ATmega16/32/64/M1/C1
Table 16-2. Examples of CAN Baud Rate Settings for Commonly Frequencies (Continued)
Description
Segments
Registers
CAN
Rate
(Kbps)
f
CLK
(MHz)
Sampling
Point
TQ
(µs)
Tbit
(TQ)
Tprs
(TQ)
Tph1
Tph2
Tsjw
(TQ)
IO
(TQ)
(TQ)
CANBT1 CANBT2
CANBT3
x
8
- - - n o d a t a - - -
1000
500
250
200
125
63 % (1)
0.125
0.125
0.250
0.250
0.500
0.250
0.625
0.500
1.000
0.625
1.250
3
7
3
7
3
8
3
7
3
7
3
2
4
2
4
2
6
2
4
2
4
2
2
4
2
4
2
5
2
4
2
4
2
1
1
1
1
1
1
1
1
1
1
1
0x00
0x00
0x02
0x02
0x06
0x02
0x08
0x06
0x0E
0x08
0x12
0x04
0x0C
0x04
0x0C
0x04
0x0E
0x04
0x0C
0x04
0x0C
0x04
0x12 (2)
0x36 (2)
0x13
0x37
0x13
0x4B
0x13
0x37
0x13
0x37
0x13
69 % (1)
75 %
16
8
16
8
75 %
75 %
75 %
75 %
8.000
20
8
16
8
16
8
100
1000
500
- - - n o t a p p l i c a b l e - - -
0.166666
12
x
5
3
3
1
0x00
0x08
0x24 (2)
67 % (1)
75 %
80 %
75 %
75 %
- - - n o d a t a - - -
0.333333
0.500
12
8
5
3
7
4
7
3
8
5
3
2
4
3
4
2
6
3
3
2
3
2
4
2
5
3
1
1
1
1
1
1
1
1
0x02
0x04
0x02
0x04
0x04
0x0A
0x04
0x08
0x08
0x04
0x0C
0x06
0x0C
0x04
0x0E
0x08
0x25
0x13
0x35
0x23
0x37
0x13
0x4B
0x25
250
200
125
6.000
0.333333
0.500
15
10
16
8
0.500
1.000
0.500
20
12
100
0.833333
1000
500
- - - n o t a p p l i c a b l e - - -
- - - n o d a t a - - -
x
8
63 % (1)
0.250
0.250
0.500
0.250
3
7
3
8
2
4
2
6
2
4
2
5
1
1
1
1
0x00
0x00
0x02
0x00
0x04
0x0C
0x04
0x0E
0x12 (2)
0x36 (2)
0x13
69 % (1)
75 %
16
8
250
200
125
100
4.000
20
x
0x4A (2)
70 % (1)
- - - n o d a t a - - -
0.500
1.000
0.500
1.250
16
8
7
3
8
3
4
2
6
2
4
2
5
2
1
1
1
1
0x02
0x06
0x02
0x08
0x0C
0x04
0x0E
0x04
0x37
0x13
0x4B
0x13
75 %
20
8
75 %
Note:
1. See Section 16.4.3 “Baud Rate” on page 177.
2. See Section • “Bit 0 – SMP: Sample Point(s)” on page 194
203
7647F–AVR–04/09
ATMEL [ ATMEL ]
