Atmel AVR AT90CAN64 User manual

Features

•

High-performance, Low-power AVR

8-bit Microcontroller

•

Advanced RISC Architecture

– 133 Powerful Instructions – Most Single Clock Cycle Execution

– 32 x 8 General Purpose Working Registers + Peripheral Control Registers

– Fully Static Operation

– Up to 16 MIPS Throughput at 16 MHz

– On-chip 2-cycle Multiplier

•

Non volatile Program and Data Memories

– 32K/64K/128K Bytes of In-System Reprogrammable Flash (AT90CAN32/64/128)

• Endurance: 10,000 Write/Erase Cycles

– Optional Boot Code Section with Independent Lock Bits

• Selectable Boot Size: 1K Bytes, 2K Bytes, 4K Bytes or 8K Bytes

• In-System Programming by On-Chip Boot Program (CAN, UART, ...)

• True Read-While-Write Operation

– 1K/2K/4K

Bytes EEPROM (Endurance: 100,000 Write/Erase Cycles) (AT90CAN32/64/128)

– 2K/4K/4K Bytes Internal SRAM (AT90CAN32/64/128)

– Up to 64K Bytes Optional External Memory Space

– Programming Lock for Software Security

•

JTAG (IEEE std. 1149.1 Compliant) Interface

– Boundary-scan Capabilities According to the JTAG Standard

– Programming Flash (Hardware ISP), EEPROM, Lock & Fuse Bits

– Extensive On-chip Debug Support

•

CAN Controller 2.0A & 2.0B - ISO 16845 Certified

(1)

– 15 Full Message Objects with Separate Identifier Tags and Masks

– Transmit, Receive, Automatic Reply and Frame Buffer Receive Modes

– 1Mbits/s Maximum Transfer Rate at 8 MHz

– Time stamping, TTC & Listening Mode (Spying or Autobaud)

•

Peripheral Features

– Programmable Watchdog Timer with On-chip Oscillator

– 8-bit Synchronous Timer/Counter-0

• 10-bit Prescaler

• External Event Counter

• Output Compare or 8-bit PWM Output

– 8-bit Asynchronous Timer/Counter-2

• 10-bit Prescaler

• External Event Counter

• Output Compare or 8-Bit PWM Output

• 32Khz Oscillator for RTC Operation

– Dual 16-bit Synchronous Timer/Counters-1 & 3

• 10-bit Prescaler

• Input Capture with Noise Canceler

• External Event Counter

• 3-Output Compare or 16-Bit PWM Output

• Output Compare Modulation

– 8-channel, 10-bit SAR ADC

• 8 Single-ended Channels

• 7 Differential Channels

• 2 Differential Channels With Programmable Gain at 1x, 10x, or 200x

– On-chip Analog Comparator

– Byte-oriented Two-wire Serial Interface

– Dual Programmable Serial USART

– Master/Slave SPI Serial Interface

• Programming Flash (Hardware ISP)

•

Special Microcontroller Features

– Power-on Reset and Programmable Brown-out Detection

– Internal Calibrated RC Oscillator

– 8 External Interrupt Sources

– 5 Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down & Standby

– Software Selectable Clock Frequency

– Global Pull-up Disable

•

I/O and Packages

– 53 Programmable I/O Lines

– 64-lead TQFP and 64-lead QFN

•

Operating Voltages: 2.7 - 5.5V

•

Operating temperature: Automotive (-40°C to +125°C)

•

Maximum Frequency: 8 MHz at 2.7V, 16 MHz at 4.5V

Note: 1. See details on Section 19.4.3 on page 241.

Rev. 7682CS–AUTO–04/08

8-bit

Microcontroller

with

32K/64K/128K

Bytes of

ISP Flash

and

CAN Controller

AT90CAN32

AT90CAN64

AT90CAN128

Automotive

Summary

7682CS–AUTO–04/08

AT90CAN32/64/128

1. Description

1.1 Comparison Between AT90CAN32, AT90CAN64 and AT90CAN128

AT90CAN32, AT90CAN64 and AT90CAN128 are all hardware and software compatible with

each other, the only difference is the memory size.

