Interrupt Set Command Register Register Name : AIC_ISCR Access Type: Offset: 31 Write Only 0x12C 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 IRQ2 10 – 17 IRQ1 9 – 16 IRQ0 8 PIOIRQ 0 FIQ – 15 – 14 – 13 – 12 – 11 – 7 WDIRQ – 6 TC2IRQ – 5 TC1IRQ – 4 TC0IRQ – 3 US1IRQ – 2 US0IRQ – 1 SWIRQ • Interrupt Set 0 = No effect. 1 = Sets corresponding interrupt. 69 1354D–ATARM–05/02 AIC End of Interrupt Command Register Register Name : AIC_EOICR Access Type: Offset: 31 – 23 – 15 – 7 – Write Only 0x130 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 : AIC_SPU Access Type: Reset Value : Offset: 31 Read/Write 0 0x134 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. 70 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 the 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 is 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: – – – – – Set the current interrupt to be the pending one with the highest priority. The current level is the priority level of the current interrupt. De-assert the NIRQ line on the processor. (Even if vectoring is not used, AIC_IVR must be read in order to de-assert NIRQ) Automatically clear the interrupt, if it has been programmed to be edge triggered Push the current level on to the stack Return the value written in the AIC_SVR corresponding to the current interrupt 4. The previous step has effect to branch 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 effect of returning from the interrupt to whatever was being executed before, and of loading the CPSR with the stored 71 1354D–ATARM–05/02 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). 72 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 the 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 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 effect to branch 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 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). 73 1354D–ATARM–05/02 PIO: Parallel I/O Controller The AT91X40 Series has 32 programmable I/O lines. Six pins are dedicated as general purpose I/O pins (P16, P17, P18, P19, P23 and P24). Other I/O lines are multiplexed with an external signal of a peripheral to optimize the use of available package pins (see Table 10). The PIO controller also provides an internal interrupt signal to the Advanced Interrupt Controller. Some I/O lines are multiplexed with an I/O signal of a peripheral. After reset, the pin is generally controlled by the PIO Controller and is in Input Mode. Table 10 indicates which of these pins are not controlled by the PIO Controller after reset. 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 34 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. Multiplexed I/O Lines Output Selection The user can enable each individual I/O signal as an output with the registers PIO_OER (Output Enable) and 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 effect only if the pin is configured to be controlled by the PIO Controller. 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). I/O Levels Filters Optional input glitch filtering is available on each pin of the AT91M40800, the AT91M40807 and the AT91R40807. Filtering 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. 74 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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/clearin g 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 are 32 bits wide. If a parallel I/O line is not defined, writing to the corresponding bits has no effect. Undefined bits read zero. 75 1354D–ATARM–05/02 Figure 34. Parallel I/O Multiplexed with a Bi-directional Signal PIO_OSR Pad Output Enable 1 0 Peripheral Output Enable PIO_PSR PIO_ODSR Pad Output Pad 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 Note: The filter is not implemented in the AT91R40008. 76 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Table 10. Multiplexed Parallel I/Os 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 P0 P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11 P12 P13 P14 P15 P16 P17 P18 P19 P20 P21 P22 P23 P24 P25 P26 P27 P28 P29 P30 P31 Port Name TCLK0 TIOA0 TIOB0 TCLK1 TIOA1 TIOB1 TCLK2 TIOA2 TIOB2 IRQ0 IRQ1 IRQ2 FIQ SCK0 TXD0 RXD0 – – – – SCK1 TXD1 RXD1 – – MCKO NCS2 NCS3 A20/CS7 A21/CS6 A22/CS5 A23/CS4 Peripheral Signal Description 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 External Interrupt 0 External Interrupt 1 External Interrupt 2 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 – – Master Clock Output Chip Select 2 Chip Select 3 Address 20/Chip Select 7 Address 21/Chip Select 6 Address 22/Chip Select 5 Address 23/Chip Select 4 Signal Direction Input Bi-directional Bi-directional Input Bi-directional Bi-directional Input Bi-directional Bi-directional Input Input Input Input Bi-directional Output Input – – – – Bi-directional Output Input – – Output Output Output Output 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 MCKO NCS2 NCS3 A20 A21 A22 A23 Pin Number 49 50 51 54 55 56 57 58 59 60 63 64 66 67 68 69 70 71 72 73 74 75 76 83 84 85 99 100 25 26 29 30 Bit Number refers to the data bit that corresponds to this signal in each of the User Interface registers. 77 1354D–ATARM–05/02 PIO User Interface PIO Base Address: 0xFFFF0000 (Code Label PIO_BASE) Table 11. PIO Controller Memory Map Offset 0x00 0x04 0x08 Register PIO Enable Register PIO Disable Register PIO Status Register Name PIO_PER PIO_PDR PIO_PSR Access Write Only Write Only Read Only Reset State – – 0x01FFFFFF (see also Table 10) – – – 0 – – – 0 – – – 0 (see Note 1) – – 0 (see Note 2) 0x0C 0x10 0x14 0x18 0x1C 0x20 0x24 0x28 0x2C 0x30 0x34 0x38 0x3C 0x40 0x44 0x48 0x4C Notes: Reserved Output Enable Register Output Disable Register Output Status Register Reserved Input Filter Enable Register Input Filter Disable Register Input Filter Status Register(3) 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 – 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 – 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 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. 3. This register exists in the AT91R40008 but its value has no meaning, since the filters are not implemented. 78 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series PIO Enable Register Register Name : PIO_PER Access Type: Offset: 31 P31 23 P23 15 P15 7 P7 Write Only 0x00 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 input (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 : PIO_PDR Access Type: Offset: 31 P31 23 P23 15 P15 7 P7 Write Only 0x04 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. 79 1354D–ATARM–05/02 PIO Status Register Register Name : PIO_PSR Access Type: Reset Value : Offset: 31 P31 23 P23 15 P15 7 P7 Read Only 0x01FFFFFF 0x08 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). 80 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series PIO Output Enable Register Register Name : PIO_OER Access Type: Offset: 31 P31 23 P23 15 P15 7 P7 Write Only 0x10 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 : PIO_ODR Access Type: Offset: 31 P31 23 P23 15 P15 7 P7 Write Only 0x14 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. 81 1354D–ATARM–05/02 PIO Output Status Register Register Name : PIO_OSR Access Type: Reset Value : Offset: 31 P31 23 P23 15 P15 7 P7 Read Only 0 0x18 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. 82 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series PIO Input Filter Enable Register Register Name : PIO_IFER Access Type: Offset: 31 P31 23 P23 15 P15 7 P7 Write Only 0x20 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 : PIO_IFDR Access Type: Offset: 31 P31 23 P23 15 P15 7 P7 Write Only 0x24 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. 83 1354D–ATARM–05/02 PIO Input Filter Status Register Register Name : PIO_IFSR Access Type: Reset Value : Offset: 31 P31 23 P23 15 P15 7 P7 Read Only 0 0x28 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. 84 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series PIO Set Output Data Register Register Name : PIO_SODR Access Type: Offset: 31 P31 23 P23 15 P15 7 P7 Write Only 0x30 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 : PIO_CODR Access Type: Offset: 31 P31 23 P23 15 P15 7 P7 Write Only 0x34 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. 85 1354D–ATARM–05/02 PIO Output Data Status Register Register Name : PIO_ODSR Access Type: Reset Value : Offset: 31 P31 23 P23 15 P15 7 P7 Read Only 0 0x38 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 : PIO_PDSR Access Type: Reset Value : Offset: 31 P31 23 P23 15 P15 7 P7 Read Only see Table 11 0x3C 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. 