The bit rate and sampling point for the CAN nodes needs to be calculated and configured accordingly for seamless communication. The CAN nodes need to be configured for same bit rates, and timing parameters. Any mismatch can lead to repeated introduction of error frames into the bus.

Bit rate (bits per second) = (CAN clock in Hz) / BRP / (1 + TSEG1 + TSEG2)

Sampling Point(%) = (1 + TSEG1) / (1 + TSEG1 + TSEG2)

where:

CAN clock is functional clock of CAN module (80MHz by default)

BRP: Bit rate pre-scalar value

TSEG1, TSEG2: Time segments used to define sampling point for the bit.

TSEG1: Time before the sampling point = Prop_Seg + Phase_Seg1

TSEG2: Time after the sampling point = Phase_Seg2

Sampling point is the point of time at which the bus level is read and interpreted as the value at that respective time. Typical value of sampling point must be between 75-90%. Note that, if Classic CAN is used nominal bit rate = data bit rate, then all other parameters for nominal and data sections need to be the same.