MEGA128CAN Datasheet, PDF (170/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER

Data Modes
There are four combinations of SCK phase and polarity with respect to serial data,
which are determined by control bits CPHA and CPOL. The SPI data transfer formats
are shown in Figure 81 and Figure 82. Data bits are shifted out and latched in on oppo-
site edges of the SCK signal, ensuring sufficient time for data signals to stabilize. This is
clearly seen by summarizing Table 72 and Table 73, as done below:
Table 75. CPOL Functionality
Leading Edge
CPOL=0, CPHA=0
Sample (Rising)
CPOL=0, CPHA=1
Setup (Rising)
CPOL=1, CPHA=0
Sample (Falling)
CPOL=1, CPHA=1
Setup (Falling)
Trailing eDge
Setup (Falling)
Sample (Falling)
Setup (Rising)
Sample (Rising)
SPI Mode
0
1
2
3
Figure 81. SPI Transfer Format with CPHA = 0
SCK (CPOL = 0)
mode 0
SCK (CPOL = 1)
mode 2
SAMPLE I
MOSI/MISO
CHANGE 0
MOSI PIN
CHANGE 0
MISO PIN
SS
MSB first (DORD = 0) MSB
LSB first (DORD = 1) LSB
Bit 6
Bit 1
Bit 5
Bit 2
Bit 4
Bit 3
Bit 3
Bit 4
Bit 2
Bit 5
Bit 1
Bit 6
LSB
MSB
Figure 82. SPI Transfer Format with CPHA = 1
SCK (CPOL = 0)
mode 1
SCK (CPOL = 1)
mode 3
SAMPLE I
MOSI/MISO
CHANGE 0
MOSI PIN
CHANGE 0
MISO PIN
SS
MSB first (DORD = 0)
LSB first (DORD = 1)
MSB
LSB
Bit 6
Bit 1
Bit 5
Bit 2
Bit 4
Bit 3
Bit 3
Bit 4
Bit 2
Bit 5
Bit 1
Bit 6
LSB
MSB
170 AT90CAN128
4250E–CAN–12/04