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Features
* High Performance, Low Power AVR(R) 8-Bit Microcontroller * Advanced RISC Architecture
- 135 Powerful Instructions - Most Single Clock Cycle Execution - 32 x 8 General Purpose Working Registers - Fully Static Operation - Up to 16 MIPS Throughput at 16 MHz - On-Chip 2-cycle Multiplier Non-volatile Program and Data Memories - 16/32K Bytes of In-System Self-Programmable Flash * Endurance: 100,000 Write/Erase Cycles - Optional Boot Code Section with Independent Lock Bits * In-System Programming by On-chip Boot Program hardware activated after reset * True Read-While-Write Operation * All supplied parts are preprogramed with a default USB bootloader - 1.25/2.5K Bytes Internal SRAM - 512Bytes/1K Bytes Internal EEPROM * Endurance: 100,000 Write/Erase Cycles - Programming Lock for Software Security JTAG (IEEE std. 1149.1 compliant) Interface - Boundary-scan Capabilities According to the JTAG Standard - Extensive On-chip Debug Support - Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface USB 2.0 Full-speed/Low Speed Device Module with Interrupt on Transfer Completion - Complies fully with Universal Serial Bus Specification Rev 2.0 - Supports data transfer rates up to 12 Mbit/s and 1.5 Mbit/s - Endpoint 0 for Control Transfers: up to 64-bytes - 6 Programmable Endpoints with IN or Out Directions and with Bulk, Interrupt or Isochronous Transfers - Configurable Endpoints size up to 256 bytes in double bank mode - Fully independent 832 bytes USB DPRAM for endpoint memory allocation - Suspend/Resume Interrupts - CPU Reset possible on USB Bus Reset detection - 48 MHz from PLL for Full-speed Bus Operation - USB Bus Connection/Disconnection on Microcontroller Request Peripheral Features - On-chip PLL for USB and High Speed Timer: 32 up to 96 MHz operation - Two 8-bit Timer/Counters with Separate Prescaler and Compare Mode - Two 16-bit Timer/Counter with Separate Prescaler, Compare- and Capture Mode - One 10-bit High-Speed Timer/Counter with PLL (64 MHz) and Compare Mode - Four 8-bit PWM Channels - Four PWM Channels with Programmable Resolution from 2 to 16 Bits - Six PWM Channels for High Speed Operation, with Programmable Resolution from 2 to 11 Bits - Output Compare Modulator - 12-channels, 10-bit ADC (features Differential Channels with Programmable Gain) - Programmable Serial USART with Hardware Flow Control - Master/Slave SPI Serial Interface
*
*
8-bit Microcontroller with 16/32K Bytes of ISP Flash and USB Controller ATmega16U4 ATmega32U4
*
Preliminary
*
Summary
7766CS-AVR-11/08
*
*
* * *
- Byte Oriented 2-wire Serial Interface - Programmable Watchdog Timer with Separate On-chip Oscillator - On-chip Analog Comparator - Interrupt and Wake-up on Pin Change (8xPCINT + 5xINT sources) - On-chip Temperature Sensor (see A/D Converter section) Special Microcontroller Features - Power-on Reset and Programmable Brown-out Detection - Internal 8 MHz Calibrated Oscillator - Internal clock prescaler & On-the-fly Clock Switching (Int RC / Ext Osc) - External and Internal Interrupt Sources - Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby, and Extended Standby I/O and Packages - All I/O combine CMOS outputs and LVTTL inputs - 26 Programmable I/O Lines - 44-lead TQFP Package, 10x10mm - 44-lead QFN Package, 7x7mm Operating Voltages - 2.7 - 5.5V Operating temperature - Industrial (-40C to +85C) Maximum Frequency - 8 MHz at 2.7V - Industrial range - 16 MHz at 4.5V - Industrial range
2
ATmega16U4/ATmega32U4
7766CS-AVR-11/08
ATmega16U4/ATmega32U4
1. Pin Configurations
Figure 1-1. Pinout ATmega16U4/ATmega32U4
PF5 (ADC5/TMS) PF6 (ADC6/TDO) PF4 (ADC4/TCK) PF7 (ADC7/TDI)
PF0 (ADC0)
PF1 (ADC1)
AVCC
AREF
GND
GND 35
44
43
42
41
40
39
38
37
36
34
VCC
(INT.6/AIN0) PE6 UVcc DD+ UGnd UCap VBus (SS/PCINT0) PB0 (PCINT1/SCLK) PB1 (PDI/PCINT2/MOSI) PB2 (PDO/PCINT3/MISO) PB3
1 2
INDEX CORNER
33 PE2 (HWB) 32 PC7 (ICP3/CLK0/OC4A) 31 PC6 (OC3A/OC4A) 30 PB6 (PCINT6/OC1B/OC4B/ADC13) 29 PB5 (PCINT5/OC1A/OC4B/ADC12)
3 4 5 6 7 8 9 10 11
12 13 VCC 14 GND 15 XTAL2 16 XTAL1 17 18 19 20 21 22 (XCK1/CTS) PD5
ATmega32U4 ATmega16U4 44-pin QFN/TQFP
28 PB4 (PCINT4/ADC11) 27 PD7 (T0/OC4D/ADC10) 26 PD6 (T1/OC4D/ADC9) 25 PD4 (ICP1/ADC8) 24 AVCC 23 GND
(SDA/INT1) PD1
(OC0B/SCL/INT0) PD0
(RXD1/INT2) PD2
1.1
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.
2. Overview
The ATmega16U4/ATmega32U4 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 ATmega16U4/ATmega32U4 achieves throughputs approaching 1 MIPS per MHz allowing the system designer to optimize power consumption versus processing speed.