1.2 Part Description

The AT90CAN32/64/128 is a low-power CMOS 8-bit microcontroller based on the AVR

enhanced RISC architecture. By executing powerful instructions in a single clock cycle, the

AT90CAN32/64/128 achieves throughputs approaching 1 MIPS per MHz allowing the system

designer to optimize power consumption versus processing speed.

The AVR core combines a rich instruction set with 32 general purpose working registers. All 32

registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent

registers to be accessed in one single instruction executed in one clock cycle. The resulting

architecture is more code efficient while achieving throughputs up to ten times faster than con-

ventional CISC microcontrollers.

The AT90CAN32/64/128 provides the following features: 32K/64K/128K bytes of In-System Pro-

grammable Flash with Read-While-Write capabilities, 1K/2K/4K bytes EEPROM, 2K/4K/4K

bytes SRAM, 53 general purpose I/O lines, 32 general purpose working registers, a CAN con-

troller, Real Time Counter (RTC), four flexible Timer/Counters with compare modes and PWM, 2

USARTs, a byte oriented Two-wire Serial Interface, an 8-channel 10-bit ADC with optional differ-

ential input stage with programmable gain, a programmable Watchdog Timer with Internal

Oscillator, an SPI serial port, IEEE std. 1149.1 compliant JTAG test interface, also used for

accessing the On-chip Debug system and programming and five software selectable power sav-

ing modes.

The Idle mode stops the CPU while allowing the SRAM, Timer/Counters, SPI/CAN ports and

interrupt system to continue functioning. The Power-down mode saves the register contents but

freezes the Oscillator, disabling all other chip functions until the next interrupt or Hardware

Reset. In Power-save mode, the asynchronous timer continues to run, allowing the user to main-

tain a timer base while the rest of the device is sleeping. The ADC Noise Reduction mode stops

the CPU and all I/O modules except Asynchronous Timer and ADC, to minimize switching noise

during ADC conversions. In Standby mode, the Crystal/Resonator Oscillator is running while the

rest of the device is sleeping. This allows very fast start-up combined with low power

consumption.

The device is manufactured using Atmel’s high-density nonvolatile memory technology. The On-

chip ISP Flash allows the program memory to be reprogrammed in-system through an SPI serial

interface, by a conventional nonvolatile memory programmer, or by an On-chip Boot program

running on the AVR core. The boot program can use any interface to download the application

program in the application Flash memory. Software in the Boot Flash section will continue to run

while the Application Flash section is updated, providing true Read-While-Write operation. By

Table 1-1. Memory Size Summary

Device Flash EEPROM RAM

AT90CAN32 32K Bytes 1K Byte 2K Bytes

AT90CAN64 64K Bytes 2K Bytes 4K Bytes

AT90CAN128 128K Bytes 4K Byte 4K Bytes

7682CS–AUTO–04/08

AT90CAN32/64/128

combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic chip,

the Atmel AT90CAN32/64/128 is a powerful microcontroller that provides a highly flexible and

cost effective solution to many embedded control applications.

The AT90CAN32/64/128 AVR is supported with a full suite of program and system development

tools including: C compilers, macro assemblers, program debugger/simulators, in-circuit emula-

tors, and evaluation kits.

1.3 Disclaimer

Typical values contained in this datasheet are based on simulations and characterization of

other AVR microcontrollers manufactured on the same process technology. Min and Max values

will be available after the device is characterized.

1.4 Automotive Quality Grade

The AT90CAN32/64/128 have been developed and manufactured according to the most strin-

gent requirements of the international standard ISO-TS-16949 grade 1. This data sheet contains

limit values extracted from the results of extensive characterization (Temperature and Voltage).

The quality and reliability of the AT90CAN32/64/128 have been verified during regular product

qualification as per AEC-Q100.

As indicated in the ordering information paragraph, the products are available in three different

temperature grades, but with equivalent quality and reliability objectives. Different temperature

identifiers have been defined as listed in Table 1-2.

