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| MEGA128CAN Datasheet, PDF (204/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER | |||
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Figure 97. Arbitration Between two Masters
START
SDA from
Master A
SDA from
Master B
SDA Line
Synchronized
SCL Line
Master A loses
Arbitration, SDAA SDA
Note that arbitration is not allowed between:
⢠A REPEATED START condition and a data bit
⢠A STOP condition and a data bit
⢠A REPEATED START and a STOP condition
It is the user softwareâs responsibility to ensure that these illegal arbitration conditions
never occur. This implies that in multi-master systems, all data transfers must use the
same composition of SLA+R/W and data packets. In other words: All transmissions
must contain the same number of data packets, otherwise the result of the arbitration is
undefined.
204 AT90CAN128
4250EâCANâ12/04
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