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features ? high performance, low power avr ? 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 (atmega16u4/atmega32u4) ? 1.25/2.5k bytes internal sram (atmega16u4/atmega32u4) ? 512bytes/1k bytes internal eeprom (atmega16u4/atmega32u4) ? write/erase cycles: 10,000 flash/100,000 eeprom ? data retention: 20 years at 85 c/ 100 years at 25 c (1) ? optional boot code section with independent lock bits in-system programming by on-chip boot program true read-while-w rite operation all supplied parts are preprogramed with a default usb bootloader ? programming lock for software security ? jtag (ieee std. 1149.1 compliant) interface ? boundary-scan capabilities a ccording to the jtag standard ? extensive on-chip debug support ? programming of flas h, eeprom, fuses, and lock bits through the jtag interface ? usb 2.0 full-speed /low speed device module with in terrupt on tran sfer 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 dp ram 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 ? crystal-less operation for low speed mode ? peripheral features ? on-chip pll for usb and high speed timer: 32 up to 96 mhz operation ? one 8-bit timer/counter with se parate 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 programmabl e 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 differen tial 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 7766fs?avr?11/10
2 7766fs?avr?11/10 atmega16/32u4 ? 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 ? on-chip temperature sensor ? 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 note: 1. see ?data retention? on page 8 for details.
3 7766fs?avr?11/10 atmega16/32u4 1. pin configurations figure 1-1. pinout atmega16u4/atmega32u4 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. atmega32u4 atmega16u4 44-pin qfn/tqfp uvcc d- d+ ugnd ucap vbus (ss/pcint0) pb0 (int.6/ain0) pe6 (pcint1/sclk) pb1 (pdi/pcint2/mosi) pb2 (pdo/pcint3/miso) pb3 (pcint7/oc0a/oc1c/rts) pb7 reset vcc gnd xtal2 xtal1 (oc0b/scl/int0) pd0 (sda/int1) pd1 (rxd1/int2) pd2 (txd1/int3) pd3 (xck1/cts) pd5 pe2 (hwb) pc7 (icp3/clk0/oc4a) pc6 (oc3a/oc4a) pb6 (pcint6/oc1b/oc4b/adc13) pb4 (pcint4/adc11) pd7 (t0/oc4d/adc10) pd6 (t1/oc4d/adc9) pd4 (icp1/adc8) avcc gnd aref pf0 (adc0) pf1 (adc1) pf4 (adc4/tck) pf5 (adc5/tms) pf6 (adc6/tdo) pf7 (adc7/tdi) gnd vcc index corner 1 2 3 4 5 6 7 8 9 10 11 33 32 31 30 29 28 27 26 25 24 23 12 13 14 15 16 17 18 19 20 21 22 44 43 42 41 40 39 38 37 36 35 34 pb5 (pcint5/oc1a/oc4b/adc12) avcc gnd
4 7766fs?avr?11/10 atmega16/32u4 2.1 block diagram figure 2-1. block diagram 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 achiev ing throughputs up to ten times faster than con- ventional cisc microcontrollers. the atmega16u4/atmega32u4 provides the following features: 16/32k bytes of in-system programmable flash with read-while-writ e 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 comp are modes and pll adjustable source, one usart (including cts/rts flow control signals), a byte oriented 2-wire serial interface, a 12- program counter stack pointer program flash mcu control register general purpose registers instruction register timers/ counters instruction decoder data dir. reg. port b data dir. reg. port e data dir. reg. port d data register port b data register port e data register port d interrupt unit eeprom spi status register sram usart1 z y x alu port b drivers port e drivers port f drivers port d drivers port c drivers pb7 - pb0 pe6 pf7 - pf4 reset vcc gnd xtal1 xtal2 control lines pc7 internal oscillator watchdog timer 8-bit da ta bus usb 2.0 timing and control oscillator calib. osc data dir. reg. port c data register port c on-chip debug jtag tap programming logic boundary- scan data dir. reg. port f data register port f por - bod reset pd7 - pd0 two-wire serial interface pll high speed timer/pwm pe2 pc6 pf1 pf0 on-chip usb pad 3v regulator uvcc ucap 1uf analog comparator vbus dp dm adc agnd aref avcc temperature sensor
5 7766fs?avr?11/10 atmega16/32u4 channels 10-bit adc with optional differential input stage with programmable gain, an on-chip calibrated temperature sensor, a programmable watch dog timer with internal oscillator, an spi serial port, ieee std. 1149.1 comp liant jtag test interface, also used for access ing 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 ch ip functions until the next interr upt or hardware reset. the adc noise reduction mode stops the cpu and all i/o modules except adc, to minimize switching noise during adc conver sions. in standby mode, the crysta l/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 hi gh-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 conventi onal nonvolatile memory programmer, or by an on-chip boot pro- gram running on the avr core. the boot program can use any interface to download the application program in the application flash memo ry. software in the boot flash section will continue to run while the application flash se ction 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 pro- vides 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, in- circuit emulators, and evaluation kits. 2.2 pin descriptions 2.2.1 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 pi ns 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 72 . 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 c haracteristics with bot h high sink and source capability. as inputs, port c pi ns that are externally pulled lo w 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.
