Bit Timing
Each node in a CAN network has its own clock, and no clock is sent during data transmission. Synchronization is done by dividing each bit of the frame into a number of segments: synchronization, propagation, phase 1 and phase 2. The length of each phase segment can be adjusted based on network and node conditions. The sample point falls between phase buffer segment 1 and phase buffer segment 2, which helps facilitate continuous synchronization. Continuous synchronization in turn enables the receiver to be able to properly read the messages.
Read more about this topic: CAN Bus
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