86 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series PIO Interrupt Enable Register Register Name : PIO_IER Access Type: Offset: 31 P31 23 P23 15 P15 7 P7 Write Only 0x40 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 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 : PIO_IDR Access Type: Offset: 31 P31 23 P23 15 P15 7 P7 Write Only 0x44 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 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. 87 1354D–ATARM–05/02 PIO Interrupt Mask Register Register Name : PIO_IMR Access Type: Reset Value : Offset: 31 P31 23 P23 15 P15 7 P7 Read Only 0 0x48 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 : PIO_ISR Access Type: Reset Value : Offset: 31 P31 23 P23 15 P15 7 P7 Read Only 0 0x4C 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 output. The register is reset to zero following a read, and at reset. 1 = At least one change has been detected on the corresponding pin since the register was last read. 0 = No change has been detected on the corresponding pin since the register was last read. 88 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series WD: Watchdog Timer The AT91X40 Series has 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 35). 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 MCK cycles. 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: MCK/8, MCK/32, MCK/128 or MCK/1024. The selection is made using the WDCLKS parameter in WD_CMR. This provides a programmable time-out period of 1 ms to 2 sec. 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). Figure 35. Watchdog Timer Block Diagram Advanced Peripheral Bus (APB) WD_RESET WDIRQ Control Logic Overflow NWDOVF MCKI/8 MCKI/32 Clock Select MCKI/128 MCKI/1024 CLK_CNT Clear 16-bit Programmable Down Counter 89 1354D–ATARM–05/02 WD User Interface WD Base Address: 0xFFFF8000 (Code Label WD_BASE) Table 12. 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 WD Overflow Mode Register Name: Access: Offset: 31 WD_OMR Read/Write 0x00 30 29 28 27 26 25 24 Reset Value : 0 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 OKEY – 11 – 10 – 9 – 8 7 6 OKEY 5 4 3 EXTEN 2 IRQEN 1 RSTEN 0 WDEN • WDEN: Watch Dog Enable (Code Label WD_WDEN) 0 = Watch Dog is disabled and does not generate any signals. 1 = Watch Dog is enabled and generates enabled signals. • RSTEN: Reset Enable (Code Label WD_RSTEN) 0 = Generation of an internal reset by the Watch Dog is disabled. 1 = When overflow occurs, the Watch Dog generates an internal reset. • IRQEN: Interrupt Enable (Code Label WD_IRQEN ) 0 = Generation of an interrupt by the Watch Dog is disabled. 1 = When overflow occurs, the Watch Dog generates an interrupt. • EXTEN: External Signal Enable (Code Label WD_EXTEN) 0 = Generation of a pulse on the pin NWDOVF by the Watch Dog is disabled. 1 = When an overflow occurs, a pulse on the pin NWDOVF is generated. • OKEY: Overflow Access Key (Code Label WD_OKEY) 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. 90 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series WD Clock Mode Register Name: Access: Offset: 31 WD_CMR Read/Write 0x04 30 29 28 27 26 25 24 Reset Value : 0 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 CKEY – 11 – 10 – 9 – 8 7 CKEY 6 5 4 HPCV 3 2 1 WDCLKS 0 – • WDCLKS: Clock Selection Code Label WDCLKS 0 0 1 1 0 1 0 1 Clock Selected MCK/8 MCK/32 MCK/128 MCK/1024 WD_WDCLKS WD_WDCLKS_MCK8 WD_WDCLKS_MCK32 WD_WDCLKS_MCK128 WD_WDCLKS_MCK1024 • HPCV: High Preload Counter Value (Code Label WD_HPCV) 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 (Code Label WD_CKEY) 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. 91 1354D–ATARM–05/02 WD Control Register Name: Access: Offset: 31 WD_CR Write Only 0x08 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 RSTKEY – 11 – 10 – 9 – 8 7 6 5 4 RSTKEY 3 2 1 0 • RSTKEY: Restart Key (Code Label WD_RSTKEY ) 0xC071 = Watch Dog counter is restarted. Other value = No effect. WD Status Register Name: Access: Offset: 31 WD_SR Read Only 0x0C 30 29 28 27 26 25 24 Reset Value : 0 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 – 3 – 2 – 1 – 0 WDOVF – – – – – – – • WDOVF: Watchdog Overflow (Code Label WD_WDOVF) 0 = No watchdog overflow. 1 = A watchdog overflow has occurred since the last restart of the watchdog counter or since internal or external reset. 92 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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) 93 1354D–ATARM–05/02 SF: Special Function Registers The AT91X40 Series provides registers which implement the following special functions. • Chip identification • • RESET status Protect Mode (see “Protect Mode” on page 60) Chip Identification Table 13 provides the Chip ID values for the products described in this datasheet. Table 13. Chip ID Values Product AT91M40800 AT91R40807 AT91M40807 AT91R40008 Chip 0x14080044 0x44080746 0x14080745 0x44000840 SF User Interface Chip ID Base Address = 0xFFF00000 (Code Label SF_BASE) Table 14. SF Memory Map Offset 0x00 0x04 0x08 0x0C 0x10 0x14 0x18 Register Chip ID Register Chip ID Extension Register Reset Status Register Memory Mode Register Reserved Reserved Protect Mode Register Name SF_CIDR SF_EXID SF_RSR SF_MMR – – SF_PMR Access Read Only Read Only Read Only Read/Write – – Read/Write Reset State Hardwired Hardwired See register description 0x0 – – 0x0 94 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Chip ID Register Register Name : SF_CIDR Access Type: Reset Value : Offset: 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 Read Only Hardwired 0x00 30 29 NVPTYP 21 20 19 18 VDSIZ 9 8 28 27 26 ARCH 17 16 25 24 • VERSION: Version of the chip (Code Label SF_VERSION) This value is incremented by one with each new version of the chip (from zero to a maximum value of 31). • NVPSIZ: Non Volatile Program Memory Size Code Label 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 SF_NVPSIZ SF_NVPSIZ_NONE SF_NVPSIZ_32K SF_NVPSIZ_64K SF_NVPSIZ_128K SF_NVPSIZ_256K – • NVDSIZ: Non Volatile Data Memory Size Code Label NVDSIZ 0 0 Others 0 0 Size None Reserved SF_NVDSIZ SF_NVDSIZ_NONE – 95 1354D–ATARM–05/02 • VDSIZ: Volatile Data Memory Size Code Label 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 SF_VDSIZ SF_VDSIZ_NONE SF_VDSIZ_1K SF_VDSIZ_2K SF_VDSIZ_4K SF_VDSIZ_8K – • ARCH: Chip Architecture (Code Label SF_ARCH) Code of Architecture: Two BCD digits. Code Label 0100 0000 AT91x40yyy SF_ARCH_AT91x40 • NVPTYP: Non Volatile Program Memory Type Code Label NVPTYP 0 0 1 1 0 0 x 0 0 1 x 0 Type Reserved “F” Series Reserved “R” Series SF_NVPTYP – SF_NVPTYP_M – SF_NVPTYP_R • EXT: Extension Flag (Code Label SF_EXT) 0 = Chip ID has a single register definition without extensions 1 = An extended Chip ID exists (to be defined in the future). Chip ID Extension Register Register Name : SF_EXID Access Type: Reset Value : Offset: Read Only Hardwired 0x04 This register is reserved for future use. It will be defined when needed. 96 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Reset Status Register Register Name : SF_RSR Access Type: Reset Value : Offset: 31 Read Only See Below 0x08 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 RESET – 3 – 2 – 1 – 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. Code Label Reset 0x6C 0x53 Cause of Reset External Pin Internal Watchdog SF_RESET SF_EXT_RESET SF_WD_RESET 97 1354D–ATARM–05/02 SF Memory Mode Register This register only applies to the AT91R40807. Register Name : SF_MMR Access Type: Reset Value : Offset: 31 Read/Write 0 0x0C 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 – 3 – 2 – 1 – 0 RAMWU – – – – – – – • RAMWU: Internal Extended RAM Write Detection (Code Label SF_RAMWU) 0 = Writing in RAM generates an Abort. 1 = Writing in RAM is allowed. SF Protect Mode Register Register Name : SF_PMR Access Type: Reset Value : Offset: 31 Read/Write 0 0x18 30 29 28 PMRKEY 27 26 25 24 23 22 21 20 PMRKEY 19 18 17 16 15 14 13 12 11 10 9 8 – 7 – 6 – 5 AIC – 4 – 3 – 2 – 1 – 0 – – – – – – – • PMRKEY: Protect Mode Register Key (Code Label SF_PMRKEY) Used only when writing SF_PMR. PMRKEY is reads 0. 0x27A8: Write access in SF_PMR is allowed. Other value: Write access in SF_PMR is prohibited. • AIC: AIC Protect Mode Enable (Code Label SF_AIC) 0 = The Advanced Interrupt Controller runs in Normal Mode. 1 = The Advanced Interrupt Controller runs in Protect Mode. See “Protect Mode” on page 60. 