6 7766fs?avr?11/10 atmega16/32u4 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 75 . 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 c haracteristics with bot h high sink and source capability. as inputs, port d pi ns that are externally pulled lo w 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 77 . 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 pi ns 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 80 . 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 externa lly pulled low will source cu rrent 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 pull- up resistors on pins pf7(tdi), pf5(tms), and pf 4(tck) will be activated even if a reset occurs. 2.2.8 d- usb full speed / low speed negative data upstream port. should be connected to the usb d- connector 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.
7 7766fs?avr?11/10 atmega16/32u4 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 capac- itor (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 50 . shorter pulses are not guaranteed to generate a reset. 2.2.15 xtal1 input to the inverting oscillato r amplifier and input to the in ternal clock operating circuit. 2.2.16 xtal2 output from the invert ing 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 v cc . if the adc is used, it should be connected to v cc through a low-pass filter. 2.2.18 aref this is the analog reference pin (input) for the a/d converter.
8 7766fs?avr?11/10 atmega16/32u4 3. about 3.1 disclaimer typical values contained in this datasheet ar e 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. 3.2 resources a comprehensive set of development tools, app lication notes and datasheets are available for download on http:// www.atmel.com/avr. 3.3 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 documen- tation 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, "i n", "out", "sbis", "sbic", "cbi", and "sbi" instructions must be replaced with instructio ns that allow access to extended i/o. typically "lds" and "sts" combined with "sbrs", "sbrc", "sbr", and "cbr". 3.4 data retention reliability qualification results show that the pr ojected data retention failure rate is much less than 1 ppm over 20 years at 85c or 100 years at 25c.
9 7766fs?avr?11/10 atmega16/32u4 4. 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) reserved - - - - - - - - (0xf9) reserved - - - - (0xf8) reserved - - - - - - - - (0xf7) reserved - - - - - - - - (0xf6) reserved - - - - - - - - (0xf5) reserved - - - - - - - - (0xf4) ueint - epint6:0 (0xf3) uebchx - - - - -byct10:8 (0xf2) uebclx byct7:0 (0xf1) uedatx dat7:0 (0xf0) ueienx flerre nakine - nakoute rxstpe rxoute stallede txine (0xef) uesta1x - - - - - ctrldir currbk1:0 (0xee) uesta0x cfgok overfi underfi - dtseq1:0 nbusybk1:0 (0xed) uecfg1x epsize2:0 epbk1:0 alloc - (0xec) uecfg0x eptype1:0 - - - - - epdir (0xeb) ueconx - - stallrq stallrqc rstdt - - epen (0xea) uerst - eprst6:0 (0xe9) uenum - - - - - epnum2:0 (0xe8) ueintx fifocon nakini rwal na kouti rxstpi rxouti stalledi txini (0xe7) reserved - - - - (0xe6) udmfn - - - fncerr - - - - (0xe5) udfnumh - - - - - fnum10:8 (0xe4) udfnuml fnum7:0 (0xe3) udaddr adden uadd6:0 (0xe2) udien - uprsme eorsme wakeupe eorste sofe msofe suspe (0xe1) udint - uprsmi eorsmi wakeupi eorsti sofi msofi suspi (0xe0) udcon - - - - rstcpu lsm rmwkup detach (0xdf) reserved (0xde) reserved (0xdd) reserved (0xdc) reserved (0xdb) reserved (0xda) usbint - - - - - - - vbusti (0xd9) usbsta - - - - - -idvbus (0xd8) usbcon usbe - frzclk otgpade - - - vbuste (0xd7) uhwcon - - - - - - - uvrege (0xd6) reserved (0xd5) reserved (0xd4) dt4 dt4h3 dt4h2 dt4h1 dt4h0 dt4l3 dt4l2 dt4l1 dt4l0 (0xd3) reserved (0xd2) ocr4d timer/counter4 - output compare register d (0xd1) ocr4c timer/counter4 - output compare register c (0xd0) ocr4b timer/counter4 - output compare register b (0xcf) ocr4a timer/counter4 - output compare register a (0xce) udr1 usart1 i/o data register (0xcd) ubrr1h - - - - usart1 baud rate register high byte (0xcc) ubrr1l usart1 baud rate register low byte (0xcb) reserved - - - - - - - - (0xca) ucsr1c umsel11 umsel10 upm1 1 upm10 usbs1 ucsz11 ucsz10 ucpol1 (0xc9) ucsr1b rxcie1 txcie1 udrie 1 rxen1 txen1 ucsz12 rxb81 txb81 (0xc8) ucsr1a rxc1 txc1 udre1 fe1 dor1 pe1 u2x1 mpcm1 (0xc7) clksta - - - - - - rcon exton (0xc6) clksel1 rccksel3 rcc ksel2 rccksel1 rcckse l0 excksel3 exc ksel2 excksel1 excksel0 (0xc5) clksel0 rcsut1 rcsut0 exsut1 exsut0 rce exte -clks (0xc4) tccr4e tlock4 enhc4 oc4oe5 oc4oe4 oc4oe3 oc4oe2 oc4oe1 oc4oe0 (0xc3) tccr4d fpie4 fpen4 fpnc4 fpes4 fpac4 fpf4 wgm41 wgm40 (0xc2) tccr4c com4a1s com4a0s com4b1s com4b0s com4d1s com4d0s foc4d pwm4d (0xc1) tccr4b pwm4x psr4 dtps41 dtps40 cs43 cs42 cs41 cs40 (0xc0) tccr4a com4a1 com4a0 com4b1 com4b0 foc4a foc4b pwm4a pwm4b (0xbf) tc4h - - - - - timer/counter4 high byte
10 7766fs?avr?11/10 atmega16/32u4 (0xbe) tcnt4 timer/counter4 - counter register low byte (0xbd) twamr twam6 twam5 twam4 twam3 twam2 twam1 twam0 - (0xbc) twcr twint twea twsta twsto twwc twen -twie (0xbb) twdr 2-wire serial interface data register (0xba) twar twa6 twa5 twa4 twa3 twa2 twa1 twa0 twgce (0xb9) twsr tws7 tw s6 tws5 tws4 tws3 - twps1 twps0 (0xb8) twbr 2-wire serial interface bit rate register (0xb7) reserved - - - - - - - - (0xb6) reserved - (0xb5) reserved - - - - - - - - (0xb4) reserved - - - - - - - - (0xb3) reserved - - - - - - - - (0xb2) reserved - - - - - - - - (0xb1) reserved - - - - - - - - (0xb0) reserved - - - - - - - - (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 timer/counter3 - output compare register c high byte (0x9c) ocr3cl timer/counter3 - output compare register c low byte (0x9b) ocr3bh timer/counter3 - output compare register b high byte (0x9a) ocr3bl timer/counter3 - output compare register b low byte (0x99) ocr3ah timer/counter3 - output compare register a high byte (0x98) ocr3al timer/counter3 - output compare register a low byte (0x97) icr3h timer/counter3 - input capture register high byte (0x96) icr3l timer/counter3 - input capture register low byte (0x95) tcnt3h timer/counter3 - counter register high byte (0x94) tcnt3l timer/counter3 - counter register low byte (0x93) reserved - - - - - - - - (0x92) tccr3c foc3a - - - - - - - (0x91) tccr3b icnc3 ices3 - wgm33 wgm32 cs32 cs31 cs30 (0x90) tccr3a com3a1 com3a0 com3b1 com3b0 com3c1 com3c0 wgm31 wgm30 (0x8f) reserved - - - - - - - - (0x8e) reserved - - - - - - - - (0x8d) ocr1ch timer/counter1 - output compare register c high byte (0x8c) ocr1cl timer/counter1 - output compare register c low byte (0x8b) ocr1bh timer/counter1 - output compare register b high byte (0x8a) ocr1bl timer/counter1 - output compare register b low byte (0x89) ocr1ah timer/counter1 - output compare register a high byte (0x88) ocr1al timer/counter1 - output compare register a low byte (0x87) icr1h timer/counter1 - input capture register high byte (0x86) icr1l timer/counter1 - input capture register low byte (0x85) tcnt1h timer/counter1 - counter register high byte (0x84) tcnt1l timer/counter1 - counter register low byte (0x83) reserved - - - - - - - - (0x82) tccr1c foc1a foc1b foc1c - - - - - (0x81) tccr1b icnc1 ices1 - wgm13 wgm12 cs12 cs11 cs10 (0x80) tccr1a com1a1 com1a0 com1b1 com1b0 com1c1 com1c0 wgm11 wgm10 (0x7f) didr1 - - - - - - - ain0d (0x7e) didr0 adc7d adc6d adc5d adc4d - - adc1d adc0d (0x7d) didr2 - - adc13d adc12d adc11d adc10d adc9d adc8d address name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 page
