MEGA128CAN Datasheet, PDF (99/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER

Modes of Operation
Normal Mode
Clear Timer on Compare
Match (CTC) Mode
AT90CAN128
The mode of operation, i.e., the behavior of the Timer/Counter and the Output Compare
pins, is defined by the combination of the Waveform Generation mode (WGM01:0) and
Compare Output mode (COM0A1:0) bits. The Compare Output mode bits do not affect
the counting sequence, while the Waveform Generation mode bits do. The COM0A1:0
bits control whether the PWM output generated should be inverted or not (inverted or
non-inverted PWM). For non-PWM modes the COM0A1:0 bits control whether the out-
put should be set, cleared, or toggled at a compare match (See “Compare Match Output
Unit” on page 98 ).
For detailed timing information refer to Figure 44, Figure 45, Figure 46 and Figure 47 in
“Timer/Counter Timing Diagrams” on page 102.
The simplest mode of operation is the Normal mode (WGM01:0 = 0). In this mode the
counting direction is always up (incrementing), and no counter clear is performed. The
counter simply overruns when it passes its maximum 8-bit value (TOP = 0xFF) and then
restarts from the bottom (0x00). In normal operation the Timer/Counter Overflow Flag
(TOV0) will be set in the same timer clock cycle as the TCNT0 becomes zero. The
TOV0 flag in this case behaves like a ninth bit, except that it is only set, not cleared.
However, combined with the timer overflow interrupt that automatically clears the TOV0
flag, the timer resolution can be increased by software. There are no special cases to
consider in the Normal mode, a new counter value can be written anytime.
The Output Compare unit can be used to generate interrupts at some given time. Using
the Output Compare to generate waveforms in Normal mode is not recommended,
since this will occupy too much of the CPU time.
In Clear Timer on Compare or CTC mode (WGM01:0 = 2), the OCR0A Register is used
to manipulate the counter resolution. In CTC mode the counter is cleared to zero when
the counter value (TCNT0) matches the OCR0A. The OCR0A defines the top value for
the counter, hence also its resolution. This mode allows greater control of the compare
match output frequency. It also simplifies the operation of counting external events.
The timing diagram for the CTC mode is shown in Figure 41. The counter value
(TCNT0) increases until a compare match occurs between TCNT0 and OCR0A, and
then counter (TCNT0) is cleared.
Figure 41. CTC Mode, Timing Diagram
OCnx Interrupt Flag Set
4250E–CAN–12/04
TCNTn
OCnx
(Toggle)
Period
1
2
3
4
(COMnx1:0 = 1)
An interrupt can be generated each time the counter value reaches the TOP value by
using the OCF0A flag. If the interrupt is enabled, the interrupt handler routine can be
used for updating the TOP value. However, changing 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
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