Thursday, August 21, 2014

Writing a library for the internal temperature sensor on AVR MCUs

Most modern AVR MCU's have an on-chip temperature sensor, however neither avr-libc nor Arduino provides a simple way to read the temperature sensor.  I'm building wireless nodes which I want to be able to sense temperature.  In addition to the ATtiny88's I'm currently using, I want to be able to use other AVRs like the ATmega328.  With that in mind I decided to write a small library to read the on-chip temperature sensor.

I found a couple people who already did some work with the on-chip temperature sensor.  Connor tested the Atmega32u4, and Albert tested the Atmega328.  As can be seen from their code, each AVR seems to have slightly different ways of setting up the ADC to read the temperature.  Neither the MUX bits nor the reference is consistent across different parts.  For example on the ATtiny88, the internal voltage reference is selected by clearing the ADMUX REFS0 bit, while on the ATmega328 it is selected by setting both REFS0 and REFS1.

One way of writing code that compiles on different MCUs is to use #ifdef statements based on the type of MCU.  For example, when compiling for the ATmega328, avr-gcc defines, "__AVR_ATmega328__", and when compiling for the ATmega168 it defines, "__AVR_ATmega168__".  Both MCUs are in the same family (along with the ATmega48 & ATmega88), and therefore have the same ADC settings.  Facing the prospect of a big list of #ifdef statements, I decided to look for a simpler way to code the ADC settings.

I looked through the avr-libc headers in the include/avr directory.  Although there is no definitions for the MUX settings for various ADC inputs (i.e. ADC8 for temperature measurement on the ATtiny88), there are definitions for the individual reference and mux bits.  After comparing the datasheets, I came up with the following code to define the ADC input for temperature measurement:
#if defined (REFS1) && !defined(REFS2) && !defined(MUX4)
    // m48 family
    #define ADCINPUT (1<<REFS0) | (1<<REFS1) | (1<<MUX3)
#elif !defined(REFS1) && !defined(MUX4)
    // tinyx8
    #define ADCINPUT (0<<REFS0) | (1<<MUX3)
#elif defined(REFS2)
    // tinyx5 0x0f = MUX0-3
    #define ADCINPUT (0<<REFS0) | (1<<REFS1) | (0x0f)
#elif defined(MUX5)
    // tinyx4 0x0f = MUX0-3
    #define ADCINPUT (0<<REFS0) | (1<<REFS1) | (1<<MUX5) | (1<<MUX1)
    #error unsupported MCU

From previous experiments I had done with the ATtiny85, I knew that the ADC temperature input is quite noisy, with the readings often varying by a few degrees from one to the next.  The datasheets refer to ADC noise reduction sleep mode as one way to reduce noise, which would require enabling interrupts and making an empty ADC interrupt.  I decided averaging over a number of samples would be easier way.

I don't want my library to take up a lot of code space, so I needed to be careful with how I do math.  Douglas Jones wrote a great analysis of doing efficient math on small CPUs.  To take an average requires adding a number of samples and then dividing.  To correct for the ADC gain error requires dividing by a floating-point number such as 1.06, something that would be very slow to do at runtime.  Dividing a 16-bit number by 256 is very fast on an AVR - avr-gcc just takes the high 8 bits.  I could do the floating-point divide at compile time by making the number of additions I do equal to 256 divided by the gain:
#define ADC_GAIN 1.06
#define SAMPLE_COUNT ((256/ADC_GAIN)+0.5)

The ADC value is a 10-bit value representing the approximate temperature in Kelvin.  AVRs are only rated for -40C to +85C operation, so a signed 8-bit value representing the temperature in Celcius is more practical.   Subtracting 273 from the ADC value before adding it is all that is needed to do the conversion.

I think one of the reasons people external thermistors or I2C temperature sensing chips instead of the internal AVR temperature sensor is the lack of factory calibration.  As explained in Application Note AVR122, the uncalibrated readings from an AVR can be off significantly.  Without ADC noise reduction mode and running at 16Mhz, I have observed results that were off by 50C.

My first thought was to write a calibration program which would be run when the AVR is a known temperature, and write the temperature offset value to EEPROM.  Then when the end application code is flashed, the temperature library code would read the offset from EEPROM whenever the temperature is read.  But a better way would be to automatically run the calibration when the application code is flashed.  However, how could I do that?

In my post, Trimming the fat from avr-gcc code, I showed how main() isn't actually the first code to run after an AVR is reset.  Not only does avr-gcc insert code that runs before main, it allows you to add your own code that runs before main.  With that technique, I wrote a calibration function that will automatically get run before main:
// temperature at programming time
__attribute__ ((naked))\
__attribute__ ((used))\
__attribute__ ((section (".init8")))\
void calibrate_temp (void)
    if ( eeprom_read_byte(&temp_offset) == 0xff)
        // temperature uncalibrated
        char tempVal = temperature();   // throw away 1st sample
        tempVal = temperature();
        // 0xff == -1 so final offset is reading - AIR_TEMPERATURE -1
        eeprom_write_byte( &temp_offset, (tempVal - AIR_TEMPERATURE) -1);

The complete code is available in my google code repository.  To use it, include temperature.h, and call the temperature function from your code.  You'll have to link in temperature.o as well, or just use my Makefile which creates a library containing temperature.o that gets linked with the target code.  See test_temperature.c for the basic example program.

In my testing with a Pro Mini, the temperature readings were very stable, with no variation between dozens of readings taken one second apart.  I also used the ice cube technique (in a plastic bag so the water doesn't drip on the board), and got steady readings of 0C after about 30 seconds.


