MEGA128CAN Datasheet, PDF (217/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER

Figure 101. Formats and States in the Master Transmitter Mode
MT
Successfull
transmission
S
to a slave
receiver
$08
Next transfer
started with a
repeated start
condition
SLA
W
A
$18
DATA
Not acknowledge
received after the
slave address
Not acknowledge
received after a data
byte
A
P
$20
Arbitration lost in slave
address or data byte
Arbitration lost and
addressed as slave
A or A
Other master
continues
$38
A
Other master
continues
$68 $78 $B0
AT90CAN128
A
P
$28
R_S
SLA
W
$10
R
MR
A
P
$30
A or A
Other master
continues
$38
To corresponding
states in slave mode
From master to slave
From slave to master
DATA
n
Any number of data bytes
A
and their associated acknowledge bits
This number (contained in TWSR) corresponds
to a defined state of the Two-wire Serial Bus. The
prescaler bits are zero or masked to zero
4250E–CAN–12/04
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