Table 1-2. Temperature Grade Identification for Automotive Products

Temperature Temperature

Identifier

Comments

-40 ; +85 T Similar to Industrial Temperature Grade but with

Automotive Quality

-40 ; +105 T1 Reduced Automotive Temperature Range

-40 ; +125 Z Full AutomotiveTemperature Range

7682CS–AUTO–04/08

AT90CAN32/64/128

1.5 Block Diagram

Figure 1-1. Block Diagram

PROGRAM

COUNTER

STACK

POINTER

PROGRAM

FLASH

MCU CONTROL

SRAM

GENERAL

PURPOSE

REGISTERS

INSTRUCTION

TIMER/

COUNTERS

INSTRUCTION

DECODER

DATA DIR.

REG. PORTB

DATA DIR.

REG. PORTE

DATA DIR.

REG. PORTA

DATA DIR.

REG. PORTD

DATA REGISTER

PORTB

DATA REGISTER

PORTE

DATA REGISTER

PORTA

DATA REGISTER

PORTD

INTERRUPT

UNIT

EEPROM

SPIUSART0

STATUS

ALU

PORTB DRIVERS

PORTE DRIVERS

PORTA DRIVERS

PORTF DRIVERS

PORTD DRIVERS

PORTC DRIVERS

PB7 - PB0PE7 - PE0

PA7 - PA0PF7 - PF0

RESET

VCC

AGND

GND

AREF

XTAL1

XTAL2

CONTROL

LINES

ANALOG

COMPARATOR

PC7 - PC0

INTERNAL

OSCILLATOR

WATCHDOG

TIMER

8-BIT DATA BUS

AVCC

USART1

TIMING AND

CONTROL

OSCILLATOR

CALIB. OSC

DATA DIR.

REG. PORTC

DATA REGISTER

PORTC

ON-CHIP DEBUG

JTAG TAP

PROGRAMMING

LOGIC

BOUNDARY-

SCAN

DATA DIR.

REG. PORTF

DATA REGISTER

PORTF

ADC

POR - BOD

RESET

PD7 - PD0

DATA DIR.

REG. PORTG

DATA REG.

PORTG

PORTG DRIVERS

PG4 - PG0

TWO-WIRE SERIAL

INTERFACE

CAN

CONTROLLER

7682CS–AUTO–04/08

AT90CAN32/64/128

1.6 Pin Configurations

Figure 1-2. Pinout AT90CAN32/64/128 - TQFP

PC0 (A8)

VCC

GND

PF0 (ADC0)

PF7 (ADC7 / TDI)

PF1 (ADC1)

PF2 (ADC2)

PF3 (ADC3)

PF4 (ADC4 / TCK)

PF5 (ADC5 / TMS)

PF6 (ADC6 / TDO)

AREF

GND

AVCC

(RXD0 / PDI) PE0

(TXD0 / PDO) PE1

(XCK0 / AIN0) PE2

(OC3A / AIN1) PE3

(OC3B / INT4) PE4

(OC3C / INT5) PE5

(T3 / INT6) PE6

(ICP3 / INT7) PE7

(SS) PB0

(SCK) PB1

(MOSI) PB2

(MISO) PB3

(OC2A) PB4

(OC0A / OC1C) PB7

(TOSC2 ) PG3

(OC1B) PB6

(TOSC1 ) PG4

(OC1A) PB5

PC1 (A9)

(T0) PD7

PC2 (A10)

PC3 (A11)

PC4 (A12)

PC5 (A13)

PC6 (A14)

PC7 (A15 / CLKO)

PA7 (AD7)

PG2 (ALE)

PA6 (AD6)

PA5 (AD5)

PA4 (AD4)

PA3 (AD3)

PA0 (AD0)

PA1 (AD1)

PA2 (AD2)

(RXCAN / T1) PD6

(TXCAN / XCK1) PD5

(ICP1) PD4

(TXD1 / INT3) PD3

(RXD1 / INT2) PD2

(SDA / INT1) PD1

(SCL / INT0) PD0

XTAL1

XTAL2

RESET

GND

VCC

PG1 (RD)

PG0 (WR)

(2)

NC = Do not connect (May be used in future devices)

(1)

Timer2 Oscillator

(2)

(1)

(64-lead TQFP top view)

INDEX CORNER

7682CS–AUTO–04/08

AT90CAN32/64/128

Figure 1-3. Pinout AT90CAN32/64/128 - QFN

Note: The large center pad underneath the QFN package is made of metal and internally connected to

GND. It should be soldered or glued to the board to ensure good mechanical stability. If the center

pad is left unconnected, the package might loosen from the board.