  1. Hi,

    Your web page is great. Thanks a lot for your blog.

    I have download temperatura.h and temperature.c but I want to use them WITHOUT writing anything to EEPROM.

    I'am a noob, so speaking about "automatically run the calibration when the application code is flashed" fears me.

    I only want to "play" with them so, I tried to remove that option, but anyway, I get "Y" or 89 value fixed. I'm using a arduino buono (atmega328p).

    Could you help me ?

    best regards,

    1. Hi Fernando,
      If you don't want the auto-calibration, delete the calibrate_temp function.

  2. Hi Ralph,

    Thanks a lot. I finally get it working. Just a few last questions:

    1. other examples that I found recomend a little delay to wait for Vref to settle. (after ADMUX = _BV(REFS1) | _BV(REFS0) | _BV(MUX3);) What do you think about it ?
    2. others, also, discard first sample (I don't know if this is a subtitute of that delay)
    3. Is it worth to save values of ADCSRA and ADMUX to restore them after reading temperature ? Or doesn't matter ?

    Thanks a lot,

    Best regards,

    1. Discarding the first sample might be a good idea. You could add a call to doADC before the for loop in the temperature function.
      Restoring the register values is typically only done in ISRs, in case any code was using the ADC before the ISR ran.

  3. Thanks, and what about a little delay to settle Vref ? Do you think that it's necessary ?


  4. Hi Ralph.

    I have found what I think is a litlle issue in your library.

    I'm tryying to do a sensor node that gets both temperature and eBay's ACS712 shield current.

    What I found is this:

    a) if I call only analogRead to the ACS712 (20 samples), I get 20 good samples.
    b) if I call your function and then analogRead (20 times), I get THE FIRST ANALOG VALUE very very bad, and then, 19 more good.

    Could it be something about the registers or configuration that you make inside your function ?

    I have this function (it's like yours but with comment the line where your turn off ADC. I have also try uncommenting this line, but the problem is the same, the first value is wrong):

    static uint16_t doADC()
    // start conversion with ADC clock prescaler 16
    ADCSRA = (1<<ADEN) | (1<<ADSC) | (1<<ADPS2);
    while (ADCSRA & (1<<ADSC)); // wait to finish
    return ADCW;

    #define SAMPLE_COUNT ((256/ADC_GAIN)+0.5)
    // returns signed byte for temperature in oC
    char temperature()
    // ADMUX = (0<<REFS0) | (1<<MUX3); // ADC8
    uint16_t tempRaw = 0;

    // take multiple samples then average
    for (uint8_t count = SAMPLE_COUNT; --count;) {
    tempRaw += (doADC() - 273);
    //ADCSRA = 0; // turn off ADC

    // a known offset could be used instead of the calibrated value
    //return ((tempRaw/256) - eeprom_read_byte(&temp_offset) ) ;
    return ((tempRaw/256) - temp_offset) ;

    Could you help me ?


  5. Hi Fernando,
    When you change ADMUX, you need to wait for the sample and hold capacitor to charge before doing the ADC.
    I recommend you read AVR 125 and this page:

  6. hello, we would like to know whether the code is still available on google code. seems no download capable anymore.

    1. I copied it to github before google code shut down.

    2. thank you so much for the prompt reply.

      we have try and compile to code with avr-gcc under Win10, the make had has no success. we also try manually compilation, still the same error with,

      test_temperature.c, failed to comiple with warning and error, test_temperature.o produced.
      temperature.o compiled, ok.

      linking was no way to proceeding as long as test_temperature.o was not produced.

      any idea whether compiler version/option different or the build environment affected ?


      log following ---------------------

      xiao> avr-gcc.exe -dumpversion

      xiao> set main=test_temperature

      xiao> set mcu=atmega328p

      xiao> set cpu_speed=8000000

      xiao> avr-gcc -Wall -g -Os -mmcu=atmega328p -DF_CPU=8000000 -mrelax -Wall -Wno-main -ffunction-sections -Wl,--gc-sections -flto -Wl,-flto -c test_temperature.c -o test_temperature.o
      In file included from test_temperature.c:11:0:
      test_temperature.c:23:38: warning: initialization from incompatible pointer type [-Wincompatible-pointer-types]
      test_temperature.c:23:38: note: (near initialization for 'uart_output.put')

      xiao> avr-gcc -Wall -g -Os -mmcu=atmega328p -DF_CPU=8000000 -nostdlib -c libs\temperature\temperature.c -o libs\temperature\temperature.o
      Compiling temperature.c, done

    3. I wrote it to use my bit-bang uart code so it works on tiny AVRs with no UART. I didn't write a sophisticated makefile for it, so it wouldn't properly rebuild the lib when the mcu target changed. I'll consider re-writing it as a header-only library, or maybe as a simple Arduino/Wiring library so it's easier to build for different MCU targets.

    4. thanks, that would be very nice too.

  7. High, just read the ATmega datasheet and found section "23.8.1 Manufacturing Calibration" - it seems that the 328P has some sort of calibration value lasered into silicon. I was too lazy to download the ATtiny datasheet and check for you guys, but perhaps it's worth a look... This is neat, because it allows for cheap power electronics temperature monitoring. In the proximity of a power FETs, inductors close to saturation or rectifier diodes the influence of the MCU losses become pretty negligible...

    1. Thanks for the tip. My copy of the m328p datasheet was from 2012 and I hadn't looked at the updated datasheet. It's now on my list of things to test.