11 7766fs?avr?11/10 atmega16/32u4 (0x7c) admux refs1 refs0 adlar mux4 mux3 mux2 mux1 mux0 (0x7b) adcsrb adhsm acme mux5 - adts3 adts2 adts1 adts0 (0x7a) adcsra aden adsc adate adif adie adps2 adps1 adps0 (0x79) adch adc data register high byte (0x78) adcl adc data register low byte (0x77) reserved - - - - - - - - (0x76) reserved - - - - - - - - (0x75) reserved - - - - - - - - (0x74) reserved - - - - - - - - (0x73) reserved - - - - - - - - (0x72) timsk4 ocie4d ocie4a ocie4b - - toie4 - - (0x71) timsk3 - - icie3 - ocie3c ocie3b ocie3a toie3 (0x70) reserved - - - - - - - - (0x6f) timsk1 - - icie1 - ocie1c ocie1b ocie1a toie1 (0x6e) timsk0 - - - - - ocie0b ocie0a toie0 (0x6d) reserved - - - - - - - - (0x6c) reserved - - - - - - - - (0x6b) pcmsk0 pcint7 pcint6 pcint5 pcint4 pcint3 pcint2 pcint1 pcint0 (0x6a) eicrb - -isc61isc60 - - - - (0x69) eicra isc31 isc30 isc21 isc20 isc11 isc10 isc01 isc00 (0x68) pcicr - - - - - - -pcie0 (0x67) rcctrl - - - - - - - rcfreq (0x66) osccal rc oscillator calibration register (0x65) prr1 prusb - - prtim4 prtim3 - - prusart1 (0x64) prr0 prtwi - prtim0 - prtim1 prspi - pradc (0x63) reserved - - - - - - - - (0x62) reserved - - - - - - - - (0x61) clkpr clkpce - - - clkps3 clkps2 clkps1 clkps0 (0x60) wdtcsr wdif wdie wdp3 wdce wde wdp2 wdp1 wdp0 0x3f (0x5f) sreg i t h s v n z c 0x3e (0x5e) sph sp15 sp14 sp13 sp12 sp11 sp10 sp9 sp8 0x3d (0x5d) spl sp7 sp6 sp5 sp4 sp3 sp2 sp1 sp0 0x3c (0x5c) reserved - - - - - - - - 0x3b (0x5b) rampz - - - - - - rampz1 rampz0 0x3a (0x5a) reserved - - - - - - - - 0x39 (0x59) reserved - - - - - - - - 0x38 (0x58) reserved - - - - - - - - 0x37 (0x57) spmcsr spmie rwwsb sigrd rwwsre blbset pgwrt pgers spmen 0x36 (0x56) reserved - - - - - - - - 0x35 (0x55) mcucr jtd - - pud - - ivsel ivce 0x34 (0x54) mcusr - - usbrf jtrf wdrf borf extrf porf 0x33 (0x53) smcr - - - - sm2 sm1 sm0 se 0x32 (0x52) pllfrq pinmux pllusb plltm1 plltm0 pdiv3 pdiv2 pdiv1 pdiv0 0x31 (0x51) ocdr/ mondr ocdr7 ocdr6 ocdr5 ocdr4 ocdr3 ocdr2 ocdr1 ocdr0 monitor data register 0x30 (0x50) acsr acd acbg aco aci acie acic acis1 acis0 0x2f (0x4f) reserved - - - - - - - - 0x2e (0x4e) spdr spi data register 0x2d (0x4d) spsr spif wcol - - - - - spi2x 0x2c (0x4c) spcr spie spe dord mstr cpol cpha spr1 spr0 0x2b (0x4b) gpior2 general purpose i/o register 2 0x2a (0x4a) gpior1 general purpose i/o register 1 0x29 (0x49) pllcsr - - - pindiv - -plleplock 0x28 (0x48) ocr0b timer/counter0 output compare register b 0x27 (0x47) ocr0a timer/counter0 output compare register a 0x26 (0x46) tcnt0 timer/counter0 (8 bit) 0x25 (0x45) tccr0b foc0a foc0b - - wgm02 cs02 cs01 cs00 0x24 (0x44) tccr0a com0a1 com0a0 com0b1 com0b0 - -wgm01wgm00 0x23 (0x43) gtccr tsm - - - - - psrasy psrsync 0x22 (0x42) eearh - - - - eeprom address register high byte 0x21 (0x41) eearl eeprom address register low byte 0x20 (0x40) eedr eeprom data register 0x1f (0x3f) eecr - - eepm1 eepm0 eerie eempe eepe eere 0x1e (0x3e) gpior0 general purpose i/o register 0 0x1d (0x3d) eimsk - int6 - - int3 int2 int1 int0 0x1c (0x3c) eifr - intf6 - - intf3 intf2 intf1 intf0 address name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 page
12 7766fs?avr?11/10 atmega16/32u4 note: 1. for compatibility with future devices, reserved bits shoul d be written to zero if accessed. reserved i/o memory addresse s should never be written. 