98 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series USART: Universal Synchronous/ Asynchronous Receiver/ Transmitter The AT91X40 Series provides two 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: • • • • • • • • Figure 36. USART Block Diagram ASB Peripheral Data Controller AMBA Receiver Channel Transmitter Channel PIO: Parallel I/O Controller Programmable Baud Rate Generator Parity, Framing and Overrun Error Detection 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 MCK Baud Rate Generator MCK/8 Baud Rate Clock Transmitter TXD SCK Pin Description Each USART channel has the following external signals: Name SCK TXD RXD Notes: 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 1. After a hardware reset, the USART pins are not enabled by default (see “PIO: Parallel I/O Controller” on page 74). The user must configure the PIO Controller before enabling the transmitter or receiver. 2. If the user selects one of the internal clocks, SCK can be configured as a PIO. 99 1354D–ATARM–05/02 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 (MCK) or the master clock divided by 8 (MCK/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 (MCK) 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 in US_BRGR (Baud Rate Generator Register). If 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 37. Baud Rate Generator USCLKS [0] USCLKS [1] MCK MCK/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 1 100 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 (one 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 38. Asynchronous Mode: Start Bit Detection 16 x Baud Rate Clock RXD Sampling True Start Detection D0 Figure 39. 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 101 1354D–ATARM–05/02 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 example in Figure 40. Figure 40. 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 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. 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. 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. 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 x 4 x Bit period Parity Error Framing Error Time-out 102 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 example in Figure 41. 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 41. 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 103 1354D–ATARM–05/02 Break Transmit Break A break condition is a low signal level which has a duration of at least one character (including start/stop bits and parity). 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). TXEMPTY is cleared in US_CSR. 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) 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 (US_CSR.TXRDY = 0) 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) In order to avoid unpredictable states: • • • • • • 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 (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 (TXRDY = 1 in US_CSR) 6. Send the next byte (write byte to US_THR) 104 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 of receive break is detected by a high level for at least 2/16 of a bit period in Asynchronous Mode or at least one sample in Synchronous 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. Note: The 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) which can be programmed to generate an interrupt. Transfers are then disabled until a new non-zero counter value is programmed. 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. 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 retransmission. 105 1354D–ATARM–05/02 Figure 42. Channel Modes Automatic Echo Receiver RXD Transmitter Disabled TXD Local Loopback Receiver Disabled RXD VDD Transmitter Disabled TXD Remote Loopback Receiver VDD Disabled RXD Transmitter Disabled TXD 106 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series USART User Interface Base Address USART0: 0xFFFD0000 (Code Label USART0_BASE ) Base Address USART1: 0xFFFCC000 (Code Label USART1_BASE) Table 15. 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 0 107 1354D–ATARM–05/02 USART Control Register Name: Offset: 31 US_CR 0x00 30 29 28 27 26 25 24 Access Type:Write Only – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 SENDA 4 RXEN – 11 STTTO 3 RSTTX – 10 STPBRK 2 RSTRX – 9 STTBRK 1 – 8 RSTSTA 0 – 7 TXDIS – 6 TXEN – 5 RXDIS – – • RSTRX: Reset Receiver (Code Label US_RSTRX) 0 = No effect. 1 = The receiver logic is reset. • RSTTX: Reset Transmitter (Code Label US_RSTTX) 0 = No effect. 1 = The transmitter logic is reset. • RXEN: Receiver Enable (Code Label US_RXEN) 0 = No effect. 1 = The receiver is enabled if RXDIS is 0. • RXDIS: Receiver Disable (Code Label US_RXDIS) 0 = No effect. 1 = The receiver is disabled. • TXEN: Transmitter Enable (Code Label US_TXEN) 0 = No effect. 1 = The transmitter is enabled if TXDIS is 0. • TXDIS: Transmitter Disable (Code Label US_TXDIS) 0 = No effect. 1 = The transmitter is disabled. • RSTSTA: Reset Status Bits (Code Label US_RSTSTA) 0 = No effect. 1 = Resets the status bits PARE, FRAME, OVRE and RXBRK in the US_CSR. • STTBRK: Start Break (Code Label US_STTBRK) 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 (Code Label US_STPBRK) 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. 108 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series • STTTO: Start Time-out (Code Label US_STTTO) 0 = No effect. 1 = Start waiting for a character before clocking the time-out counter. • SENDA: Send Address (Code Label US_SENDA) 0 = No effect. 1 = In Multi-drop Mode only, the next character written to the US_THR is sent with the address bit set. 109 1354D–ATARM–05/02 USART Mode Register Name: US_MR Access Type:Read/Write Reset Value: 0 Offset: 31 0x04 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 CLKO 10 PAR – 17 MODE9 9 – 16 – 15 CHMODE 7 CHRL – 14 – 13 NBSTOP – 12 – 11 – 8 SYNC 6 5 USCLKS 4 3 2 1 0 – – – – • USCLKS: Clock Selection (Baud Rate Generator Input Clock) Code Label USCLKS 0 0 1 0 1 X Selected Clock MCK MCK/8 External (SCK) US_CLKS US_CLKS_MCK US_CLKS_MCK8 US_CLKS_SCK • CHRL: Character Length Code Label CHRL 0 0 1 1 0 1 0 1 Character Length Five bits Six bits Seven bits Eight bits US_CHRL US_CHRL_5 US_CHRL_6 US_CHRL_7 US_CHRL_8 Start, stop and parity bits are added to the character length. • SYNC: Synchronous Mode Select (Code Label US_SYNC) 0 = USART operates in Asynchronous Mode. 1 = USART operates in Synchronous Mode. 110 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series • PAR: Parity Type Code Label 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 US_PAR US_PAR_EVEN US_PAR_ODD US_PAR_SPACE US_PAR_MARK US_PAR_NO US_PAR_MULTIDROP • NBSTOP: Number of Stop Bits The interpretation of the number of stop bits depends on SYNC. Code Label 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 US_NBSTOP US_NBSTOP_1 US_NBSTOP_1_5 US_NBSTOP_2 – • CHMODE: Channel Mode Code Label 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. US_CHMODE US_CHMODE_NORMAL US_CHMODE_AUTOMATIC_ECHO US_CHMODE_LOCAL_LOOPBACK US_CHMODE_REMODE_LOOPBACK • MODE9: 9-bit Character Length (Code Label US_MODE9) 0 = CHRL defines character length. 1 = 9-bit character length. • CKLO: Clock Output Select (Code Label US_CLKO) 0 = The USART does not drive the SCK pin. 1 = The USART drives the SCK pin if USCLKS[1] is 0. 111 1354D–ATARM–05/02 USART Interrupt Enable Register Name: Offset: 31 US_IER 0x08 30 29 28 27 26 25 24 Access Type:Write Only – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 TXEMPTY 1 TXRDY – 8 TIMEOUT 0 RXRDY – 7 PARE – 6 FRAME – 5 OVRE – 4 ENDTX – 3 ENDRX – 2 RXBRK • RXRDY: Enable RXRDY Interrupt (Code Label US_RXRDY) 0 = No effect. 1 = Enables RXRDY Interrupt. • TXRDY: Enable TXRDY Interrupt (Code Label US_TXRDY ) 0 = No effect. 1 = Enables TXRDY Interrupt. • RXBRK: Enable Receiver Break Interrupt (Code Label US_RXBRK) 0 = No effect. 1 = Enables Receiver Break Interrupt. • ENDRX: Enable End of Receive Transfer Interrupt (Code Label US_ENDRX) 0 = No effect. 1 = Enables End of Receive Transfer Interrupt. • ENDTX: Enable End of Transmit Interrupt (Code Label US_ENDTX) 0 = No effect. 1 = Enables End of Transmit Interrupt. • OVRE: Enable Overrun Error Interrupt (Code Label US_OVRE) 0 = No effect. 1 = Enables Overrun Error Interrupt. • FRAME: Enable Framing Error Interrupt (Code Label US_FRAME) 0 = No effect. 1 = Enables Framing Error Interrupt. • PARE: Enable Parity Error Interrupt (Code Label US_PARE) 0 = No effect. 1 = Enables Parity Error Interrupt. • TIMEOUT: Enable Time-out Interrupt (Code Label US_TIMEOUT) 0 = No effect. 1 = Enables Reception Time-out Interrupt. • TXEMPTY: Enable TXEMPTY Interrupt (Code Label US_TXEMPTY ) 0 = No effect. 1 = Enables TXEMPTY Interrupt. 