MEGA128CAN Datasheet, PDF (219/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER

AT90CAN128
After a repeated START condition (state 0x10) the Two-wire Serial Interface can access
the same slave again, or a new slave without transmitting a STOP condition. Repeated
START enables the master to switch between slaves, Master Transmitter mode and
Master Receiver mode without losing control over the bus.
Figure 103. Formats and States in the Master Receiver Mode
MR
Successfull
reception
S
from a slave
receiver
$08
Next transfer
started with a
repeated start
condition
SLA
R
A
$40
DATA
Not acknowledge
received after the
slave address
Arbitration lost in slave
address or data byte
Arbitration lost and
addressed as slave
A
P
$48
A or A
Other master
continues
$38
A
Other master
continues
$68 $78 $B0
A
DATA
A
P
$50
$58
R_S
SLA
R
$10
W
MT
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
219