60.5.1.4 Transmitter Delay Compensation

During the data phase of a CAN FD transmission only one node is transmitting, all others are receivers. The length of the bus line has no impact. When transmitting via pin CANTX the protocol controller receives the transmitted data from its local CAN transceiver via pin CANRX. The received data is delayed by the transmitter delay. In case this delay is greater than TSEG1 (time segment before sample point), a bit error is detected. In order to enable a data phase bit time that is even shorter than the transmitter delay, the delay compensation is introduced. Without delay compensation, the bit rate in the data phase of a CAN FD frame is limited by the delay.