112 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series USART Interrupt Disable Register Name: Offset: 31 US_IDR 0x0C 30 29 28 27 26 25 24 Access Type:Write Only – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 TXEMPTY 1 TXRDY – 8 TIMEOUT 0 RXRDY – 7 PARE – 6 FRAME – 5 OVRE – 4 ENDTX – 3 ENDRX – 2 RXBRK • RXRDY: Disable RXRDY Interrupt (Code Label US_RXRDY) 0 = No effect. 1 = Disables RXRDY Interrupt. • TXRDY: Disable TXRDY Interrupt (Code Label US_TXRDY) 0 = No effect. 1 = Disables TXRDY Interrupt. • RXBRK: Disable Receiver Break Interrupt (Code Label US_RXBRK) 0 = No effect. 1 = Disables Receiver Break Interrupt. • ENDRX: Disable End of Receive Transfer Interrupt (Code Label US_ENDRX ) 0 = No effect. 1 = Disables End of Receive Transfer Interrupt. • ENDTX: Disable End of Transmit Interrupt (Code Label US_ENDTX) 0 = No effect. 1 = Disables End of Transmit Interrupt. • OVRE: Disable Overrun Error Interrupt (Code Label US_OVRE) 0 = No effect. 1 = Disables Overrun Error Interrupt. • FRAME: Disable Framing Error Interrupt (Code Label US_FRAME) 0 = No effect. 1 = Disables Framing Error Interrupt. • PARE: Disable Parity Error Interrupt (Code Label US_PARE) 0 = No effect. 1 = Disables Parity Error Interrupt. • TIMEOUT: Disable Time-out Interrupt (Code Label US_TIMEOUT) 0 = No effect. 1 = Disables Receiver Time-out Interrupt. • TXEMPTY: Disable TXEMPTY Interrupt (Code Label US_TXEMPTY) 0 = No effect. 1 = Disables TXEMPTY Interrupt. 113 1354D–ATARM–05/02 USART Interrupt Mask Register Name: US_IMR Access Type:Read Only Reset Value : 0 Offset: 31 0x10 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 TXEMPTY 1 TXRDY – 8 TIMEOUT 0 RXRDY – 7 PARE – 6 FRAME – 5 OVRE – 4 ENDTX – 3 ENDRX – 2 RXBRK • RXRDY: Mask RXRDY Interrupt (Code Label US_RXRDY) 0 = RXRDY Interrupt is Disabled 1 = RXRDY Interrupt is Enabled • TXRDY: Mask TXRDY Interrupt (Code Label US_TXRDY) 0 = TXRDY Interrupt is Disabled 1 = TXRDY Interrupt is Enabled • RXBRK: Mask Receiver Break Interrupt (Code Label US_RXBRK) 0 = Receiver Break Interrupt is Disabled 1 = Receiver Break Interrupt is Enabled • ENDRX: Mask End of Receive Transfer Interrupt (Code Label US_ENDRX) 0 = End of Receive Transfer Interrupt is Disabled 1 = End of Receive Transfer Interrupt is Enabled • ENDTX: Mask End of Transmit Interrupt (Code Label US_ENDTX) 0 = End of Transmit Interrupt is Disabled 1 = End of Transmit Interrupt is Enabled • OVRE: Mask Overrun Error Interrupt (Code Label US_OVRE) 0 = Overrun Error Interrupt is Disabled 1 = Overrun Error Interrupt is Enabled • FRAME: Mask Framing Error Interrupt (Code Label US_FRAME) 0 = Framing Error Interrupt is Disabled 1 = Framing Error Interrupt is Enabled • PARE: Mask Parity Error Interrupt (Code Label US_PARE) 0 = Parity Error Interrupt is Disabled 1 = Parity Error Interrupt is Enabled • TIMEOUT: Mask Time-out Interrupt (Code Label US_TIMEOUT) 0 = Receive Time-out Interrupt is Disabled 1 = Receive Time-out Interrupt is Enabled • TXEMPTY: Mask TXEMPTY Interrupt (Code Label US_TXEMPTY ) 0 = TXEMPTY Interrupt is Disabled. 1 = TXEMPTY Interrupt is Enabled. 114 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series USART Channel Status Register Name: US_CSR Access Type:Read Only Reset Value : 0x18 Offset: 31 0x14 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 TXEMPTY 1 TXRDY – 8 TIMEOUT 0 RXRDY – 7 PARE – 6 FRAME – 5 OVRE – 4 ENDTX – 3 ENDRX – 2 RXBRK • RXRDY: Receiver Ready (Code Label US_RXRDY) 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 (Code Label US_TXRDY ) 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 (Code Label US_RXBRK) 0 = No Break Received nor End of Break has been detected since the last “ Reset Status Bits” command in the Control Register. 1 = Break Received or End of Break has been detected since the last “Reset Status Bits” command in the Control Register. • ENDRX: End of Receiver Transfer (Code Label US_ENDRX) 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 Transmitter Transfer (Code Label US_ENDTX) 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 (Code Label US_OVRE) 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 (Code Label US_FRAME) 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. 115 1354D–ATARM–05/02 • PARE: Parity Error (Code Label US_PARE) 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 (Code Label US_TIMEOUT) 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 (Code Label US_TXEMPTY) 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. 116 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series USART Receiver Holding Register Name: US_RHR Access Type:Read Only Reset Value : 0 Offset: 31 0x18 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 RXCHR – 3 – 2 – 1 – 0 • RXCHR: Received Character Last character received if RXRDY is set. When number of data bits is less than 8 bits, the bits are right-aligned. All non-significant bits read zero. USART Transmitter Holding Register Name: Offset: 31 US_THR 0x1C 30 29 28 27 26 25 24 Access Type:Write Only – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 TXCHR – 3 – 2 – 1 – 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 8 bits, the bits are right-aligned. 117 1354D–ATARM–05/02 USART Baud Rate Generator Register Name: US_BRGR Access Type:Read/Write Reset Value: 0 Offset: 31 0x20 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 CD – 11 – 10 – 9 – 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 Notes: Effect Disables Clock Clock Divisor Bypass (1) Baud Rate (Asynchronous Mode) = Selected Clock / (16 x CD) Baud Rate (Synchronous Mode) = Selected Clock / CD (2) 1. Clock divisor bypass (CD = 1) must not be used when internal clock MCK is selected (USCLKS = 0). 2. In Synchronous Mode, the value programmed must be even to ensure a 50:50 mark:space ratio. 118 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series USART Receiver Time-out Register Name: US_RTOR Access Type:Read/Write Reset Value: 0 Offset: 31 0x24 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 TO – 3 – 2 – 1 – 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: US_TTGR Access Type:Read/Write Reset Value: 0 Offset: 31 0x28 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 TG – 3 – 2 – 1 – 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 119 1354D–ATARM–05/02 USART Receive Pointer Register Name: US_RPR Access Type:Read/Write Reset Value: 0 Offset: 31 0x30 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: US_RCR Access Type:Read/Write Reset Value: 0 Offset: 31 0x34 30 29 28 27 26 25 24 – 23 – 22 – 21 – 4920 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 RXCTR – 11 – 10 – 9 – 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. 120 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series USART Transmit Pointer Register Name: US_TPR Access Type:Read/Write Reset Value: 0 Offset: 31 0x38 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: US_TCR Access Type:Read/Write Reset Value: 0 Offset: 31 0x3C 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 TXCTR – 11 – 10 – 9 – 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. 121 1354D–ATARM–05/02 TC: Timer Counter The AT91X40 Series features a Timer Counter block which includes three identical 16bit 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 3 external clock inputs, 5 internal clock inputs, and 2 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). 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. Figure 43. TC Block Diagram MCK/2 Parallel IO Controller TCLK0 TIOA1 TIOA2 XC0 XC1 XC2 TC0XC0S SYNC MCK/8 MCK/32 TCLK0 TCLK1 TCLK2 TIOA0 TIOB0 TCLK1 MCK/128 MCK/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 122 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Signal Name Description Channel Signal XC0, XC1, XC2 TIOA TIOB INT SYNC Block Signals TCLK0, TCLK1, TCLK2 TIOA0 TIOB0 TIOA1 TIOB1 TIOA2 TIOB2 Note: 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 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 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. Timer Counter Description Counter The three Timer Counter channels are independent and identical in operation. The registers for channel programming are listed in Table 17. Each Timer Counter channel is organized around a 16-bit counter. The value of the counter is incremented at each positive edge of the selected clock. When the counter has reached 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 selected 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: MCK/2, MCK/8, MCK/32, MCK/128, MCK/1024 External clock signals: XC0, XC1 or XC2 123 1354D–ATARM–05/02 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 (MCK) period. The external clock frequency must be at least 2.5 times lower than the system clock (MCK). Figure 44. Clock Selection CLKS CLKI MCK/2 MCK/8 MCK/32 MCK/128 MCK/1024 XC0 XC1 XC2 Selected Clock BURST 1 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 a RC compare event in Waveform Mode (CPCSTOP = 1 in TC_CMR). The start and the stop commands have effect only if the clock is enabled. • 124 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Figure 45. Clock Control Selected Clock Trigger CLKSTA CLKEN CLKDIS Q Q S R S R Counter Clock Stop Event Disable Event 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 Operating 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 (MCK) period in order to be detected. Whatever the trigger used, it will be taken into account at the following active edge of the selected clock. This means that the counter value may not read zero just after a trigger, especially when a low frequency signal is selected as the clock. 