(PCINT7/OC0A/OC1C/RTS) PB7
(TXD1/INT3) PD3
RESET
3
7766CS-AVR-11/08
2.1
Block Diagram
Block Diagram
Figure 2-1.
PF7 - PF4
PF1 PF0
PC7 PC6
VCC GND
PORTF DRIVERS
PORTC DRIVERS
DATA REGISTER PORTF
DATA DIR. REG. PORTF
DATA REGISTER PORTC 8-BIT DA TA BUS
DATA DIR. REG. PORTC
POR - BOD RESET
INTERNAL OSCILLATOR
CALIB. OSC
JTAG TAP
PROGRAM COUNTER
STACK POINTER
WATCHDOG TIMER
OSCILLATOR
ON-CHIP DEBUG
PROGRAM FLASH
SRAM
MCU CONTROL REGISTER TIMERS/ COUNTERS INTERRUPT UNIT
TIMING AND CONTROL
BOUNDARYSCAN
INSTRUCTION REGISTER
GENERAL PURPOSE REGISTERS
X Y Z
RESET
XTAL1
XTAL2
UVcc ON-CHIP USB PAD 3V REGULATOR
PROGRAMMING LOGIC
INSTRUCTION DECODER
EEPROM
UCap
1uF
TEMPERATURE SENSOR AVCC AGND AREF ADC
CONTROL LINES
ALU HIGH SPEED STATUS REGISTER TIMER/PWM PLL
VBUS DP USB 2.0 DM
TWO-WIRE SERIAL INTERFACE
ANALOG COMPARATOR
USART1
SPI
DATA REGISTER PORTE
DATA DIR. REG. PORTE
DATA REGISTER PORTB
DATA DIR. REG. PORTB
DATA REGISTER PORTD
DATA DIR. REG. PORTD
PORTE DRIVERS
PORTB DRIVERS
PORTD DRIVERS
PE6
PE2
PB7 - PB0
PD7 - PD0
The AVR core combines a rich instruction set with 32 general purpose working registers. All the 32 registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent registers to be accessed in one single instruction executed in one clock cycle. The resulting architecture is more code efficient while achieving throughputs up to ten times faster than conventional CISC microcontrollers. The ATmega16U4/ATmega32U4 provides the following features: 16/32K bytes of In-System Programmable Flash with Read-While-Write capabilities, 512Bytes/1K bytes EEPROM, 1.25/2.5K bytes SRAM, 26 general purpose I/O lines (CMOS outputs and LVTTL inputs), 32 general purpose working registers, four flexible Timer/Counters with compare modes and PWM, one more high-speed Timer/Counter with compare modes and PLL adjustable source, one USART (including CTS/RTS flow control signals), a byte oriented 2-wire Serial Interface, a 12-
4
ATmega16U4/ATmega32U4
7766CS-AVR-11/08
ATmega16U4/ATmega32U4
channels 10-bit ADC with optional differential input stage with programmable gain, an on-chip calibrated temperature sensor, 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 six software selectable power saving modes. The Idle mode stops the CPU while allowing the SRAM, Timer/Counters, SPI port, and interrupt system to continue functioning. The Power-down mode saves the register contents but freezes the Oscillator, disabling all other chip functions until the next interrupt or Hardware Reset. The ADC Noise Reduction mode stops the CPU and all I/O modules except 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 combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic chip, the ATMEL ATmega16U4/ATmega32U4 is a powerful microcontroller that provides a highly flexible and cost effective solution to many embedded control applications. The ATmega16U4/ATmega32U4 AVR is supported with a full suite of program and system development tools including: C compilers, macro assemblers, program debugger/simulators, incircuit emulators, and evaluation kits.
2.2
2.2.1
Pin Descriptions
VCC Digital supply voltage.
2.2.2
GND Ground.
2.2.3
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 has better driving capabilities than the other ports. Port B also serves the functions of various special features of the ATmega16U4/ATmega32U4 as listed on page 70.
2.2.4
Port C (PC7,PC6) 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. 5
7766CS-AVR-11/08
Only bits 6 and 7 are present on the product pinout. Port C also serves the functions of special features of the ATmega16U4/ATmega32U4 as listed on page 73. 2.2.5 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 ATmega16U4/ATmega32U4 as listed on page 75. 2.2.6 Port E (PE6,PE2) 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. Only bits 2 and 6 are present on the product pinout. Port E also serves the functions of various special features of the ATmega16U4/ATmega32U4 as listed on page 78. 2.2.7 Port F (PF7..PF4, PF1,PF0) Port F serves as analog inputs to the A/D Converter. Port F also serves as an 8-bit bi-directional I/O port, if the A/D Converter channels are not used. Port pins can provide internal pull-up resistors (selected for each bit). The Port F output buffers have symmetrical 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. Bits 2 and 3 are not present on the product pinout. Port F also serves the functions of the JTAG interface. If the JTAG interface is enabled, the pullup resistors on pins PF7(TDI), PF5(TMS), and PF4(TCK) will be activated even if a reset occurs. 2.2.8 DUSB Full speed / Low Speed Negative Data Upstream Port. Should be connected to the USB Dconnector pin with a serial 22 Ohms resistor. 2.2.9 D+ USB Full speed / Low Speed Positive Data Upstream Port. Should be connected to the USB D+ connector pin with a serial 22 Ohms resistor. 2.2.10 UGND USB Pads Ground.
