Fujitsu F2MCTM-16LX Hardware Manual page 480

CHAPTER 21 CAN CONTROLLER
The relationship between PSC = PSC5 to PSC0, TSI = TS1.3 to TS1.0, TS2 = TS2.2 to TS2.0, and RSJ =
RSJ1, RSJ0
For correct operation, the following conditions should be met.
In order to meet the bit timing requirements defined in the CAN specification, additions have to be met,
e.g. the propagation delay has to be considered.
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TQ = (PSC + 1) x CLK
BT = SYNC_SEG + TSEG1 + TSEG2
= (1 + (TS1 + 1) + (TS2 +1)) x TQ
= (3 + TS1 +TS2) x TQ
RSJW = (RSJ + 1) x TQ
RSJ1 and RSJ0 is shown below.
CLK: input clock (CLK)
TQ: time quanta
BT: bit time
SYNC_SEG: synchronous segment
TSEG1 and TSEG2: time segment 1 and 2
resynchronization jump width [(RSJ1 and RSJ0) +1] frequency division
For 1 PSC
TSEG1
TSEG1
TSEG2
TSEG2
For PSC = 0:
TSEG1
TSEG2
TSEG2
63:
2TQ
RSJW
2TQ
RSJW
5TQ
2TQ
RSJW