2. i/o registers within the address range $00 - $1f are directly bit-accessible using th e sbi and cbi instructions. in these reg - isters, 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 instruction s 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 regis- ters 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 ex tended i/o space from $60 - $1ff in sram , only the st/sts/std and ld/lds/ldd instructions can be used. 0x1b (0x3b) pcifr - - - - - - -pcif0 0x1a (0x3a) reserved - - - - - - - - 0x19 (0x39) tifr4 ocf4d ocf4a ocf4b - -tov4 - - 0x18 (0x38) tifr3 - - icf3 - ocf3c ocf3b ocf3a tov3 0x17 (0x37) reserved - - - - - - - - 0x16 (0x36) tifr1 - - icf1 - ocf1c ocf1b ocf1a tov1 0x15 (0x35) tifr0 - - - - - ocf0b ocf0a tov0 0x14 (0x34) reserved - - - - - - - - 0x13 (0x33) reserved - - - - - - - - 0x12 (0x32) reserved - - - - - - - - 0x11 (0x31) portf portf7 portf6 portf5 portf4 - - portf1 portf0 0x10 (0x30) ddrf ddf7 ddf6 ddf5 ddf4 - - ddf1 ddf0 0x0f (0x2f) pinf pinf7 pinf6 pinf5 pinf4 - - pinf1 pinf0 0x0e (0x2e) porte - porte6 - - - porte2 - - 0x0d (0x2d) ddre - dde6 - - - dde2 - - 0x0c (0x2c) pine - pine6 - - - pine2 - - 0x0b (0x2b) portd portd7 portd6 portd5 portd4 portd3 portd2 portd1 portd0 0x0a (0x2a) ddrd ddd7 ddd6 ddd5 ddd4 ddd3 ddd2 ddd1 ddd0 0x09 (0x29) pind pind7 pind6 pind5 pind4 pind3 pind2 pind1 pind0 0x08 (0x28) portc portc7 portc6 - - - - - - 0x07 (0x27) ddrc ddc7 ddc6 - - - - - - 0x06 (0x26) pinc pinc7 pinc6 - - - - - - 0x05 (0x25) portb portb7 portb6 portb5 portb4 portb3 portb2 portb1 portb0 0x04 (0x24) ddrb ddb7 ddb6 ddb5 ddb4 ddb3 ddb2 ddb1 ddb0 0x03 (0x23) pinb pinb7 pinb6 pinb5 pinb4 pinb3 pinb2 pinb1 pinb0 0x02 (0x22) reserved - - - - - - - - 0x01 (0x21) reserved - - - - - - - - 0x00 (0x20) reserved - - - - - - - - address name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 page
13 7766fs?avr?11/10 atmega16/32u4 5. instruction set summary mnemonics operands description operation flags #clocks arithmetic and logic instructions add rd, rr add two registers rd rd + rr z,c,n,v,h 1 adc rd, rr add with carry two registers rd rd + rr + c z,c,n,v,h 1 adiw rdl,k add immediate to word rdh:rdl rdh:rdl + k z,c,n,v,s 2 sub rd, rr subtract two registers rd rd - rr z,c,n,v,h 1 subi rd, k subtract constant from register rd rd - k z,c,n,v,h 1 sbc rd, rr subtract with carry two registers rd rd - rr - c z,c,n,v,h 1 sbci rd, k subtract with carry constant from reg. rd rd - k - c z,c,n,v,h 1 sbiw rdl,k subtract immediate from word rdh:rdl rdh:rdl - k z,c,n,v,s 2 and rd, rr logical and registers rd rd ? rr z,n,v 1 andi rd, k logical and register and constant rd rd ? k z,n,v 1 or rd, rr logical or registers rd rd v rr z,n,v 1 ori rd, k logical or register and constant rd rd v k z,n,v 1 eor rd, rr exclusive or registers rd rd rr z,n,v 1 com rd one?s complement rd 0xff ? rd z,c,n,v 1 neg rd two?s complement rd 0x00 ? rd z,c,n,v,h 1 sbr rd,k set bit(s) in register rd rd v k z,n,v 1 cbr rd,k clear bit(s) in register rd rd ? (0xff - k) z,n,v 1 inc rd increment rd rd + 1 z,n,v 1 dec rd decrement rd rd ? 1 z,n,v 1 tst rd test for zero or minus rd rd ? rd z,n,v 1 clr rd clear register rd rd rd z,n,v 1 ser rd set register rd 0xff none 1 mul rd, rr multiply unsigned r1:r0 rd x rr z,c 2 muls rd, rr multiply signed r1:r0 rd x rr z,c 2 mulsu rd, rr multiply signed with unsigned r1:r0 rd x rr z,c 2 fmul rd, rr fractional multiply unsigned r1:r0 (rd x rr) << 1 z,c 2 fmuls rd, rr fractional multiply signed r1:r0 (rd x rr) << 1 z,c 2 fmulsu rd, rr fractional multiply signed with unsigned r1:r0 (rd x rr) << 1 z,c 2 branch instructions rjmp k relative jump pc pc + k + 1 none 2 ijmp indirect jump to (z) pc z none 2 eijmp extended indirect jump to (z) pc (eind:z) none 2 jmp k direct jump pc knone3 rcall k relative subroutine call pc pc + k + 1 none 4 icall indirect call to (z) pc znone4 eicall extended indirect call to (z) pc (eind:z) none 4 call k direct subroutine call pc knone5 ret subroutine return pc stack none 5 reti interrupt return pc stack i 5 cpse rd,rr compare, skip if equal if (rd = rr) pc pc + 2 or 3 none 1/2/3 cp rd,rr compare rd ? rr z, n,v,c,h 1 cpc rd,rr compare with carry rd ? rr ? c z, n,v,c,h 1 cpi rd,k compare register with immediate rd ? k z, n,v,c,h 1 sbrc rr, b skip if bit in register