6
ATmega16U4/ATmega32U4
7766CS-AVR-11/08
ATmega16U4/ATmega32U4
2.2.11 UVCC USB Pads Internal Regulator Input supply voltage. 2.2.12 UCAP USB Pads Internal Regulator Output supply voltage. Should be connected to an external capacitor (1F). 2.2.13 VBUS USB VBUS monitor input. 2.2.14 RESET Reset input. A low level on this pin for longer than the minimum pulse length will generate a reset, even if the clock is not running. The minimum pulse length is given in Table 8-1 on page 48. Shorter pulses are not guaranteed to generate a reset. 2.2.15 XTAL1 Input to the inverting Oscillator amplifier and input to the internal clock operating circuit. 2.2.16 XTAL2 Output from the inverting Oscillator amplifier. 2.2.17 AVCC AVCC is the supply voltage pin (input) for all the A/D Converter channels. If the ADC is not used, it should be externally connected to VCC. If the ADC is used, it should be connected to VCC through a low-pass filter. 2.2.18 AREF This is the analog reference pin (input) for the A/D Converter.
3. About Code Examples
This documentation contains simple code examples that briefly show how to use various parts of the device. Be aware that not all C compiler vendors include bit definitions in the header files and interrupt handling in C is compiler dependent. Please confirm with the C compiler documentation for more details. These code examples assume that the part specific header file is included before compilation. For I/O registers located in extended I/O map, "IN", "OUT", "SBIS", "SBIC", "CBI", and "SBI" instructions must be replaced with instructions that allow access to extended I/O. Typically "LDS" and "STS" combined with "SBRS", "SBRC", "SBR", and "CBR".
7
7766CS-AVR-11/08
4. Register Summary
Address
(0xFF) (0xFE) (0xFD) (0xFC) (0xFB) (0xFA) (0xF9) (0xF8) (0xF7) (0xF6) (0xF5) (0xF4) (0xF3) (0xF2) (0xF1) (0xF0) (0xEF) (0xEE) (0xED) (0xEC) (0xEB) (0xEA) (0xE9) (0xE8) (0xE7) (0xE6) (0xE5) (0xE4) (0xE3) (0xE2) (0xE1) (0xE0) (0xDF) (0xDE) (0xDD) (0xDC) (0xDB) (0xDA) (0xD9) (0xD8) (0xD7) (0xD6) (0xD5) (0xD4) (0xD3) (0xD2) (0xD1) (0xD0) (0xCF) (0xCE) (0xCD) (0xCC) (0xCB) (0xCA) (0xC9) (0xC8) (0xC7) (0xC6) (0xC5) (0xC4) (0xC3) (0xC2) (0xC1) (0xC0) (0xBF)
Name
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved UEINT UEBCHX UEBCLX UEDATX UEIENX UESTA1X UESTA0X UECFG1X UECFG0X UECONX UERST UENUM UEINTX Reserved UDMFN UDFNUMH UDFNUML UDADDR UDIEN UDINT UDCON Reserved Reserved Reserved Reserved Reserved USBINT USBSTA USBCON UHWCON Reserved Reserved DT4 Reserved OCR4D OCR4C OCR4B OCR4A UDR1 UBRR1H UBRR1L Reserved UCSR1C UCSR1B UCSR1A CLKSTA CLKSEL1 CLKSEL0 TCCR4E TCCR4D TCCR4C TCCR4B TCCR4A TC4H
Bit 7
-
Bit 6
-
Bit 5
-
Bit 4
-
Bit 3
EPINT6:0 BYCT7:0 DAT7:0
Bit 2
-
Bit 1
BYCT10:8
Bit 0
-
Page
FLERRE CFGOK
NAKINE OVERFI
UNDERFI EPSIZE2:0 -
NAKOUTE STALLRQC NAKOUTI FNCERR -
RXSTPE -
RXOUTE CTRLDIR
STALLEDE
TXINE
CURRBK1:0 NBUSYBK1:0 ALLOC EPDIR EPEN
DTSEQ1:0 EPBK1:0 RSTDT EPRST6:0 RXSTPI FNUM7:0 UADD6:0 RXOUTI -
EPTYPE1:0 FIFOCON ADDEN UPRSME UPRSMI NAKINI -
STALLRQ RWAL -
EPNUM2:0 STALLEDI TXINI -
FNUM10:8
EORSME EORSMI -
WAKEUPE WAKEUPI -
EORSTE EORSTI RSTCPU
SOFE SOFI LSM
MSOFE MSOFI RMWKUP
SUSPE SUSPI DETACH
USBE -
-
FRZCLK -
OTGPADE -
-
-
ID -
VBUSTI VBUS VBUSTE UVREGE
DT4H3
DT4H2
DT4H1
DT4H0
DT4L3
DT4L2
DT4L1
DT4L0
Timer/Counter4 - Output Compare Register D Timer/Counter4 - Output Compare Register C Timer/Counter4 - Output Compare Register B Timer/Counter4 - Output Compare Register A USART1 I/O Data Register UMSEL11 RXCIE1 RXC1 RCCKSEL3 RCSUT1 TLOCK4 FPIE4 COM4A1S PWM4X COM4A1 UMSEL10 TXCIE1 TXC1 RCCKSEL2 RCSUT0 ENHC4 FPEN4 COM4A0S PSR4 COM4A0 UPM11 UDRIE1 UDRE1 RCCKSEL1 EXSUT1 OC4OE5 FPNC4 COM4B1S DTPS41 COM4B1 UPM10 RXEN1 FE1 RCCKSEL0 EXSUT0 OC4OE4 FPES4 COM4B0S DTPS40 COM4B0 USBS1 TXEN1 DOR1 EXCKSEL3 RCE OC4OE3 FPAC4 COM4D1S CS43 FOC4A USART1 Baud Rate Register High Byte UCSZ11 UCSZ12 PE1 EXCKSEL2 EXTE OC4OE2 FPF4 COM4D0S CS42 FOC4B UCSZ10 RXB81 U2X1 RCON EXCKSEL1 OC4OE1 WGM41 FOC4D CS41 PWM4A Timer/Counter4 High Byte UCPOL1 TXB81 MPCM1 EXTON EXCKSEL0 CLKS OC4OE0 WGM40 PWM4D CS40 PWM4B USART1 Baud Rate Register Low Byte
