Specifications

CAN Control Registers
10-27 CAN Controller Module
CAN Bit Timing
Figure 10–17. CAN Bit Timing
Nominal bit time
SYNCSEG
SJW SJW
TSEG2TSEG1
Transmit point
Sample point
Baud rate is calculated as follows (in bits per second):
Baud rate
I
CLK
(BRP 1) Bit Time
=
+ ×
where, Bit Time = number of TQ per bit
Bit Time = (TSEG1 + 1) + (TSEG2 + 1) + 1
I
CLK
= CAN module system clock frequency (same as CLKOUT)
BRP = Baud rate prescaler
Table 10–4. CAN Bit Timing Examples for I
CLK
= 20 MHz
TSEG1 TSEG2 Bit Time BRP SJW SBG Baud Rate
4 3 10 1 1 or 2 1 1 Mbit/s
14 6 23 8 4 1 0.096 Mbit/s
3 2 8 0 1 0 2.5 Mbit/s