125 1354D–ATARM–05/02 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 inputs. Figure 46 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 Note: All the status bits are set when the corresponding event occurs and they are automatically cleared when the Status Register is read. 126 AT91X40 Series 1354D–ATARM–05/02 1354D–ATARM–05/02 TCCLKS CLKI MCK/2 MCK/8 MCK/32 MCK/128 MCK/1024 XC0 XC1 XC2 LDBSTOP BURST Register C Capture Register A SWTRG 16-bit Counter CLK OVF RESET Figure 46. Capture Mode CLKSTA CLKEN CLKDIS 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 AT91X40 Series MTIOA If RA is not loaded or RB is loaded TIOA TC_IMR Timer Counter Channel INT 127 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 47 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. A 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. 128 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series 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 a RA Compare match at least once since the last read of the status CPBS: RB Compare Status There has been a RB Compare match at least once since the last read of the status CPCS: RC Compare Status There has been a RC Compare match at least once since the last read of the status COVFS: Counter Overflow Counter has attempted to count past $FFFF since the last read of the status ETRGS: External Trigger External trigger has been detected since the last read of the status Note: All the status bits are set when the corresponding event occurs and they are automatically cleared when the Status Register is read. 129 1354D–ATARM–05/02 Figure 47. Waveform Mode MCK/1024 XC0 XC1 XC2 Q S R Output Controller CPCTRG EEVT BEEVT EEVTEDG Edge Detector TIOB ENETRG ETRGS COVFS TC_SR CPCS CPBS CPAS Output Controller 130 AT91X40 Series 1354D–ATARM–05/02 TCCLKS CLKSTA MCK/2 MCK/8 MCK/32 MCK/128 CLKI CLKEN CLKDIS ACPC 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 BSWTRG TC_IMR Timer Counter Channel INT AT91X40 Series TC User Interface TC Base Address: 0xFFFE0000 (Code Label TC_BASE) Table 16. 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 17 See Table 17 See Table 17 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 17. The offset of each of the Channel registers in Table 17 is in relation to the offset of the corresponding channel as mentioned in Table 16. Table 17. 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 (1) Name TC_CCR TC_CMR Access Write Only Read/Write Reset State – 0 – – 0 0 0 0 0 – – 0 Read/Write(1) Read/Write Read Only Write Only Write Only Read Only Read Only if WAVE = 0 131 1354D–ATARM–05/02 TC Block Control Register Register Name : TC_BCR Access Type: Offset: 31 Write only 0xC0 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 – 3 – 2 – 1 – 0 SYNC – – – – – – – • SYNC: Synchro Command 0 = No effect. 1 = Asserts the SYNC signal which generates a software trigger simultaneously for each of the channels. 132 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series TC Block Mode Register Register Name : TC_BMR Access Type: Reset Value : Offset: 31 Read/Write 0 0xC4 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 TC2XC2S – 4 – 3 TC1XC1S – 2 – 1 TC0XC0S – 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 133 1354D–ATARM–05/02 TC Channel Control Register Register Name : TC_CCR Access Type: Offset: 31 Write only 0x00 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 – 6 – 5 – 4 – 3 – 2 SWTRG – 1 CLKDIS – 0 CLKEN – – – – – • CLKEN: Counter Clock Enable Command (Code Label TC_CLKEN) 0 = No effect. 1 = Enables the clock if CLKDIS is not 1. • CLKDIS: Counter Clock Disable Command (Code Label TC_CLKDIS) 0 = No effect. 1 = Disables the clock. • SWTRG: Software Trigger Command (Code Label TC_SWTRG) 0 = No effect. 1 = A software trigger is performed: the counter is reset and clock is started. 134 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series TC Channel Mode Register: Capture Mode Register Name : TC_CMR Access Type: Reset Value : Offset: 31 Read/Write 0 0x04 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 LDRB 11 – 18 – 17 LDRA – 16 – 15 WAVE = 0 7 LDBDIS – 14 CPCTRG 6 LDBSTOP – 13 – 12 10 ABETRG 2 9 ETRGEDG 1 TCCLKS 8 – 5 BURST – 4 – 3 CLKI 0 • TCCLKS: Clock Selection Code Label 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 MCK/2 MCK/8 MCK/32 MCK/128 MCK/1024 XC0 XC1 XC2 TC_CLKS TC_CLKS_MCK2 TC_CLKS_MCK8 TC_CLKS_MCK32 TC_CLKS_MCK128 TC_CLKS_MCK1024 TC_CLKS_XC0 TC_CLKS_XC1 TC_CLKS_XC2 • CLKI: Clock Invert (Code Label TC_CLKI) 0 = Counter is incremented on rising edge of the clock. 1 = Counter is incremented on falling edge of the clock. • BURST: Burst Signal Selection Code Label BURST 0 0 1 1 0 1 0 1 Selected BURST 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 TC_BURST TC_BURST_NONE TC_BURST_XC0 TC_BURST_XC1 TC_BURST_XC2 • LDBSTOP: Counter Clock Stopped with RB Loading (Code Label TC_LDBSTOP) 0 = Counter clock is not stopped when RB loading occurs. 1 = Counter clock is stopped when RB loading occurs. 135 1354D–ATARM–05/02 • LDBDIS: Counter Clock Disable with RB Loading (Code Label TC_LDBDIS) 0 = Counter clock is not disabled when RB loading occurs. 1 = Counter clock is disabled when RB loading occurs. • ETRGEDG: External Trigger Edge Selection Code Label ETRGEDG 0 0 1 1 0 1 0 1 Edge None Rising Edge Falling Edge Each Edge TC_ETRGEDG TC_ETRGEDG_EDGE_NONE TC_ETRGEDG_RISING_EDGE TC_ETRGEDG_FALLING_EDGE TC_ETRGEDG_BOTH_EDGE • ABETRG: TIOA or TIOB External Trigger Selection Code Label ABETRG 0 1 Selected ABETRG TIOB is used as an external trigger. TIOA is used as an external trigger. TC_ABETRG TC_ABETRG_TIOB TC_ABETRG_TIOA • CPCTRG: RC Compare Trigger Enable (Code Label TC_CPCTRG) 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 (Code Label TC_WAVE) 0 = Capture Mode is enabled. 1 = Capture Mode is disabled (Waveform Mode is enabled). • LDRA: RA Loading Selection Code Label LDRA 0 0 1 1 0 1 0 1 Edge None Rising edge of TIOA Falling edge of TIOA Each edge of TIOA TC_LDRA TC_LDRA_EDGE_NONE TC_LDRA_RISING_EDGE TC_LDRA_FALLING_EDGE TC_LDRA_BOTH_EDGE • LDRB: RB Loading Selection Code Label LDRB 0 0 1 1 0 1 0 1 Edge None Rising edge of TIOA Falling edge of TIOA Each edge of TIOA TC_LDRB TC_LDRB_EDGE_NONE TC_LDRB_RISING_EDGE TC_LDRB_FALLING_EDGE TC_LDRB_BOTH_EDGE 136 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series TC Channel Mode Register: Waveform Mode Register Name : TC_CMR Access Type: Reset Value : Offset: 31 BSWTRG 23 ASWTRG 15 WAVE = 1 7 CPCDIS 14 CPCTRG 6 CPCSTOP 13 22 21 AEEVT 12 ENETRG 4 BURST 3 CLKI 11 EEVT 2 1 TCCLKS Read/Write 0 0x04 30 29 BEEVT 20 19 ACPC 10 9 EEVTEDG 0 28 27 BCPC 18 17 ACPA 8 26 25 BCPB 16 24 – 5 • TCCLKS: Clock Selection Code Label 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 MCK/2 MCK/8 MCK/32 MCK/128 MCK/1024 XC0 XC1 XC2 TC_CLKS TC_CLKS_MCK2 TC_CLKS_MCK8 TC_CLKS_MCK32 TC_CLKS_MCK128 TC_CLKS_MCK1024 TC_CLKS_XC0 TC_CLKS_XC1 TC_CLKS_XC2 • CLKI: Clock Invert (Code Label TC_CLKI) 0 = Counter is incremented on rising edge of the clock. 1 = Counter is incremented on falling edge of the clock. • BURST: Burst Signal Selection Code Label BURST 0 0 1 1 0 1 0 1 Selected BURST 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. TC_BURST TC_BURST_NONE TC_BURST_XC0 TC_BURST_XC1 TC_BURST_XC2 • CPCSTOP: Counter Clock Stopped with RC Compare (Code Label TC_CPCSTOP) 0 = Counter clock is not stopped when counter reaches RC. 1 = Counter clock is stopped when counter reaches RC. 137 1354D–ATARM–05/02 • CPCDIS: Counter Clock Disable with RC Compare (Code Label TC_CPCDIS) 0 = Counter clock is not disabled when counter reaches RC. 1 = Counter clock is disabled when counter reaches RC. • EEVTEDG: External Event Edge Selection Code Label EEVTEDG 0 0 1 1 0 1 0 1 Edge None Rising edge Falling edge Each edge TC_EEVTEDG TC_EEVTEDG_EDGE_NONE TC_EEVTEDG_RISING_EDGE TC_EEVTEDG_FALLING_EDGE TC_EEVTEDG_BOTH_EDGE • EEVT: External Event Selection Code Label TIOB Direction Input(1) Output Output Output TC_EEVT TC_EEVT_TIOB TC_EEVT_XC0 TC_EEVT_XC1 TC_EEVT_XC2 EEVT 0 0 1 1 Note: 0 1 0 1 Signal Selected as External Event TIOB XC0 XC1 XC2 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 (Code Label TC_ENETRG) 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 (Code Label TC_CPCTRG) 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 (Code Label TC_WAVE) 0 = Waveform Mode is disabled (Capture Mode is enabled). 