8
ATmega16U4/ATmega32U4
7766BS-AVR-07/08
ATmega16U4/ATmega32U4
Address
(0xBE) (0xBD) (0xBC) (0xBB) (0xBA) (0xB9) (0xB8) (0xB7) (0xB6) (0xB5) (0xB4) (0xB3) (0xB2) (0xB1) (0xB0) (0xAF) (0xAE) (0xAD) (0xAC) (0xAB) (0xAA) (0xA9) (0xA8) (0xA7) (0xA6) (0xA5) (0xA4) (0xA3) (0xA2) (0xA1) (0xA0) (0x9F) (0x9E) (0x9D) (0x9C) (0x9B) (0x9A) (0x99) (0x98) (0x97) (0x96) (0x95) (0x94) (0x93) (0x92) (0x91) (0x90) (0x8F) (0x8E) (0x8D) (0x8C) (0x8B) (0x8A) (0x89) (0x88) (0x87) (0x86) (0x85) (0x84) (0x83) (0x82) (0x81) (0x80) (0x7F) (0x7E) (0x7D)
Name
TCNT4 TWAMR TWCR TWDR TWAR TWSR TWBR Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved OCR3CH OCR3CL OCR3BH OCR3BL OCR3AH OCR3AL ICR3H ICR3L TCNT3H TCNT3L Reserved TCCR3C TCCR3B TCCR3A Reserved Reserved OCR1CH OCR1CL OCR1BH OCR1BL OCR1AH OCR1AL ICR1H ICR1L TCNT1H TCNT1L Reserved TCCR1C TCCR1B TCCR1A DIDR1 DIDR0 DIDR2
Bit 7
TWAM6 TWINT TWA6 TWS7 -
Bit 6
TWAM5 TWEA TWA5 TWS6 -
Bit 5
TWAM4 TWSTA TWA4 TWS5 -
Bit 4
TWAM3 TWSTO TWA3 TWS4 -
Bit 3
TWAM2 TWWC TWA2 TWS3 -
Bit 2
TWAM1 TWEN TWA1 -
Bit 1
TWAM0 TWA0 TWPS1 -
Bit 0
TWIE TWGCE TWPS0 -
Page
Timer/Counter4 - Counter Register Low Byte
2-wire Serial Interface Data Register
2-wire Serial Interface Bit Rate Register
Timer/Counter3 - Output Compare Register C High Byte Timer/Counter3 - Output Compare Register C Low Byte Timer/Counter3 - Output Compare Register B High Byte Timer/Counter3 - Output Compare Register B Low Byte Timer/Counter3 - Output Compare Register A High Byte Timer/Counter3 - Output Compare Register A Low Byte Timer/Counter3 - Input Capture Register High Byte Timer/Counter3 - Input Capture Register Low Byte Timer/Counter3 - Counter Register High Byte Timer/Counter3 - Counter Register Low Byte FOC3A ICNC3 COM3A1 ICES3 COM3A0 COM3B1 WGM33 COM3B0 WGM32 COM3C1 CS32 COM3C0 CS31 WGM31 CS30 WGM30 -
Timer/Counter1 - Output Compare Register C High Byte Timer/Counter1 - Output Compare Register C Low Byte Timer/Counter1 - Output Compare Register B High Byte Timer/Counter1 - Output Compare Register B Low Byte Timer/Counter1 - Output Compare Register A High Byte Timer/Counter1 - Output Compare Register A Low Byte Timer/Counter1 - Input Capture Register High Byte Timer/Counter1 - Input Capture Register Low Byte Timer/Counter1 - Counter Register High Byte Timer/Counter1 - Counter Register Low Byte FOC1A ICNC1 COM1A1 ADC7D FOC1B ICES1 COM1A0 ADC6D FOC1C COM1B1 ADC5D ADC13D WGM13 COM1B0 ADC4D ADC12D WGM12 COM1C1 ADC11D CS12 COM1C0 ADC10D CS11 WGM11 ADC1D ADC9D CS10 WGM10 AIN0D ADC0D ADC8D
9
7766BS-AVR-07/08
Address
(0x7C) (0x7B) (0x7A) (0x79) (0x78) (0x77) (0x76) (0x75) (0x74) (0x73) (0x72) (0x71) (0x70) (0x6F) (0x6E) (0x6D) (0x6C) (0x6B) (0x6A) (0x69) (0x68) (0x67) (0x66) (0x65) (0x64) (0x63) (0x62) (0x61) (0x60) 0x3F (0x5F) 0x3E (0x5E) 0x3D (0x5D) 0x3C (0x5C) 0x3B (0x5B) 0x3A (0x5A) 0x39 (0x59) 0x38 (0x58) 0x37 (0x57) 0x36 (0x56) 0x35 (0x55) 0x34 (0x54) 0x33 (0x53) 0x32 (0x52) 0x31 (0x51) 0x30 (0x50) 0x2F (0x4F) 0x2E (0x4E) 0x2D (0x4D) 0x2C (0x4C) 0x2B (0x4B) 0x2A (0x4A) 0x29 (0x49) 0x28 (0x48) 0x27 (0x47) 0x26 (0x46) 0x25 (0x45) 0x24 (0x44) 0x23 (0x43) 0x22 (0x42) 0x21 (0x41) 0x20 (0x40) 0x1F (0x3F) 0x1E (0x3E) 0x1D (0x3D) 0x1C (0x3C)
Name
ADMUX ADCSRB ADCSRA ADCH ADCL Reserved Reserved Reserved Reserved Reserved TIMSK4 TIMSK3 Reserved TIMSK1 TIMSK0 Reserved Reserved PCMSK0 EICRB EICRA PCICR RCCTRL OSCCAL PRR1 PRR0 Reserved Reserved CLKPR WDTCSR SREG SPH SPL Reserved RAMPZ Reserved Reserved Reserved SPMCSR Reserved MCUCR MCUSR SMCR PLLFRQ OCDR/ MONDR ACSR Reserved SPDR SPSR SPCR GPIOR2 GPIOR1 PLLCSR OCR0B OCR0A TCNT0 TCCR0B TCCR0A GTCCR EEARH EEARL EEDR EECR GPIOR0 EIMSK EIFR