1.7 Pin Descriptions

1.7.1 VCC

Digital supply voltage.

1.7.2 GND

Ground.

NC = Do not connect (May be used in future devices)

(1)

Timer2 Oscillator

(2)

PC0 (A8)

VCC

GND

PF0 (ADC0)

PF7 (ADC7 / TDI)

PF1 (ADC1)

PF2 (ADC2)

PF3 (ADC3)

PF4 (ADC4 / TCK)

PF5 (ADC5 / TMS)

PF6 (ADC6 / TDO)

AREF

GND

AVCC

(RXD0 / PDI) PE0

(TXD0 / PDO) PE1

(XCK0 / AIN0) PE2

(OC3A / AIN1) PE3

(OC3B / INT4) PE4

(OC3C / INT5) PE5

(T3 / INT6) PE6

(ICP3 / INT7) PE7

(SS) PB0

(SCK) PB1

(MOSI) PB2

(MISO) PB3

(OC2A) PB4

(OC0A / OC1C) PB7

(TOSC2 ) PG3

(OC1B) PB6

(TOSC1 ) PG4

(OC1A) PB5

PC1 (A9)

(T0) PD7

PC2 (A10)

PC3 (A11)

PC4 (A12)

PC5 (A13)

PC6 (A14)

PC7 (A15 / CLKO)

PA7 (AD7)

PG2 (ALE)

PA6 (AD6)

PA5 (AD5)

PA4 (AD4)

PA3 (AD3)

PA0 (AD0)

PA1 (AD1)

PA2 (AD2)

(RXCAN / T1) PD6

(TXCAN / XCK1) PD5

(ICP1) PD4

(TXD1 / INT3) PD3

(RXD1 / INT2) PD2

(SDA / INT1) PD1

(SCL / INT0) PD0

XTAL1

XTAL2

RESET

GND

VCC

PG1 (RD)

PG0 (WR)

16 33

(2)

(1)

(64-lead QFN top view)

INDEX CORNER

7682CS–AUTO–04/08

AT90CAN32/64/128

1.7.3 Port A (PA7..PA0)

Port A is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The

Port A output buffers have symmetrical drive characteristics with both high sink and source

capability. As inputs, Port A pins that are externally pulled low will source current if the pull-up

resistors are activated. The Port A pins are tri-stated when a reset condition becomes active,

even if the clock is not running.

Port A also serves the functions of various special features of the AT90CAN32/64/128 as listed

on page 74.

1.7.4 Port B (PB7..PB0)

Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The

Port B output buffers have symmetrical drive characteristics with both high sink and source

capability. As inputs, Port B pins that are externally pulled low will source current if the pull-up

resistors are activated. The Port B pins are tri-stated when a reset condition becomes active,

even if the clock is not running.

Port B also serves the functions of various special features of the AT90CAN32/64/128 as listed

on page 76.

1.7.5 Port C (PC7..PC0)

Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The

Port C output buffers have symmetrical drive characteristics with both high sink and source

capability. As inputs, Port C pins that are externally pulled low will source current if the pull-up

resistors are activated. The Port C pins are tri-stated when a reset condition becomes active,

even if the clock is not running.

Port C also serves the functions of special features of the AT90CAN32/64/128 as listed on page

78.

1.7.6 Port D (PD7..PD0)

Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The

Port D output buffers have symmetrical drive characteristics with both high sink and source

capability. As inputs, Port D pins that are externally pulled low will source current if the pull-up

resistors are activated. The Port D pins are tri-stated when a reset condition becomes active,

even if the clock is not running.