cleared if (rr(b)=0) pc pc + 2 or 3 none 1/2/3 sbrs rr, b skip if bit in regi ster is set if (rr(b)=1) pc pc + 2 or 3 none 1/2/3 sbic p, b skip if bit in i/o register cleared if (p(b)=0) pc pc + 2 or 3 none 1/2/3 sbis p, b skip if bit in i/o register is set if (p(b)=1) pc pc + 2 or 3 none 1/2/3 brbs s, k branch if status flag set if (sreg(s) = 1) then pc pc+k + 1 none 1/2 brbc s, k branch if status flag cleared if (sreg(s) = 0) then pc pc+k + 1 none 1/2 breq k branch if equal if (z = 1) then pc pc + k + 1 none 1/2 brne k branch if not equal if (z = 0) then pc pc + k + 1 none 1/2 brcs k branch if carry set if (c = 1) then pc pc + k + 1 none 1/2 brcc k branch if carry cleared if (c = 0) then pc pc + k + 1 none 1/2 brsh k branch if same or higher if (c = 0) then pc pc + k + 1 none 1/2 brlo k branch if lower if (c = 1) then pc pc + k + 1 none 1/2 brmi k branch if minus if (n = 1) then pc pc + k + 1 none 1/2 brpl k branch if plus if (n = 0) then pc pc + k + 1 none 1/2 brge k branch if greater or equal, signed if (n v= 0) then pc pc + k + 1 none 1/2 brlt k branch if less than zero, signed if (n v= 1) then pc pc + k + 1 none 1/2 brhs k branch if half carry flag set if (h = 1) then pc pc + k + 1 none 1/2 brhc k branch if half carry flag cleared if (h = 0) then pc pc + k + 1 none 1/2 brts k branch if t flag set if (t = 1) then pc pc + k + 1 none 1/2 brtc k branch if t flag cleared if (t = 0) then pc pc + k + 1 none 1/2 brvs k branch if overflow flag is set if (v = 1) then pc pc + k + 1 none 1/2
14 7766fs?avr?11/10 atmega16/32u4 brvc k branch if overflow flag is cleared if (v = 0) then pc pc + k + 1 none 1/2 brie k branch if interrupt enabled if ( i = 1) then pc pc + k + 1 none 1/2 brid k branch if interrupt disabled if ( i = 0) then pc pc + k + 1 none 1/2 bit and bit-test instructions sbi p,b set bit in i/o register i/o(p,b) 1none2 cbi p,b clear bit in i/o register i/o(p,b) 0none2 lsl rd logical shift left rd(n+1) rd(n), rd(0) 0 z,c,n,v 1 lsr rd logical shift right rd(n) rd(n+1), rd(7) 0 z,c,n,v 1 rol rd rotate left through carry rd(0) c,rd(n+1) rd(n),c rd(7) z,c,n,v 1 ror rd rotate right through carry rd(7) c,rd(n) rd(n+1),c rd(0) z,c,n,v 1 asr rd arithmetic shift right rd(n) rd(n+1), n=0..6 z,c,n,v 1 swap rd swap nibbles rd(3..0) rd(7..4),rd(7..4) rd(3..0) none 1 bset s flag set sreg(s) 1 sreg(s) 1 bclr s flag clear sreg(s) 0 sreg(s) 1 bst rr, b bit store from register to t t rr(b) t 1 bld rd, b bit load from t to register rd(b) tnone1 sec set carry c 1c1 clc clear carry c 0 c 1 sen set negative flag n 1n1 cln clear negative flag n 0 n 1 sez set zero flag z 1z1 clz clear zero flag z 0 z 1 sei global interrupt enable i 1i1 cli global interrupt disable i 0 i 1 ses set signed test flag s 1s1 cls clear signed test flag s 0 s 1 sev set twos complement overflow. v 1v1 clv clear twos complement overflow v 0 v 1 set set t in sreg t 1t1 clt clear t in sreg t 0 t 1 seh set half carry flag in sreg h 1h1 clh clear half carry flag in sreg h 0 h 1 data transfer instructions mov rd, rr move between registers rd rr none 1 movw rd, rr copy register word rd+1:rd rr+1:rr none 1 ldi rd, k load immediate rd knone1 ld rd, x load indirect rd (x) none 2 ld rd, x+ load indirect and post-inc. rd (x), x x + 1 none 2 ld rd, - x load indirect and pre-dec. x x - 1, rd (x) none 2 ld rd, y load indirect rd (y) none 2 ld rd, y+ load indirect and post-inc. rd (y), y y + 1 none 2 ld rd, - y load indirect and pre-dec. y y - 1, rd (y) none 2 ldd rd,y+q load indirect with displacement rd (y + q) none 2 ld rd, z load indirect rd (z) none 2 ld rd, z+ load indirect and post-inc. rd (z), z z+1 none 2 ld rd, -z load indirect and pre-dec. z z - 1, rd (z) none 2 ldd rd, z+q load indirect with displacement rd (z + q) none 2 lds rd, k load direct from sram