MEGA128CAN Datasheet, PDF (215/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER

4250E–CAN–12/04
AT90CAN128
Figure 100. Data Transfer in Master Transmitter Mode
Device 1
MASTER
TRANSMITTER
Device 2
SLAVE
RECEIVER
Device 3 ........ Device n
V_CC
R1
R2
SDA
SCL
A START condition is sent by writing the following value to TWCR:
TWCR
value
TWINT
TWEA
TWSTA TWSTO
TWWC
TWEN
–
1
X
1
0
X
1
0
TWIE
X
TWEN must be set to enable the Two-wire Serial Interface, TWSTA must be written to
one to transmit a START condition and TWINT must be written to one to clear the
TWINT flag. The TWI will then test the Two-wire Serial Bus and generate a START con-
dition as soon as the bus becomes free. After a START condition has been transmitted,
the TWINT flag is set by hardware, and the status code in TWSR will be 0x08 (See
Table 90). In order to enter MT mode, SLA+W must be transmitted. This is done by writ-
ing SLA+W to TWDR. Thereafter the TWINT bit should be cleared (by writing it to one)
to continue the transfer. This is accomplished by writing the following value to TWCR:
TWCR
value
TWINT
TWEA
TWSTA TWSTO
TWWC
TWEN
–
1
X
0
0
X
1
0
TWIE
X
When SLA+W have been transmitted and an acknowledgment bit has been received,
TWINT is set again and a number of status codes in TWSR are possible. Possible sta-
tus codes in Master mode are 0x18, 0x20, or 0x38. The appropriate action to be taken
for each of these status codes is detailed in Table 90.
When SLA+W has been successfully transmitted, a data packet should be transmitted.
This is done by writing the data byte to TWDR. TWDR must only be written when
TWINT is high. If not, the access will be discarded, and the Write Collision bit (TWWC)
will be set in the TWCR Register. After updating TWDR, the TWINT bit should be
cleared (by writing it to one) to continue the transfer. This is accomplished by writing the
following value to TWCR:
TWCR
value
TWINT
TWEA
TWSTA TWSTO
TWWC
TWEN
–
1
X
0
0
X
1
0
TWIE
X
This scheme is repeated until the last byte has been sent and the transfer is ended by
generating a STOP condition or a repeated START condition. A STOP condition is gen-
erated by writing the following value to TWCR:
TWCR
value
TWINT
TWEA
TWSTA TWSTO
TWWC
TWEN
–
1
X
0
1
X
1
0
TWIE
X
A REPEATED START condition is generated by writing the following value to TWCR:
TWCR
value
TWINT
TWEA
TWSTA TWSTO
TWWC
TWEN
–
1
X
1
0
X
1
0
TWIE
X
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