Port D also serves the functions of various special features of the AT90CAN32/64/128 as listed

on page 80.

1.7.7 Port E (PE7..PE0)

Port E is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The

Port E output buffers have symmetrical drive characteristics with both high sink and source

capability. As inputs, Port E pins that are externally pulled low will source current if the pull-up

resistors are activated. The Port E pins are tri-stated when a reset condition becomes active,

even if the clock is not running.

Port E also serves the functions of various special features of the AT90CAN32/64/128 as listed

on page 83.

1.7.8 Port F (PF7..PF0)

Port F serves as the analog inputs to the A/D Converter.

7682CS–AUTO–04/08

AT90CAN32/64/128

Port F also serves as an 8-bit bi-directional I/O port, if the A/D Converter is not used. Port pins

can provide internal pull-up resistors (selected for each bit). The Port F output buffers have sym-

metrical drive characteristics with both high sink and source capability. As inputs, Port F pins

that are externally pulled low will source current if the pull-up resistors are activated. The Port F

pins are tri-stated when a reset condition becomes active, even if the clock is not running.

Port F also serves the functions of the JTAG interface. If the JTAG interface is enabled, the pull-

up resistors on pins PF7(TDI), PF5(TMS), and PF4(TCK) will be activated even if a reset occurs.

1.7.9 Port G (PG4..PG0)

Port G is a 5-bit I/O port with internal pull-up resistors (selected for each bit). The Port G output

buffers have symmetrical drive characteristics with both high sink and source capability. As

inputs, Port G pins that are externally pulled low will source current if the pull-up resistors are

activated. The Port G pins are tri-stated when a reset condition becomes active, even if the clock

is not running.

Port G also serves the functions of various special features of the AT90CAN32/64/128 as listed

on page 88.

1.7.10 RESET

Reset input. A low level on this pin for longer than the minimum pulse length will generate a

reset. The minimum pulse length is given in characteristics. Shorter pulses are not guaranteed

to generate a reset. The I/O ports of the AVR are immediately reset to their initial state even if

the clock is not running. The clock is needed to reset the rest of the AT90CAN32/64/128.

1.7.11 XTAL1

Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.

1.7.12 XTAL2

Output from the inverting Oscillator amplifier.

1.7.13 AVCC

AVCC is the supply voltage pin for the A/D Converter on Port F. It should be externally con-

nected to V

, even if the ADC is not used. If the ADC is used, it should be connected to V

through a low-pass filter.

1.7.14 AREF

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

2. About Code Examples

This documentation contains simple code examples that briefly show how to use various parts of

the device. These code examples assume that the part specific header file is included before

compilation. Be aware that not all C compiler vendors include bit definitions in the header files

and interrupt handling in C is compiler dependent. Please confirm with the C compiler documen-

tation for more details.