1 = Waveform Mode is enabled. • ACPA: RA Compare Effect on TIOA Code Label ACPA 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_ACPA TC_ACPA_OUTPUT_NONE TC_ACPA_SET_OUTPUT TC_ACPA_CLEAR_OUTPUT TC_ACPA_TOGGLE_OUTPUT 138 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series • ACPC: RC Compare Effect on TIOA Code Label ACPC 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_ACPC TC_ACPC_OUTPUT_NONE TC_ACPC_SET_OUTPUT TC_ACPC_CLEAR_OUTPUT TC_ACPC_TOGGLE_OUTPUT • AEEVT: External Event Effect on TIOA Code Label AEEVT 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_AEEVT TC_AEEVT_OUTPUT_NONE TC_AEEVT_SET_OUTPUT TC_AEEVT_CLEAR_OUTPUT TC_AEEVT_TOGGLE_OUTPUT • ASWTRG: Software Trigger Effect on TIOA Code Label ASWTRG 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_ASWTRG TC_ASWTRG_OUTPUT_NONE TC_ASWTRG_SET_OUTPUT TC_ASWTRG_CLEAR_OUTPUT TC_ASWTRG_TOGGLE_OUTPUT • BCPB: RB Compare Effect on TIOB Code Label BCPB 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_BCPB TC_BCPB_OUTPUT_NONE TC_BCPB_SET_OUTPUT TC_BCPB_CLEAR_OUTPUT TC_BCPB_TOGGLE_OUTPUT • BCPC: RC Compare Effect on TIOB Code Label BCPC 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_BCPC TC_BCPC_OUTPUT_NONE TC_BCPC_SET_OUTPUT TC_BCPC_CLEAR_OUTPUT TC_BCPC_TOGGLE_OUTPUT 139 1354D–ATARM–05/02 • BEEVT: External Event Effect on TIOB Code Label BEEVT 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_BEEVT TC_BEEVT_OUTPUT_NONE TC_BEEVT_SET_OUTPUT TC_BEEVT_CLEAR_OUTPUT TC_BEEVT_TOGGLE_OUTPUT • BSWTRG: Software Trigger Effect on TIOB Code Label BSWTRG 0 0 1 1 0 1 0 1 Effect None Set Clear Toggle TC_BSWTRG TC_BSWTRG_OUTPUT_NONE TC_BSWTRG_SET_OUTPUT TC_BSWTRG_CLEAR_OUTPUT TC_BSWTRG_TOGGLE_OUTPUT 140 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series TC Counter Value Register Register Name : TC_CVR Access Type: Reset Value : Offset: 31 Read Only 0 0x10 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 CV – 11 – 10 – 9 – 8 7 6 5 4 CV 3 2 1 0 • CV: Counter Value (Code Label TC_CV) CV contains the counter value in real-time. TC Register A Register Name : TC_RA Access Type: Reset Value : Offset: 31 Read Only if WAVE = 0, Read/Write if WAVE = 1 0 0x14 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 RA – 11 – 10 – 9 – 8 7 6 5 4 RA 3 2 1 0 • RA: Register A (Code Label TC_RA) RA contains the Register A value in real-time. 141 1354D–ATARM–05/02 TC Register B Register Name : TC_RB Access Type: Reset Value : Offset: 31 Read Only if WAVE = 0, Read/Write if WAVE = 1 0 0x18 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 RB – 11 – 10 – 9 – 8 7 6 5 4 RB 3 2 1 0 • RB: Register B (Code Label TC_RB) RB contains the Register B value in real-time. TC Register C Register Name : TC_RC Access Type: Reset Value : Offset: 31 Read/Write 0 0x1C 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 RC – 11 – 10 – 9 – 8 7 6 5 4 RC 3 2 1 0 • RC: Register C (Code Label TC_RC) RC contains the Register C value in real-time. 142 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series TC Status Register Register Name : TC_SR Access Type: Reset Value : Offset: 31 Read Only 0 0x20 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 MTIOB 10 – 17 MTIOA 9 – 16 CLKSTA 8 – 15 – 14 – 13 – 12 – 11 – 7 ETRGS – 6 LDRBS – 5 LDRAS – 4 CPCS – 3 CPBS – 2 CPAS – 1 LOVRS – 0 COVFS • COVFS: Counter Overflow Status (Code Label TC_COVFS) 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 (Code Label TC_LOVRS) 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 (Code Label TC_CPAS) 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 (Code Label TC_CPBS) 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 (Code Label TC_CPCS) 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 (Code Label TC_LDRAS) 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 (Code Label TC_LDRBS) 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 (Code Label TC_ETRGS) 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 (Code Label TC_CLKSTA) 0 = Clock is disabled. 1 = Clock is enabled. 143 1354D–ATARM–05/02 • MTIOA: TIOA Mirror (Code Label TC_MTIOA) 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 (Code Label TC_MTIOB) 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. 144 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series TC Interrupt Enable Register Register Name : TC_IER Access Type: Offset: 31 Write only 0x24 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 ETRGS – 6 LDRBS – 5 LDRAS – 4 CPCS – 3 CPBS – 2 CPAS – 1 LOVRS – 0 COVFS • COVFS: Counter Overflow (Code Label TC_COVFS) 0 = No effect. 1 = Enables the Counter Overflow Interrupt. • LOVRS: Load Overrun (Code Label TC_LOVRS) 0 = No effect. 1: Enables the Load Overrun Interrupt. • CPAS: RA Compare (Code Label TC_CPAS) 0 = No effect. 1 = Enables the RA Compare Interrupt. • CPBS: RB Compare (Code Label TC_CPBS) 0 = No effect. 1 = Enables the RB Compare Interrupt. • CPCS: RC Compare (Code Label TC_CPCS) 0 = No effect. 1 = Enables the RC Compare Interrupt. • LDRAS: RA Loading (Code Label TC_LDRAS) 0 = No effect. 1 = Enables the RA Load Interrupt. • LDRBS: RB Loading (Code Label TC_LDRBS) 0 = No effect. 1 = Enables the RB Load Interrupt. • ETRGS: External Trigger (Code Label TC_ETRGS) 0 = No effect. 1 = Enables the External Trigger Interrupt. 145 1354D–ATARM–05/02 TC Interrupt Disable Register Register Name : TC_IDR Access Type: Offset: 31 Write only 0x28 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 ETRGS – 6 LDRBS – 5 LDRAS – 4 CPCS – 3 CPBS – 2 CPAS – 1 LOVRS – 0 COVFS • COVFS: Counter Overflow (Code Label TC_COVFS) 0 = No effect. 1 = Disables the Counter Overflow Interrupt. • LOVRS: Load Overrun (Code Label TC_LOVRS) 0 = No effect. 1 = Disables the Load Overrun Interrupt (if WAVE = 0). • CPAS: RA Compare (Code Label TC_CPAS) 0 = No effect. 1 = Disables the RA Compare Interrupt (if WAVE = 1). • CPBS: RB Compare (Code Label TC_CPBS) 0 = No effect. 1 = Disables the RB Compare Interrupt (if WAVE = 1). • CPCS: RC Compare (Code Label TC_CPCS) 0 = No effect. 1 = Disables the RC Compare Interrupt. • LDRAS: RA Loading (Code Label TC_LDRAS) 0 = No effect. 1 = Disables the RA Load Interrupt (if WAVE = 0). • LDRBS: RB Loading (Code Label TC_LDRBS) 0 = No effect. 1 = Disables the RB Load Interrupt (if WAVE = 0). • ETRGS: External Trigger (Code Label TC_ETRGS) 0 = No effect. 1 = Disables the External Trigger Interrupt. 146 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series TC Interrupt Mask Register Register Name : TC_IMR Access Type: Reset Value : Offset: 31 Read Only 0 0x2C 30 29 28 27 26 25 24 – 23 – 22 – 21 – 20 – 19 – 18 – 17 – 16 – 15 – 14 – 13 – 12 – 11 – 10 – 9 – 8 – 7 ETRGS – 6 LDRBS – 5 LDRAS – 4 CPCS – 3 CPBS – 2 CPAS – 1 LOVRS – 0 COVFS • COVFS: Counter Overflow (Code Label TC_COVFS) 0 = The Counter Overflow Interrupt is disabled. 1 = The Counter Overflow Interrupt is enabled. • LOVRS: Load Overrun (Code Label TC_LOVRS) 0 = The Load Overrun Interrupt is disabled. 1 = The Load Overrun Interrupt is enabled. • CPAS: RA Compare (Code Label TC_CPAS) 0 = The RA Compare Interrupt is disabled. 1 = The RA Compare Interrupt is enabled. • CPBS: RB Compare (Code Label TC_CPBS) 0 = The RB Compare Interrupt is disabled. 1 = The RB Compare Interrupt is enabled. • CPCS: RC Compare (Code Label TC_CPCS) 0 = The RC Compare Interrupt is disabled. 1 = The RC Compare Interrupt is enabled. • LDRAS: RA Loading (Code Label TC_LDRAS) 0 = The Load RA Interrupt is disabled. 1 = The Load RA Interrupt is enabled. • LDRBS: RB Loading (Code Label TC_LDRBS) 0 = The Load RB Interrupt is disabled. 1 = The Load RB Interrupt is enabled. • ETRGS: External Trigger (Code Label TC_ETRGS) 0 = The External Trigger Interrupt is disabled. 1 = The External Trigger Interrupt is enabled. 147 1354D–ATARM–05/02 148 AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series Table of Contents Features................................................................................................. 1 Description ............................................................................................ 1 Pin Configuration.................................................................................. 