BAT32G1x9 user manual | Chapter 22 CAN control
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(b) Resynchronize
If a level change is detected on the bus during the receive, synchronization is established again
(only if the recessive level was previously sampled).
-
The phase error of the edge is given by the relative position of the detected edge and the
synchronization segment
< phase error signal >
0: If the edge is within the synchronization segment
Positive: If the edge is before the sample point (phase error).
Negative: If the edge is behind the sample point (phase error).
If the phase error is positive: by the specified SJW, phase segment 1 is longer
If the phase error is negative: Phase segment 2 is shortened by the specified SJW
- Due to the "difference" in baud rate between the sending node and the receiving node, the
sampling point of the receiving node data moves relatively
Figure 22-21: Resynchronize
sync field
broadcast
field
phase field1
phase field2
CAN bus
CAN bus
bit timing
sequence
bit timing
sequence
sync field
broadcast
field
phase field1
phase
field2
if phase error is negative
sample point
if phase error is positive
sample point
data bit duration(DBT)