7682CS–AUTO–04/08

AT90CAN32/64/128

3. Register Summary

Address Name Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Page

(0xFF) Reserved

(0xFE) Reserved

(0xFD) Reserved

(0xFC) Reserved

(0xFB) Reserved

(0xFA) CANMSG MSG 7 MSG 6 MSG 5 MSG 4 MSG 3 MSG 2 MSG 1 MSG 0 page 265

(0xF9) CANSTMH TIMSTM15 TIMSTM14 TIMSTM13 TIMSTM12 TIMSTM11 TIMSTM10 TIMSTM9 TIMSTM8 page 264

(0xF8) CANSTML TIMSTM7 TIMSTM6 TIMSTM5 TIMSTM4 TIMSTM3 TIMSTM2 TIMSTM1 TIMSTM0 page 264

(0xF7) CANIDM1

IDMSK

21 page 263

(0xF6) CANIDM2

IDMSK

13 page 263

(0xF5) CANIDM3

IDMSK

5page 263

(0xF4) CANIDM4

IDMSK

0 RTRMSK – IDEMSK page 263

(0xF3) CANIDT1

IDT

21 page 262

(0xF2) CANIDT2

IDT

13 page 262

(0xF1) CANIDT3

IDT

5page 262

(0xF0) CANIDT4

IDT

0 RTRTAG RB1TAG RB0TAG page 262

(0xEF) CANCDMOB CONMOB1 CONMOB0 RPLV IDE DLC3 DLC2 DLC1 DLC0 page 261

(0xEE) CANSTMOB DLCW TXOK RXOK BERR SERR CERR FERR AERR page 260

(0xED) CANPAGE MOBNB3 MOBNB2 MOBNB1 MOBNB0 AINC INDX2 INDX1 INDX0 page 259

(0xEC) CANHPMOB HPMOB3 HPMOB2 HPMOB1 HPMOB0 CGP3 CGP2 CGP1 CGP0 page 259

(0xEB) CANREC REC7 REC6 REC5 REC4 REC3 REC2 REC1 REC0 page 259

(0xEA) CANTEC TEC7 TEC6 TEC5 TEC4 TEC3 TEC2 TEC1 TEC0 page 259

(0xE9) CANTTCH TIMTTC15 TIMTTC14 TIMTTC13 TIMTTC12 TIMTTC11 TIMTTC10 TIMTTC9 TIMTTC8 page 258

(0xE8) CANTTCL TIMTTC7 TIMTTC6 TIMTTC5 TIMTTC4 TIMTTC3 TIMTTC2 TIMTTC1 TIMTTC0 page 258

(0xE7) CANTIMH CANTIM15 CANTIM14 CANTIM13 CANTIM12 CANTIM11 CANTIM10 CANTIM9 CANTIM8 page 258

(0xE6) CANTIML CANTIM7 CANTIM6 CANTIM5 CANTIM4 CANTIM3 CANTIM2 CANTIM1 CANTIM0 page 258

(0xE5) CANTCON TPRSC7 TPRSC6 TPRSC5 TPRSC4 TPRSC3 TPRSC2 TRPSC1 TPRSC0 page 258

(0xE4) CANBT3 – PHS22 PHS21 PHS20 PHS12 PHS11 PHS10 SMP page 257

(0xE3) CANBT2 – SJW1 SJW0 – PRS2 PRS1 PRS0 – page 257