Bit 7
REFS1 ADHSM ADEN
Bit 6
REFS0 ACME ADSC
Bit 5
ADLAR MUX5 ADATE
Bit 4
MUX4 ADIF
Bit 3
MUX3 ADTS3 ADIE
Bit 2
MUX2 ADTS2 ADPS2
Bit 1
MUX1 ADTS1 ADPS1
Bit 0
MUX0 ADTS0 ADPS0
Page
ADC Data Register High byte ADC Data Register Low byte OCIE4D PCINT7 ISC31 PRUSB PRTWI CLKPCE WDIF I SP15 SP7 SPMIE JTD PINMUX OCDR7 ACD SPIF SPIE OCIE4A PCINT6 ISC30 WDIE T SP14 SP6 RWWSB PLLUSB OCDR6 ACBG WCOL SPE OCIE4B ICIE3 ICIE1 PCINT5 ISC61 ISC21 PRTIM0 WDP3 H SP13 SP5 SIGRD USBRF PLLTM1 OCDR5 ACO DORD PCINT4 ISC60 ISC20 PRTIM4 WDCE S SP12 SP4 RWWSRE PUD JTRF PLLTM0 OCDR4 ACI MSTR OCIE3C OCIE1C PCINT3 ISC11 PRTIM3 PRTIM1 CLKPS3 WDE V SP11 SP3 BLBSET WDRF SM2 PDIV3 OCDR3 ACIE SPI Data Register CPOL CPHA SPR1 SPI2X SPR0 TOIE4 OCIE3B OCIE1B OCIE0B PCINT2 ISC10 PRSPI CLKPS2 WDP2 N SP10 SP2 PGWRT BORF SM1 PDIV2 OCDR2 ACIC OCIE3A OCIE1A OCIE0A PCINT1 ISC01 CLKPS1 WDP1 Z SP9 SP1 RAMPZ1 PGERS IVSEL EXTRF SM0 PDIV1 OCDR1 ACIS1 TOIE3 TOIE1 TOIE0 PCINT0 ISC00 PCIE0 RCFREQ PRUSART1 PRADC CLKPS0 WDP0 C SP8 SP0 RAMPZ0 SPMEN IVCE PORF SE PDIV0 OCDR0 ACIS0 -
RC Oscillator Calibration Register
Monitor Data Register
General Purpose I/O Register 2 General Purpose I/O Register 1 PINDIV PLLE PLOCK Timer/Counter0 Output Compare Register B Timer/Counter0 Output Compare Register A Timer/Counter0 (8 Bit) FOC0A COM0A1 TSM FOC0B COM0A0 COM0B1 COM0B0 EEPROM Data Register INT6 INTF6 EEPM1 EEPM0 EERIE INT3 INTF3 EEMPE INT2 INTF2 EEPE INT1 INTF1 EERE INT0 INTF0 General Purpose I/O Register 0 WGM02 CS02 CS01 WGM01 PSRASY CS00 WGM00 PSRSYNC
EEPROM Address Register High Byte
EEPROM Address Register Low Byte
10
ATmega16U4/ATmega32U4
7766BS-AVR-07/08
ATmega16U4/ATmega32U4
Address
0x1B (0x3B) 0x1A (0x3A) 0x19 (0x39) 0x18 (0x38) 0x17 (0x37) 0x16 (0x36) 0x15 (0x35) 0x14 (0x34) 0x13 (0x33) 0x12 (0x32) 0x11 (0x31) 0x10 (0x30) 0x0F (0x2F) 0x0E (0x2E) 0x0D (0x2D) 0x0C (0x2C) 0x0B (0x2B) 0x0A (0x2A) 0x09 (0x29) 0x08 (0x28) 0x07 (0x27) 0x06 (0x26) 0x05 (0x25) 0x04 (0x24) 0x03 (0x23) 0x02 (0x22) 0x01 (0x21) 0x00 (0x20)
Name
PCIFR Reserved TIFR4 TIFR3 Reserved TIFR1 TIFR0 Reserved Reserved Reserved PORTF DDRF PINF PORTE DDRE PINE PORTD DDRD PIND PORTC DDRC PINC PORTB DDRB PINB Reserved Reserved Reserved
Bit 7
OCF4D PORTF7 DDF7 PINF7 PORTD7 DDD7 PIND7 PORTC7 DDC7 PINC7 PORTB7 DDB7 PINB7 -
Bit 6
OCF4A PORTF6 DDF6 PINF6 PORTE6 DDE6 PINE6 PORTD6 DDD6 PIND6 PORTC6 DDC6 PINC6 PORTB6 DDB6 PINB6 -
Bit 5
OCF4B ICF3 ICF1 PORTF5 DDF5 PINF5 PORTD5 DDD5 PIND5 PORTB5 DDB5 PINB5 -
Bit 4
PORTF4 DDF4 PINF4 PORTD4 DDD4 PIND4 PORTB4 DDB4 PINB4 -
Bit 3
OCF3C OCF1C PORTD3 DDD3 PIND3 PORTB3 DDB3 PINB3 -
Bit 2
TOV4 OCF3B OCF1B OCF0B PORTE2 DDE2 PINE2 PORTD2 DDD2 PIND2 PORTB2 DDB2 PINB2 -
Bit 1
OCF3A OCF1A OCF0A PORTF1 DDF1 PINF1 PORTD1 DDD1 PIND1 PORTB1 DDB1 PINB1 -
Bit 0
PCIF0 TOV3 TOV1 TOV0 PORTF0 DDF0 PINF0 PORTD0 DDD0 PIND0 PORTB0 DDB0 PINB0 -
Page
Note:
1. For compatibility with future devices, reserved bits should be written to zero if accessed. Reserved I/O memory addresses should never be written. 2. I/O registers within the address range $00 - $1F are directly bit-accessible using the SBI and CBI instructions. In these registers, the value of single bits can be checked by using the SBIS and SBIC instructions. 3. Some of the status flags are cleared by writing a logical one to them. Note that the CBI and SBI instructions will operate on all bits in the I/O register, writing a one back into any flag read as set, thus clearing the flag. The CBI and SBI instructions work with registers 0x00 to 0x1F only. 4. When using the I/O specific commands IN and OUT, the I/O addresses $00 - $3F must be used. When addressing I/O registers as data space using LD and ST instructions, $20 must be added to these addresses. The ATmega16U4/ATmega32U4 is a complex microcontroller with more peripheral units than can be supported within the 64 location reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from $60 - $1FF in SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
