CAN Errors on SPEAR with different settings at 20 kBaud

[SJans.1]

We are running a CAN Bus at 20 kBaud and with different settings it generates error frames on receiving CAN messages. So we found a setting which seems to work. But we want to verify why and if this is a solid solution. We did meassure incoming messages with a scope and everything is in order.

The samplepoint is the same in both cases. Here is what we changed:

Error Case

tq 10000, PropSeg: 1, Phase_Seg1: 2, Phase_Seg2: 1, SJW: 1

Working Case

tq 5000, PropSeg: 2, Phase_Seg1: 5, Phase_Seg2: 2, SJW: 3

Are there any documents that might help or some errata on this?

Thanks.