MEGA128CAN Datasheet, PDF (218/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER

Master Receiver Mode
In the Master Receiver Mode, a number of data bytes are received from a slave trans-
mitter (see Figure 102). In order to enter a Master mode, a START condition must be
transmitted. The format of the following address packet determines whether Master
Transmitter or Master Receiver mode is to be entered. If SLA+W is transmitted, MT
mode is entered, if SLA+R is transmitted, MR mode is entered. All the status codes
mentioned in this section assume that the prescaler bits are zero or are masked to zero.
Figure 102. Data Transfer in Master Receiver Mode
Device 1
MASTER
RECEIVER
Device 2
SLAVE
TRANSMITTER
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 written to one to enable the Two-wire Serial Interface, TWSTA must be
written to one to transmit a START condition and TWINT must be set to clear the TWINT
flag. The TWI will then test the Two-wire Serial Bus and generate a START condition 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 MR mode, SLA+R must be transmitted. This is done by writing
SLA+R 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+R 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 0x38, 0x40, or 0x48. The appropriate action to be taken
for each of these status codes is detailed in Table 101. Received data can be read from
the TWDR Register when the TWINT flag is set high by hardware. This scheme is
repeated until the last byte has been received. After the last byte has been received, the
MR should inform the ST by sending a NACK after the last received data byte. The
transfer is ended by generating a STOP condition or a repeated START condition. A
STOP condition is generated 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
218 AT90CAN128
4250E–CAN–12/04