rd (k) none 2 st x, rr store indirect (x) rr none 2 st x+, rr store indirect and post-inc. (x) rr, x x + 1 none 2 st - x, rr store indirect and pre-dec. x x - 1, (x) rr none 2 st y, rr store indirect (y) rr none 2 st y+, rr store indirect and post-inc. (y) rr, y y + 1 none 2 st - y, rr store indirect and pre-dec. y y - 1, (y) rr none 2 std y+q,rr store indirect with displacement (y + q) rr none 2 st z, rr store indirect (z) rr none 2 st z+, rr store indirect and post-inc. (z) rr, z z + 1 none 2 st -z, rr store indirect and pre-dec. z z - 1, (z) rr none 2 std z+q,rr store indirect with displacement (z + q) rr none 2 sts k, rr store direct to sram (k) rr none 2 lpm load program memory r0 (z) none 3 lpm rd, z load program memory rd (z) none 3 lpm rd, z+ load program memory and post-inc rd (z), z z+1 none 3 elpm extended load program memory r0 (rampz:z) none 3 elpm rd, z extended load program memory rd (z) none 3 elpm rd, z+ extended load program memory rd (rampz:z), rampz:z rampz:z+1 none 3 mnemonics operands description operation flags #clocks
15 7766fs?avr?11/10 atmega16/32u4 spm store program memory (z) r1:r0 none - in rd, p in port rd pnone1 out p, rr out port p rr none 1 push rr push register on stack stack rr none 2 pop rd pop register from stack rd stack none 2 mcu control instructions nop no operation none 1 sleep sleep (see specific description for sleep function) none 1 wdr watchdog reset (see specific description for wdr/timer) none 1 break break for on-chip debug only none n/a mnemonics operands description operation flags #clocks
16 7766fs?avr?11/10 atmega16/32u4 6. ordering information 6.1 atmega16u4 speed (mhz) power supply ordering code default oscillator package operation range 16 2.7 - 5.5v atmega16u4-au external xtal 44ml industrial (-40 to +85c) atmega16u4rc-au internal calib. rc atmega16u4-mu external xtal 44pw atmega16u4rc-mu internal calib. rc package type 44ml 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) 44pw pw, 44 - lead 7.0 x 7.0 mm body, 0.50 mm pitch quad flat no lead package (qfn)
17 7766fs?avr?11/10 atmega16/32u4 6.2 atmega32u4 speed (mhz) power supply ordering code default oscillator package operation range 16 2.7 - 5.5 v atmega32u4-au external xtal 44ml industrial (-40 to +85c) atmega32u4rc-au internal calib. rc ATMEGA32U4-MU external xtal 44pw atmega32u4rc-mu internal calib. rc package type 44ml 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) 44pw pw, 44 - lead 7.0 x 7.0 mm body, 0.50 mm pitch quad flat no lead package (qfn)
18 7766fs?avr?11/10 atmega16/32u4 7. packaging information 7.1 tqfp44
19 7766fs?avr?11/10 atmega16/32u4 7.2 qfn44
20 7766fs?avr?11/10 atmega16/32u4 8. errata the revision letter in this section refers to the revision of the atmega16u4/atmega32u4 device. 8.1 atmega16u4/atmega32u4 rev e ? spike on twi pins when twi is enabled ? high current consumption in sleep mode ? msb of ocr4a/b/d is write only in 11-bits enhanced pwm mode 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 enable atmega16u4/atmega32u4 twi before the other 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 consump- tion 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. msb of ocr4a/b/d is write only in 11-bits enhanced pwm mode in the 11-bits enhanced pwm mode the msb of ocr4a/b/d is write only. a read of ocr4a/b/d will always return zero in the msb position. problem fix/work around none. 8.2 atmega16u4/atmega32u4 rev d ? spike on twi pins when twi is enabled ? high current consumption in sleep mode ? timer 4 11-bits enhanced pwm mode 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 enable atmega16u4/atmega32u4 twi before the other 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 consump- tion 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.