2 Block Diagram....................................................................................... 4 Architectural Overview......................................................................... 5 Memories .............................................................................................................. 5 Peripherals............................................................................................................ 5 Associated Documentation ................................................................. 7 Product Overview ................................................................................. 8 Power Supply........................................................................................................ 8 Input/Output Considerations ................................................................................. 8 Master Clock......................................................................................................... 8 Reset .................................................................................................................... 8 Emulation Function ............................................................................................... 8 Memory Controller ................................................................................................ 9 External Bus Interface ........................................................................................ 11 Peripherals .......................................................................................... 11 System Peripherals............................................................................................. 12 User Peripherals ................................................................................................. 14 Memory Map........................................................................................ 15 Peripheral Memory Map ..................................................................... 17 EBI: External Bus Interface................................................................ 18 External Memory Mapping.................................................................................. External Bus Interface Pin Description .............................................................. Chip Select Lines................................................................................................ Data Bus Width................................................................................................... Byte Write or Byte Select Access ....................................................................... Boot on NCS0..................................................................................................... Read Protocols ................................................................................................... Write Data Hold Time ......................................................................................... Wait States ......................................................................................................... Memory Access Waveforms ............................................................................... EBI User Interface .............................................................................................. EBI Chip Select Register .................................................................................... EBI Remap Control Register .............................................................................. EBI Memory Control Register ............................................................................. 18 20 21 23 24 26 27 28 29 33 45 46 48 49 i 1354D–ATARM–05/02 PS: Power-saving ............................................................................... 50 Peripheral Clocks................................................................................................ PS User Interface ............................................................................................... PS Control Register ............................................................................................ PS Peripheral Clock Enable Register ................................................................. PS Peripheral Clock Disable Register ................................................................ PS Peripheral Clock Status Register .................................................................. 50 51 52 53 54 55 AIC: Advanced Interrupt Controller .................................................. 56 Hardware Interrupt Vectoring.............................................................................. Priority Controller ................................................................................................ Interrupt Handling ............................................................................................... Interrupt Masking ................................................................................................ Interrupt Clearing and Setting............................................................................. Fast Interrupt Request ........................................................................................ Software Interrupt ............................................................................................... Spurious Interrupt ............................................................................................... Protect Mode ...................................................................................................... AIC User Interface .............................................................................................. AIC Source Mode Register ................................................................................. AIC Source Vector Register................................................................................ AIC Interrupt Vector Register.............................................................................. AIC FIQ Vector Register ..................................................................................... AIC Interrupt Status Register .............................................................................. AIC Interrupt Pending Register ........................................................................... AIC Interrupt Mask Register ............................................................................... AIC Core Interrupt Status Register ..................................................................... AIC Interrupt Enable Command Register ........................................................... AIC Interrupt Disable Command Register .......................................................... AIC Interrupt Clear Command Register .............................................................. AIC Interrupt Set Command Register ................................................................. AIC End of Interrupt Command Register ............................................................ AIC Spurious Vector Register............................................................................. Standard Interrupt Sequence.............................................................................. 58 58 58 58 59 59 59 59 60 61 62 63 64 64 65 65 66 67 68 68 69 69 70 70 71 PIO: Parallel I/O Controller................................................................. 74 Multiplexed I/O Lines .......................................................................................... Output Selection ................................................................................................. I/O Levels............................................................................................................ Filters .................................................................................................................. Interrupts............................................................................................................. User Interface ..................................................................................................... PIO User Interface .............................................................................................. PIO Enable Register ........................................................................................... PIO Disable Register .......................................................................................... PIO Status Register ............................................................................................ 