MEGA128CAN Datasheet, PDF (208/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER

the bus Master status. TWSTA must be cleared by software when the START condition
has been transmitted.
• Bit 4 – TWSTO: TWI STOP Condition Bit
Writing the TWSTO bit to one in Master mode will generate a STOP condition on the
Two-wire Serial Bus. When the STOP condition is executed on the bus, the TWSTO bit
is cleared automatically. In slave mode, setting the TWSTO bit can be used to recover
from an error condition. This will not generate a STOP condition, but the TWI returns to
a well-defined unaddressed Slave mode and releases the SCL and SDA lines to a high
impedance state.
• Bit 3 – TWWC: TWI Write Collision Flag
The TWWC bit is set when attempting to write to the TWI Data Register – TWDR when
TWINT is low. This flag is cleared by writing the TWDR Register when TWINT is high.
• Bit 2 – TWEN: TWI Enable Bit
The TWEN bit enables TWI operation and activates the TWI interface. When TWEN is
written to one, the TWI takes control over the I/O pins connected to the SCL and SDA
pins, enabling the slew-rate limiters and spike filters. If this bit is written to zero, the TWI
is switched off and all TWI transmissions are terminated, regardless of any ongoing
operation.
• Bit 1 – Reserved Bit
This bit is reserved for future use. For compatibility with future devices, this must be writ-
ten to zero when TWCR is written.
• Bit 0 – TWIE: TWI Interrupt Enable
When this bit is written to one, and the I-bit in SREG is set, the TWI interrupt request will
be activated for as long as the TWINT flag is high.
TWI Status Register – TWSR
Bit
Read/Write
Initial Value
7
TWS7
R
1
6
TWS6
R
1
5
TWS5
R
1
4
TWS4
R
1
3
TWS3
R
1
2
1
0
–
TWPS1 TWPS0 TWSR
R
R/W
R/W
0
0
0
• Bits 7..3 – TWS: TWI Status
These 5 bits reflect the status of the TWI logic and the Two-wire Serial Bus. The differ-
ent status codes are described later in this section. Note that the value read from TWSR
contains both the 5-bit status value and the 2-bit prescaler value. The application
designer should mask the prescaler bits to zero when checking the Status bits. This
makes status checking independent of prescaler setting. This approach is used in this
datasheet, unless otherwise noted.
• Bit 2 – Res: Reserved Bit
This bit is reserved and will always read as zero.
208 AT90CAN128
4250E–CAN–12/04