11
7766BS-AVR-07/08
5. Instruction Set Summary
Mnemonics
ADD ADC ADIW SUB SUBI SBC SBCI SBIW AND ANDI OR ORI EOR COM NEG SBR CBR INC DEC TST CLR SER MUL MULS MULSU FMUL FMULS FMULSU RJMP IJMP EIJMP JMP RCALL ICALL EICALL CALL RET RETI CPSE CP CPC CPI SBRC SBRS SBIC SBIS BRBS BRBC BREQ BRNE BRCS BRCC BRSH BRLO BRMI BRPL BRGE BRLT BRHS BRHC BRTS BRTC BRVS Rd,Rr Rd,Rr Rd,Rr Rd,K Rr, b Rr, b P, b P, b s, k s, k k k k k k k k k k k k k k k k k k k
Operands
Rd, Rr Rd, Rr Rdl,K Rd, Rr Rd, K Rd, Rr Rd, K Rdl,K Rd, Rr Rd, K Rd, Rr Rd, K Rd, Rr Rd Rd Rd,K Rd,K Rd Rd Rd Rd Rd Rd, Rr Rd, Rr Rd, Rr Rd, Rr Rd, Rr Rd, Rr k
Description
Add two Registers Add with Carry two Registers Add Immediate to Word Subtract two Registers Subtract Constant from Register Subtract with Carry two Registers Subtract with Carry Constant from Reg. Subtract Immediate from Word Logical AND Registers Logical AND Register and Constant Logical OR Registers Logical OR Register and Constant Exclusive OR Registers One's Complement Two's Complement Set Bit(s) in Register Clear Bit(s) in Register Increment Decrement Test for Zero or Minus Clear Register Set Register Multiply Unsigned Multiply Signed Multiply Signed with Unsigned Fractional Multiply Unsigned Fractional Multiply Signed Fractional Multiply Signed with Unsigned BRANCH INSTRUCTIONS Relative Jump Indirect Jump to (Z) Extended Indirect Jump to (Z) Direct Jump Relative Subroutine Call Indirect Call to (Z) Extended Indirect Call to (Z) Direct Subroutine Call Subroutine Return Interrupt Return Compare, Skip if Equal Compare Compare with Carry Compare Register with Immediate Skip if Bit in Register Cleared Skip if Bit in Register is Set Skip if Bit in I/O Register Cleared Skip if Bit in I/O Register is Set Branch if Status Flag Set Branch if Status Flag Cleared Branch if Equal Branch if Not Equal Branch if Carry Set Branch if Carry Cleared Branch if Same or Higher Branch if Lower Branch if Minus Branch if Plus Branch if Greater or Equal, Signed Branch if Less Than Zero, Signed Branch if Half Carry Flag Set Branch if Half Carry Flag Cleared Branch if T Flag Set Branch if T Flag Cleared Branch if Overflow Flag is Set
Operation
Rd Rd + Rr Rd Rd + Rr + C Rdh:Rdl Rdh:Rdl + K Rd Rd - Rr Rd Rd - K Rd Rd - Rr - C Rd Rd - K - C Rdh:Rdl Rdh:Rdl - K Rd Rd * Rr Rd Rd * K Rd Rd v Rr Rd Rd v K Rd Rd Rr Rd 0xFF - Rd Rd 0x00 - Rd Rd Rd v K Rd Rd * (0xFF - K) Rd Rd + 1 Rd Rd - 1 Rd Rd * Rd Rd Rd Rd Rd 0xFF R1:R0 Rd x Rr R1:R0 Rd x Rr R1:R0 Rd x Rr
Flags
Z,C,N,V,H Z,C,N,V,H Z,C,N,V,S Z,C,N,V,H Z,C,N,V,H Z,C,N,V,H Z,C,N,V,H Z,C,N,V,S Z,N,V Z,N,V Z,N,V Z,N,V Z,N,V Z,C,N,V Z,C,N,V,H Z,N,V Z,N,V Z,N,V Z,N,V Z,N,V Z,N,V None Z,C Z,C Z,C Z,C Z,C Z,C None None None None None None None None None I None Z, N,V,C,H Z, N,V,C,H Z, N,V,C,H None None None None None None None None None None None None None None None None None None None None None
#Clocks
1 1 2 1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 3 4 4 4 5 5 5 1/2/3 1 1 1 1/2/3 1/2/3 1/2/3 1/2/3 1/2 1/2 1/2 1/2 1/2 1/2 1/2 1/2 1/2 1/2 1/2 1/2 1/2 1/2 1/2 1/2 1/2
ARITHMETIC AND LOGIC INSTRUCTIONS
1 R1:R0 (Rd x Rr) << 1 R1:R0 (Rd x Rr) << 1
PC PC + k + 1 PC Z PC (EIND:Z) PC k PC PC + k + 1 PC Z PC (EIND:Z) PC k PC STACK PC STACK if (Rd = Rr) PC PC + 2 or 3 Rd - Rr Rd - Rr - C Rd - K if (Rr(b)=0) PC PC + 2 or 3 if (Rr(b)=1) PC PC + 2 or 3 if (P(b)=0) PC PC + 2 or 3 if (P(b)=1) PC PC + 2 or 3 if (SREG(s) = 1) then PCPC+k + 1 if (SREG(s) = 0) then PCPC+k + 1 if (Z = 1) then PC PC + k + 1 if (Z = 0) then PC PC + k + 1 if (C = 1) then PC PC + k + 1 if (C = 0) then PC PC + k + 1 if (C = 0) then PC PC + k + 1 if (C = 1) then PC PC + k + 1 if (N = 1) then PC PC + k + 1 if (N = 0) then PC PC + k + 1 if (N V= 0) then PC PC + k + 1 if (N V= 1) then PC PC + k + 1 if (H = 1) then PC PC + k + 1 if (H = 0) then PC PC + k + 1 if (T = 1) then PC PC + k + 1 if (T = 0) then PC PC + k + 1 if (V = 1) then PC PC + k + 1
