A communication system comprising a master apparatus and a slave apparatus, wherein: the slave apparatus is configured, in an upstream period, to transmit a slave data signal to the master apparatus based on a slave clock signal; and the master apparatus is configured to: during reception of the slave data signal from the slave apparatus in the upstream period, extract timing information from the slave data signal and adjust a phase and/or frequency of a master clock signal or a definition thereof relative to a reference phase and/or frequency based on the extracted timing information to enable decoding of the received slave data signal based on the master clock signal or that definition; in a downstream period, transmit a master data signal to the slave apparatus based on the master clock signal according to the adjustment carried out during reception of the slave data signal in the upstream period; and adjust the phase and/or frequency of the master clock signal during transmission of the master data signal in the downstream period to reduce a change in the phase and/or frequency of the master clock signal effected according to the adjustment carried out during reception of the slave data signal in the upstream period. the slave apparatus is configured, in an upstream period, to transmit a slave data signal to the master apparatus based on a slave clock signal; and the master apparatus is configured to: during reception of the slave data signal from the slave apparatus in the upstream period, extract timing information from the slave data signal and adjust a phase and/or frequency of a master clock signal or a definition thereof relative to a reference phase and/or frequency based on the extracted timing information to enable decoding of the received slave data signal based on the master clock signal or that definition; in a downstream period, transmit a master data signal to the slave apparatus based on the master clock signal according to the adjustment carried out during reception of the slave data signal in the upstream period; and adjust the phase and/or frequency of the master clock signal during transmission of the master data signal in the downstream period to reduce a change in the phase and/or frequency of the master clock signal effected according to the adjustment carried out during reception of the slave data signal in the upstream period. during reception of the slave data signal from the slave apparatus in the upstream period, extract timing information from the slave data signal and adjust a phase and/or frequency of a master clock signal or a definition thereof relative to a reference phase and/or frequency based on the extracted timing information to enable decoding of the received slave data signal based on the master clock signal or that definition; in a downstream period, transmit a master data signal to the slave apparatus based on the master clock signal according to the adjustment carried out during reception of the slave data signal in the upstream period; and adjust the phase and/or frequency of the master clock signal during transmission of the master data signal in the downstream period to reduce a change in the phase and/or frequency of the master clock signal effected according to the adjustment carried out during reception of the slave data signal in the upstream period.