A controller area network receiver includes a measurement circuit, a filter circuit, and a frame detection circuit. The measurement circuit is coupled to a bit stream input terminal, and includes a timer circuit and error calculation circuitry. The timer circuit is coupled to the bit stream input terminal and a reference clock generator circuit. The error calculation circuitry is coupled to the timer circuit. The filter circuit is coupled to the measurement circuit, and includes error clipping control circuitry and clock period adjustment circuitry. The error clipping control circuitry is coupled to the error calculation circuitry. The clock period adjustment circuitry is coupled to the error calculation circuitry and the timer circuit. The frame detection circuit is coupled to the filter circuit and the bit stream input terminal.