A data communication system for starting transmission and reception of target data for processing upon recognition that switching between communication modes is completed. The data communication system includes a master communication device and a slave communication device that continuously perform, at a time of switching from half-duplex communication to full-duplex communication, (i) a handshake using a directional control code indicating the switching and a preamble code indicating completion of the switching and (ii) a handshake using the preamble code and an acknowledge code indicating receipt of the preamble code, whereby each of the devices recognizes that the switching between communication modes by the opposite device is completed and starts transmission and reception of the target data.