(0xE2) CANBT1 – BRP5 BRP4 BRP3 BRP2 BRP1 BRP0 – page 256

(0xE1) CANSIT1 – SIT14 SIT13 SIT12 SIT11 SIT10 SIT9 SIT8 page 256

(0xE0) CANSIT2 SIT7 SIT6 SIT5 SIT4 SIT3 SIT2 SIT1 SIT0 page 256

(0xDF) CANIE1 – IEMOB14 IEMOB13 IEMOB12 IEMOB11 IEMOB10 IEMOB9 IEMOB8 page 255

(0xDE) CANIE2 IEMOB7 IEMOB6 IEMOB5 IEMOB4 IEMOB3 IEMOB2 IEMOB1 IEMOB0 page 255

(0xDD) CANEN1 – ENMOB14 ENMOB13 ENMOB12 ENMOB11 ENMOB10 ENMOB9 ENMOB8 page 255

(0xDC) CANEN2 ENMOB7 ENMOB6 ENMOB5 ENMOB4 ENMOB3 ENMOB2 ENMOB1 ENMOB0 page 255

(0xDB) CANGIE ENIT ENBOFF ENRX ENTX ENERR ENBX ENERG ENOVRT page 254

(0xDA) CANGIT CANIT BOFFIT OVRTIM BXOK SERG CERG FERG AERG page 253

(0xD9) CANGSTA – OVRG – TXBSY RXBSY ENFG BOFF ERRP page 252

(0xD8) CANGCON ABRQ OVRQ TTC SYNTTC LISTEN TEST ENA/STB SWRES page 251

(0xD7) Reserved

(0xD6) Reserved

(0xD5) Reserved

(0xD4) Reserved

(0xD3) Reserved

(0xD2) Reserved

(0xD1) Reserved

(0xD0) Reserved

(0xCF) Reserved

(0xCE) UDR1 UDR17 UDR16 UDR15 UDR14 UDR13 UDR12 UDR11 UDR10 page 194

(0xCD) UBRR1H – – – – UBRR111 UBRR110 UBRR19 UBRR18 page 198

(0xCC) UBRR1L UBRR17 UBRR16 UBRR15 UBRR14 UBRR13 UBRR12 UBRR11 UBRR10 page 198

(0xCB) Reserved

(0xCA) UCSR1C – UMSEL1 UPM11 UPM10 USBS1 UCSZ11 UCSZ10 UCPOL1 page 197

(0xC9) UCSR1B RXCIE1 TXCIE1 UDRIE1 RXEN1 TXEN1 UCSZ12 RXB81 TXB81 page 196

(0xC8) UCSR1A RXC1 TXC1 UDRE1 FE1 DOR1 UPE1 U2X1 MPCM1 page 194

(0xC7) Reserved

(0xC6) UDR0 UDR07 UDR06 UDR05 UDR04 UDR03 UDR02 UDR01 UDR00 page 194

(0xC5) UBRR0H – – – – UBRR011 UBRR010 UBRR09 UBRR08 page 198

(0xC4) UBRR0L UBRR07 UBRR06 UBRR05 UBRR04 UBRR03 UBRR02 UBRR01 UBRR00 page 198

(0xC3) Reserved

(0xC2) UCSR0C – UMSEL0 UPM01 UPM00 USBS0 UCSZ01 UCSZ00 UCPOL0 page 196

(0xC1) UCSR0B RXCIE0 TXCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80 page 195

