According to the CAN specification, the bit time is divided into four segments. The Synchronization SEGMENT, the Propagation Time Segment, the Phase BUFFER Segment 1, and the Phase Buffer Segment 2. Each segment CONSISTS of a specific, programmable number of time quanta (see Table 1). The length of the time quantum (tq), which is the BASIC time unit of the bit time, is defined by the CAN controller’s system clock fsys and the Baud Rate Prescaler (BRP) :tq = BRP / fsys. Typical system clocks are : fsys = fosc or fsys = fosc/2.

The Synchronization Segment Sync_Seg is that part of the bit time where edges of the CAN bus level are expected to occur; the distance between an edge that occurs outside of Sync_Seg and the Sync_Seg is called the phase error of that edge. The Propagation Time Segment Prop_Seg is intended to compensate for the physical delay times within the CAN NETWORK. The Phase Buffer Segments Phase_Seg1 and Phase_Seg2 surround the Sample Point. The (Re-)Synchronization Jump Width (SJW) defines how far a resynchronization may move the Sample Point inside the limits defined by the Phase Buffer Segments to compensate for edge phase errors.

 Two types of synchronization exist : Hard Synchronization and Re synchronization. A Hard Synchronization is done once at the start of a frame; inside a frame only Re synchronizations occur.

• Hard Synchronization After a hard synchronization, the bit time is restarted with the end of Sync_Seg, regardless of the edge phase error. Thus hard synchronization forces the edge which has caused the hard synchronization to lie within the synchronization segment of the restarted bit time.
• Bit Re synchronization Re synchronization leads to a shortening or lengthening of the bit time such that the position of the sample point is shifted with regard to the edge.

According to the CAN specification, the bit time is divided into four segments. The Synchronization Segment, the Propagation Time Segment, the Phase Buffer Segment 1, and the Phase Buffer Segment 2. Each segment consists of a specific, programmable number of time quanta (see Table 1). The length of the time quantum (tq), which is the basic time unit of the bit time, is defined by the CAN controller’s system clock fsys and the Baud Rate Prescaler (BRP) :tq = BRP / fsys. Typical system clocks are : fsys = fosc or fsys = fosc/2.

The Synchronization Segment Sync_Seg is that part of the bit time where edges of the CAN bus level are expected to occur; the distance between an edge that occurs outside of Sync_Seg and the Sync_Seg is called the phase error of that edge. The Propagation Time Segment Prop_Seg is intended to compensate for the physical delay times within the CAN network. The Phase Buffer Segments Phase_Seg1 and Phase_Seg2 surround the Sample Point. The (Re-)Synchronization Jump Width (SJW) defines how far a resynchronization may move the Sample Point inside the limits defined by the Phase Buffer Segments to compensate for edge phase errors.

 Two types of synchronization exist : Hard Synchronization and Re synchronization. A Hard Synchronization is done once at the start of a frame; inside a frame only Re synchronizations occur.