74 74 74 74 75 75 78 79 79 80 ii AT91X40 Series 1354D–ATARM–05/02 AT91X40 Series PIO Output Enable Register ............................................................................... PIO Output Disable Register .............................................................................. PIO Output Status Register ................................................................................ PIO Input Filter Enable Register ......................................................................... PIO Input Filter Disable Register ........................................................................ PIO Input Filter Status Register .......................................................................... PIO Set Output Data Register ............................................................................ PIO Clear Output Data Register ......................................................................... PIO Output Data Status Register........................................................................ PIO Pin Data Status Register ............................................................................. PIO Interrupt Enable Register............................................................................. PIO Interrupt Disable Register ............................................................................ PIO Interrupt Mask Register ............................................................................... PIO Interrupt Status Register.............................................................................. 81 81 82 83 83 84 85 85 86 86 87 87 88 88 WD: Watchdog Timer ......................................................................... 89 WD WD WD WD WD WD User Interface .............................................................................................. Overflow Mode Register .............................................................................. Clock Mode Register ................................................................................... Control Register........................................................................................... Status Register ............................................................................................ Enabling Sequence...................................................................................... 90 90 91 92 92 93 SF: Special Function Registers......................................................... 94 Chip Identification ............................................................................................... SF User Interface................................................................................................ Chip ID Register ................................................................................................. Chip ID Extension Register................................................................................. Reset Status Register......................................................................................... SF Memory Mode Register ................................................................................. SF Protect Mode Register .................................................................................. 94 94 95 96 97 98 98 USART: Universal Synchronous/Asynchronous Receiver/Transmitter .......................................................................... 99 Pin Description.................................................................................................... 99 Baud Rate Generator........................................................................................ 100 Receiver............................................................................................................ 101 Transmitter........................................................................................................ 103 Break ................................................................................................................ 104 Peripheral Data Controller ................................................................................ 105 Interrupt Generation.......................................................................................... 105 Channel Modes................................................................................................. 105 USART User Interface ...................................................................................... 107 USART Control Register................................................................................... 108 USART Mode Register ..................................................................................... 110 USART Interrupt Enable Register..................................................................... 112 iii 1354D–ATARM–05/02 USART Interrupt Disable Register.................................................................... USART Interrupt Mask Register ....................................................................... USART Channel Status Register...................................................................... USART Receiver Holding Register ................................................................... USART Transmitter Holding Register............................................................... USART Baud Rate Generator Register ............................................................ USART Receiver Time-out Register ................................................................. USART Transmitter Time-guard Register......................................................... USART Receive Pointer Register ..................................................................... USART Receive Counter Register ................................................................... USART Transmit Pointer Register.................................................................... USART Transmit Counter Register .................................................................. 113 114 115 117 117 118 119 119 120 120 121 121 TC: Timer Counter ............................................................................ 122 Signal Name Description ................................................................................. Timer Counter Description................................................................................ Capture Operating Mode .................................................................................. Waveform Operating Mode............................................................................... TC User Interface ............................................................................................. TC Block Control Register ................................................................................ TC Block Mode Register ................................................................................... TC Channel Control Register............................................................................ TC Channel Mode Register: Capture Mode ..................................................... TC Channel Mode Register: Waveform Mode .................................................. TC Counter Value Register............................................................................... TC Register A ................................................................................................... TC Register B ................................................................................................... TC Register C ................................................................................................... TC Status Register ........................................................................................... TC Interrupt Enable Register ............................................................................ TC Interrupt Disable Register ........................................................................... TC Interrupt Mask Register............................................................................... 123 123 126 128 131 132 133 134 135 137 141 141 142 142 143 145 146 147 Table of Contents .................................................................................. i iv AT91X40 Series 1354D–ATARM–05/02 Atmel Headquarters Corporate Headquarters 2325 Orchard Parkway San Jose, CA 95131 TEL 1(408) 441-0311 FAX 1(408) 487-2600 Atmel Operations Memory 2325 Orchard Parkway San Jose, CA 95131 TEL 1(408) 441-0311 FAX 1(408) 436-4314 RF/Automotive Theresienstrasse 2 Postfach 3535 74025 Heilbronn, Germany TEL (49) 71-31-67-0 FAX (49) 71-31-67-2340 1150 East Cheyenne Mtn. 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