(0xC0) UCSR0A RXC0 TXC0 UDRE0 FE0 DOR0 UPE0 U2X0 MPCM0 page 194

(0xBF) Reserved

7682CS–AUTO–04/08

AT90CAN32/64/128

(0xBE) Reserved

(0xBD) Reserved

(0xBC) TWCR TWINT TWEA TWSTA TWSTO TWWC TWEN – TWIE page 211

(0xBB) TWDR TWDR7 TWDR6 TWDR5 TWDR4 TWDR3 TWDR2 TWDR1 TWDR0 page 213

(0xBA) TWAR TWAR6 TWAR5 TWAR4 TWAR3 TWAR2 TWAR1 TWAR0 TWGCE page 213

(0xB9) TWSR TWS7 TWS6 TWS5 TWS4 TWS3 – TWPS1 TWPS0 page 212

(0xB8) TWBR TWBR7 TWBR6 TWBR5 TWBR4 TWBR3 TWBR2 TWBR1 TWBR0 page 211

(0xB7) Reserved

(0xB6) ASSR – – – EXCLK AS2 TCN2UB OCR2UB TCR2UB page 159

(0xB5) Reserved

(0xB4) Reserved

(0xB3) OCR2A OCR2A7 OCR2A6 OCR2A5 OCR2A4 OCR2A3 OCR2A2 OCR2A1 OCR2A0 page 158

(0xB2) TCNT2 TCNT27 TCNT26 TCNT25 TCNT24 TCNT23 TCNT22 TCNT21 TCNT20 page 158

(0xB1) Reserved

(0xB0) TCCR2A FOC2A WGM20 COM2A1 COM2A0 WGM21 CS22 CS21 CS20 page 163

(0xAF) Reserved

(0xAE) Reserved

(0xAD) Reserved

(0xAC) Reserved

(0xAB) Reserved

(0xAA) Reserved

(0xA9) Reserved

(0xA8) Reserved

(0xA7) Reserved

(0xA6) Reserved

(0xA5) Reserved

(0xA4) Reserved

(0xA3) Reserved

(0xA2) Reserved

(0xA1) Reserved

(0xA0) Reserved

(0x9F) Reserved

(0x9E) Reserved

(0x9D) OCR3CH OCR3C15 OCR3C14 OCR3C13 OCR3C12 OCR3C11 OCR3C10 OCR3C9 OCR3C8 page 141

(0x9C) OCR3CL OCR3C7 OCR3C6 OCR3C5 OCR3C4 OCR3C3 OCR3C2 OCR3C1 OCR3C0 page 141

(0x9B) OCR3BH OCR3B15 OCR3B14 OCR3B13 OCR3B12 OCR3B11 OCR3B10 OCR3B9 OCR3B8 page 141

(0x9A) OCR3BL OCR3B7 OCR3B6 OCR3B5 OCR3B4 OCR3B3 OCR3B2 OCR3B1 OCR3B0 page 141

(0x99) OCR3AH OCR3A15 OCR3A14 OCR3A13 OCR3A12 OCR3A11 OCR3A10 OCR3A9 OCR3A8 page 141

(0x98) OCR3AL OCR3A7 OCR3A6 OCR3A5 OCR3A4 OCR3A3 OCR3A2 OCR3A1 OCR3A0 page 141

(0x97) ICR3H ICR315 ICR314 ICR313 ICR312 ICR311 ICR310 ICR39 ICR38 page 142

(0x96) ICR3L ICR37 ICR36 ICR35 ICR34 ICR33 ICR32 ICR31 ICR30 page 142

(0x95) TCNT3H TCNT315 TCNT314 TCNT313 TCNT312 TCNT311 TCNT310 TCNT39 TCNT38 page 140

(0x94) TCNT3L TCNT37 TCNT36 TCNT35 TCNT34 TCNT33 TCNT32 TCNT31 TCNT30 page 140

(0x93) Reserved

(0x92) TCCR3C FOC3A FOC3B FOC3C – – – – page 140

(0x91) TCCR3B ICNC3 ICES3 – WGM33 WGM32 CS32 CS31 CS30 page 138

(0x90) TCCR3A COM3A1 COM3A0 COM3B1 COM3B0 COM3C1 COM3C0 WGM31 WGM30 page 135

(0x8F) Reserved

(0x8E) Reserved

(0x8D) OCR1CH OCR1C15 OCR1C14 OCR1C13 OCR1C12 OCR1C11 OCR1C10 OCR1C9 OCR1C8 page 141

(0x8C) OCR1CL OCR1C7 OCR1C6 OCR1C5 OCR1C4 OCR1C3 OCR1C2 OCR1C1 OCR1C0 page 141

(0x8B) OCR1BH OCR1B15 OCR1B14 OCR1B13 OCR1B12 OCR1B11 OCR1B10 OCR1B9 OCR1B8 page 141

(0x8A) OCR1BL OCR1B7 OCR1B6 OCR1B5 OCR1B4 OCR1B3 OCR1B2 OCR1B1 OCR1B0 page 141

(0x89) OCR1AH OCR1A15 OCR1A14 OCR1A13 OCR1A12 OCR1A11 OCR1A10 OCR1A9 OCR1A8 page 141

(0x88) OCR1AL OCR1A7 OCR1A6 OCR1A5 OCR1A4 OCR1A3 OCR1A2 OCR1A1 OCR1A0 page 141

(0x87) ICR1H ICR115 ICR114 ICR113 ICR112 ICR111 ICR110 ICR19 ICR18 page 142

(0x86) ICR1L ICR17 ICR16 ICR15 ICR14 ICR13 ICR12 ICR11 ICR10 page 142

(0x85) TCNT1H TCNT115 TCNT114 TCNT113 TCNT112 TCNT111 TCNT110 TCNT19 TCNT18 page 140

(0x84) TCNT1L TCNT17 TCNT16 TCNT15 TCNT14 TCNT13 TCNT12 TCNT11 TCNT10 page 140

(0x83) Reserved

(0x82) TCCR1C FOC1A FOC1B FOC1C – – – – – page 139

(0x81) TCCR1B ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10 page 138

(0x80) TCCR1A COM1A1 COM1A0 COM1B1 COM1B0 COM1C1 COM1C0 WGM11 WGM10 page 135

(0x7F) DIDR1 – – – – – – AIN1D AIN0D page 271

(0x7E) DIDR0 ADC7D ADC6D ADC5D ADC4D ADC3D ADC2D ADC1D ADC0D page 291

(0x7D) Reserved

Address Name Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Page

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