MEGA128CAN Datasheet, PDF (122/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER

Figure 53. CTC Mode, Timing Diagram
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)
TCNTn
Fast PWM Mode
OCnA
(Toggle)
Period
1
2
3
4
(COMnA1:0 = 1)
An interrupt can be generated at each time the counter value reaches the TOP value by
either using the OCFnA or ICFn flag according to the register used to define the TOP
value. If the interrupt is enabled, the interrupt handler routine can be used for updating
the TOP value. However, changing the TOP to a value close to BOTTOM when the
counter is running with none or a low prescaler value must be done with care since the
CTC mode does not have the double buffering feature. If the new value written to
OCRnA or ICRn is lower than the current value of TCNTn, the counter will miss the com-
pare match. The counter will then have to count to its maximum value (0xFFFF) and
wrap around starting at 0x0000 before the compare match can occur. In many cases
this feature is not desirable. An alternative will then be to use the fast PWM mode using
OCRnA for defining TOP (WGMn3:0 = 15) since the OCRnA then will be double
buffered.
For generating a waveform output in CTC mode, the OCnA output can be set to toggle
its logical level on each compare match by setting the Compare Output mode bits to tog-
gle mode (COMnA1:0 = 1). The OCnA value will not be visible on the port pin unless the
data direction for the pin is set to output (DDR_OCnA = 1). The waveform generated will
have a maximum frequency of f_OCnA = f_{clk_I/O}/2 when OCRnA is set to zero (0x0000). The
waveform frequency is defined by the following equation:
f_OCnA = ₂-----_â‹---_N------_â‹---₍-^f-₁^c---^l-^k-+-^_---^I-_O^/--^O---_C----_R----_n---_A----₎-
The N variable represents the prescaler factor (1, 8, 64, 256, or 1024).
As for the Normal mode of operation, the TOVn flag is set in the same timer clock cycle
that the counter counts from MAX to 0x0000.
The fast Pulse Width Modulation or fast PWM mode (WGMn3:0 = 5, 6, 7, 14, or 15) pro-
vides a high frequency PWM waveform generation option. The fast PWM differs from
the other PWM options by its single-slope operation. The counter counts from BOTTOM
to TOP then restarts from BOTTOM. In non-inverting Compare Output mode, the Output
Compare (OCnx) is set on the compare match between TCNTn and OCRnx, and
cleared at TOP. In inverting Compare Output mode output is cleared on compare match
and set at TOP. Due to the single-slope operation, the operating frequency of the fast
PWM mode can be twice as high as the phase correct and phase and frequency correct
PWM modes that use dual-slope operation. This high frequency makes the fast PWM
mode well suited for power regulation, rectification, and DAC applications. High fre-
quency allows physically small sized external components (coils, capacitors), hence
reduces total system cost.
122 AT90CAN128
4250E–CAN–12/04