R1:R0 (Rd x Rr) <<
12
ATmega16U4/ATmega32U4
7766BS-AVR-07/08
ATmega16U4/ATmega32U4
Mnemonics
BRVC BRIE BRID SBI CBI LSL LSR ROL ROR ASR SWAP BSET BCLR BST BLD SEC CLC SEN CLN SEZ CLZ SEI CLI SES CLS SEV CLV SET CLT SEH CLH MOV MOVW LDI LD LD LD LD LD LD LDD LD LD LD LDD LDS ST ST ST ST ST ST STD ST ST ST STD STS LPM LPM LPM ELPM ELPM ELPM Rd, Z Rd, Z+ Rd, Z Rd, Z+ Rd, Rr Rd, Rr Rd, K Rd, X Rd, X+ Rd, - X Rd, Y Rd, Y+ Rd, - Y Rd,Y+q Rd, Z Rd, Z+ Rd, -Z Rd, Z+q Rd, k X, Rr X+, Rr - X, Rr Y, Rr Y+, Rr - Y, Rr Y+q,Rr Z, Rr Z+, Rr -Z, Rr Z+q,Rr k, Rr
Operands
k k k P,b P,b Rd Rd Rd Rd Rd Rd s s Rr, b Rd, b
Description
Branch if Overflow Flag is Cleared Branch if Interrupt Enabled Branch if Interrupt Disabled
Operation
if (V = 0) then PC PC + k + 1 if ( I = 1) then PC PC + k + 1 if ( I = 0) then PC PC + k + 1 I/O(P,b) 1 I/O(P,b) 0 Rd(n+1) Rd(n), Rd(0) 0 Rd(n) Rd(n+1), Rd(7) 0 Rd(0)C,Rd(n+1) Rd(n),CRd(7) Rd(7)C,Rd(n) Rd(n+1),CRd(0) Rd(n) Rd(n+1), n=0..6 Rd(3..0)Rd(7..4),Rd(7..4)Rd(3..0) SREG(s) 1 SREG(s) 0 T Rr(b) Rd(b) T C1 C0 N1 N0 Z1 Z0 I1 I0 S1 S0 V1 V0 T1 T0 H1 H0 Rd Rr Rd+1:Rd Rr+1:Rr Rd K Rd (X) Rd (X), X X + 1 X X - 1, Rd (X) Rd (Y) Rd (Y), Y Y + 1 Y Y - 1, Rd (Y) Rd (Y + q) Rd (Z) Rd (Z), Z Z+1 Z Z - 1, Rd (Z) Rd (Z + q) Rd (k) (X) Rr (X) Rr, X X + 1 X X - 1, (X) Rr (Y) Rr (Y) Rr, Y Y + 1 Y Y - 1, (Y) Rr (Y + q) Rr (Z) Rr (Z) Rr, Z Z + 1 Z Z - 1, (Z) Rr (Z + q) Rr (k) Rr R0 (Z) Rd (Z) Rd (Z), Z Z+1 R0 (RAMPZ:Z) Rd (Z) Rd (RAMPZ:Z), RAMPZ:Z RAMPZ:Z+1
Flags
None None None None None Z,C,N,V Z,C,N,V Z,C,N,V Z,C,N,V Z,C,N,V None SREG(s) SREG(s) T None C C N N Z Z I I S S V V T T H H None None None None None None None None None None None None None None None None None None None None None None None None None None None None None None None None None
#Clocks
1/2 1/2 1/2 2 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3
BIT AND BIT-TEST INSTRUCTIONS Set Bit in I/O Register Clear Bit in I/O Register Logical Shift Left Logical Shift Right Rotate Left Through Carry Rotate Right Through Carry Arithmetic Shift Right Swap Nibbles Flag Set Flag Clear Bit Store from Register to T Bit load from T to Register Set Carry Clear Carry Set Negative Flag Clear Negative Flag Set Zero Flag Clear Zero Flag Global Interrupt Enable Global Interrupt Disable Set Signed Test Flag Clear Signed Test Flag Set Twos Complement Overflow. Clear Twos Complement Overflow Set T in SREG Clear T in SREG Set Half Carry Flag in SREG Clear Half Carry Flag in SREG DATA TRANSFER INSTRUCTIONS Move Between Registers Copy Register Word Load Immediate Load Indirect Load Indirect and Post-Inc. Load Indirect and Pre-Dec. Load Indirect Load Indirect and Post-Inc. Load Indirect and Pre-Dec. Load Indirect with Displacement Load Indirect Load Indirect and Post-Inc. Load Indirect and Pre-Dec. Load Indirect with Displacement Load Direct from SRAM Store Indirect Store Indirect and Post-Inc. Store Indirect and Pre-Dec. Store Indirect Store Indirect and Post-Inc. Store Indirect and Pre-Dec. Store Indirect with Displacement Store Indirect Store Indirect and Post-Inc. Store Indirect and Pre-Dec. Store Indirect with Displacement Store Direct to SRAM Load Program Memory Load Program Memory Load Program Memory and Post-Inc Extended Load Program Memory Extended Load Program Memory Extended Load Program Memory
13
7766BS-AVR-07/08
Mnemonics
SPM IN OUT PUSH POP NOP SLEEP WDR BREAK
Operands
Rd, P P, Rr Rr Rd
Description