21 7766fs?avr?11/10 atmega16/32u4 3. t imer 4 11-bits enhanced pwm mode timer 4 11-bits enhanced mode is not functional. problem fix/work around none. 8.3 atmega16u4/atmega32u4 rev c not sampled 8.4 atmega16u4/atmega32u4 rev b ? spike on twi pins when twi is enabled ? high current consumption in sleep mode ? incorrect execution of vbusti interrupt ? timer 4 11-bits enhanced pwm mode 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 enable atmega16u4/atmega32u4 twi before the other 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 consump- tion 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. incorrect execution of vbusti interrupt the cpu may incorrectly execute the interrupt vector related to the vbusti interrupt flag. problem fix/work around do not enable this interrupt. firmware must process this usb event by polling vbusti. 4. t imer 4 11-bits enhanced pwm mode timer 4 11-bits enhanced mode is not functional. problem fix/work around none.
22 7766fs?avr?11/10 atmega16/32u4 8.5 atmega16u4/atmega32u4 rev a ? spike on twi pins when twi is enabled ? high current consumption in sleep mode ? increased power consumption in power-down mode ? internal rc oscillato r start up may fail ? internal rc oscillator calibration ? incorrect execution of vbusti interrupt ? timer 4 enhanced mode issue 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 enable atmega16u4/atmega32u4 twi before the other 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 consump- tion 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. increased power comsumption in power-down mode the typical power consumption is increased by about 30 a in power-down mode. problem fix/work around none. 4. internal rc oscillator start up may fail when the part is configured to start on internal rc oscillator, the oscillator may not start properly after power-on. problem fix/work around do not configure the part to st art on internal rc oscillator. 5. internal rc oscillator calibration 8 mhz frequency can be impossible to reach with internal rc even when using maximal oscal value. problem fix/work around none. 6. incorrect execution of vbusti interrupt the cpu may incorrectly execute the interrupt vector related to the vbusti interrupt flag. problem fix/work around do not enable this interrupt. firmware must process this usb event by polling vbusti.
23 7766fs?avr?11/10 atmega16/32u4 7. t imer 4 11-bits enhanced pwm mode timer 4 11-bits enhanced mode is not functional. problem fix/work around none.
24 7766fs?avr?11/10 atmega16/32u4 9. datasheet revision histor y for atmega16u4/atmega32u4 please note that the referring page numbers in th is section are referred to this document. the referring revision in this section are referring to the document revision. 9.1 rev. 7766f ? 11/10 9.2 rev. 7766e ? 04/10 9.3 rev. 7766d ? 01/09 9.4 rev. 7766c ? 11/08 1. replaced the ?qfn44? on page 19 by an updated drawing. 2. updated ?adc control and status register b ? adcsrb? on page 289 . defined the adcsrb register as in ?adc control and status register b ? adcsrb? on page 312 . 3. updated the last page according to atmel new brand style guide. 1. updated ?features? on page 1 . 2. updated ?features? on page 253 . 3. updated figure 21-9 on page 258 . 4. updated section 21.8 on page 260 . 5. updated ?features? on page 292 . 6. updated ?atmega16u4/atmega32u4 bou ndary-scan order? on page 327 . 7. updated ?program and data memory lock bits? on page 346 . 8. updated table 28-5 on page 348 . 9. updated ?electrical characteristics? on page 378 . 10. updated figure 29-2 on page 381 . 11. added ?typical characteristics? on page 386 . 12. updated ?ordering information? on page 16 . 13. updated ?errata? on page 20 . 1. updated memory section in ?features? on page 1 . 2. added section ?resources? on page 8 . 3. added section ?data retention? on page 8 . 4. updated ?ordering information? on page 16 . 1. updated memory section in ?features? on page 1 .
25 7766fs?avr?11/10 atmega16/32u4 9.5 rev. 7766b ? 11/08 9.6 rev. 7766a ? 07/08 1. added atmega16u4 device. 2. created errata section and added atmega16u4. 3. updated high speed timer, asynchronous description section 15. on page 139 1. initial revision
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