Store Program Memory In Port Out Port Push Register on Stack Pop Register from Stack
Operation
(Z) R1:R0 Rd P P Rr STACK Rr Rd STACK
Flags
None None None None None None
#Clocks
1 1 2 2 1 1 1 N/A
MCU CONTROL INSTRUCTIONS No Operation Sleep Watchdog Reset Break (see specific description for Sleep function) (see specific description for WDR/timer) For On-chip Debug Only None None None
14
ATmega16U4/ATmega32U4
7766BS-AVR-07/08
ATmega16U4/ATmega32U4
6. Ordering Information
Table 6-1. Possible Order Entries
USB interface Device only Device only Speed (MHz) 8-16 8-16 Power Supply (V) 2.7 - 5.5 2.7 - 5.5 Package TQFP44 QFN44 Operation Range Industrial (-40 to +85C) Green Industrial (-40 to +85C) Green Product Marking mega32U4-16AU mega32U4-16MU
Ordering Code
ATmega32U4-16AU ATmega32U4-16MU
7. Package Information
Package Type
ML PW
ML, 44 - Lead, 10 x 10 mm Body Size, 1.0 mm Body Thickness 0.8 mm Lead Pitch, Thin Profile Plastic Quad Flat Package (TQFP) PW, 44 - Lead 7.0 x 7.0 mm Body, 0.50 mm Pitch Quad Flat No Lead Package (QFN)
15
7766BS-AVR-07/08
7.1
TQFP44
16
ATmega16U4/ATmega32U4
7766BS-AVR-07/08
ATmega16U4/ATmega32U4
17
7766BS-AVR-07/08
7.2
QFN44
18
ATmega16U4/ATmega32U4
7766BS-AVR-07/08
ATmega16U4/ATmega32U4
8. Errata
The revision letter in this section refers to the revision of the ATmega16U4/ATmega32U4 device.
8.1
ATmega16U4/ATmega32U4 Rev A
1. Spike on TWI pins when TWI is enabled 100 ns negative spike occurs on SDA and SCL pins when TWI is enabled. Problem Fix/work around No known work around, enable ATmega16U4/ATmega32U4 TWI first versus the others nodes of the TWI network. 2. High current consumption in sleep mode If a pending interrupt cannot wake the part up from the selected mode, the current consumption will increase during sleep when executing the SLEEP instruction directly after a SEI instruction. Problem Fix/work around Before entering sleep, interrupts not used to wake up the part from the sleep mode should be disabled. 3. Extra power comsumption The typical power comsumption is increased by about 30A in power-down mode. Problem Fix/work around None. 4. Internal RC oscillator start up issue. When the part is configured to start on internal RC, the oscillator may not start properly after power-on. Problem Fix/work around Do not configure the part to start with the internal oscillator (default part configuration is to start with the external crystal oscillator). 5. Internal RC oscillator calibration issue. The default internal RC oscillator frequency may be lower that 8MHz. Problem Fix/work around Parts are configured so that the internal RC oscillator frequency is as close as possible to the 8MHz default target frequency. 9. Incorrect CPU behavior for VBUSTI interrupt routine The CPU core may incorrectly execute the interrupt vector related to the VBUSTI interrupt flag. Problem fix/workaround Do not enable this interrupt, firmware must process this USB event by polling VBUSTI.
19
7766BS-AVR-07/08
9. Datasheet Revision History for ATmega16U4/ATmega32U4
Please note that the referring page numbers in this section are referred to this document. The referring revision in this section are referring to the document revision.
9.1
Revision A.
1. Initial document version.
9.2
Revision B.
1. Added ATmega16U4 device. 2. Created errata section and added ATmega16U4. 3. Update High Speed Timer, asynchronous description Section 15. on page 139.
9.3
Revision C.
1. Update errata section.
20
ATmega16U4/ATmega32U4
7766BS-AVR-07/08
Headquarters
Atmel Corporation 2325 Orchard Parkway San Jose, CA 95131 USA Tel: 1(408) 441-0311 Fax: 1(408) 487-2600
International
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Product Contact
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7766BS-AVR-07/08

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