assign bit_de_stuff_reset = go_rx_crc_lim | reset_mode | go_error_frame | go_overload_frame;

assign remote_rq = ((~ide) & rtr1) | (ide & rtr2);
assign limited_data_len = (data_len < 8)? data_len : 4'h8;

assign ack_err = rx_ack & sample_point & sampled_bit & tx_state & (~self_test_mode);
assign bit_err = (tx_state | error_frame | overload_frame | rx_ack) & sample_point & (tx != sampled_bit) & (~bit_err_exc1) & (~bit_err_exc2) & (~bit_err_exc3) & (~bit_err_exc4) & (~bit_err_exc5);
assign bit_err_exc1 = tx_state & arbitration_field & tx;
assign bit_err_exc2 = rx_ack & tx;
assign bit_err_exc3 = error_frame & node_error_passive & (error_cnt1 < 7);
assign bit_err_exc4 = (error_frame & (error_cnt1 == 7) & (~enable_error_cnt2)) | (overload_frame & (overload_cnt1 == 7) & (~enable_overload_cnt2));
assign bit_err_exc5 = (error_frame & (error_cnt2 == 7)) | (overload_frame & (overload_cnt2 == 7));

assign arbitration_field = rx_id1 | rx_rtr1 | rx_ide | rx_id2 | rx_rtr2;

assign last_bit_of_inter = rx_inter & (bit_cnt == 2);


// Rx idle state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_idle <= 1'b0;
  else if (reset_mode | go_rx_id1 | error_frame)
    rx_idle <=#Tp 1'b0;
  else if (go_rx_idle)
    rx_idle <=#Tp 1'b1;
end


// Rx id1 state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_id1 <= 1'b0;
  else if (reset_mode | go_rx_rtr1 | error_frame)
    rx_id1 <=#Tp 1'b0;
  else if (go_rx_id1)
    rx_id1 <=#Tp 1'b1;
end


// Rx rtr1 state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_rtr1 <= 1'b0;
  else if (reset_mode | go_rx_ide | error_frame)
    rx_rtr1 <=#Tp 1'b0;
  else if (go_rx_rtr1)
    rx_rtr1 <=#Tp 1'b1;
end


// Rx ide state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_ide <= 1'b0;
  else if (reset_mode | go_rx_r0 | go_rx_id2 | error_frame)
    rx_ide <=#Tp 1'b0;
  else if (go_rx_ide)
    rx_ide <=#Tp 1'b1;
end


// Rx id2 state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_id2 <= 1'b0;
  else if (reset_mode | go_rx_rtr2 | error_frame)
    rx_id2 <=#Tp 1'b0;
  else if (go_rx_id2)
    rx_id2 <=#Tp 1'b1;
end


// Rx rtr2 state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_rtr2 <= 1'b0;
  else if (reset_mode | go_rx_r1 | error_frame)
    rx_rtr2 <=#Tp 1'b0;
  else if (go_rx_rtr2)
    rx_rtr2 <=#Tp 1'b1;
end


// Rx r0 state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_r1 <= 1'b0;
  else if (reset_mode | go_rx_r0 | error_frame)
    rx_r1 <=#Tp 1'b0;
  else if (go_rx_r1)
    rx_r1 <=#Tp 1'b1;
end


// Rx r0 state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_r0 <= 1'b0;
  else if (reset_mode | go_rx_dlc | error_frame)
    rx_r0 <=#Tp 1'b0;
  else if (go_rx_r0)
    rx_r0 <=#Tp 1'b1;
end


// Rx dlc state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_dlc <= 1'b0;
  else if (reset_mode | go_rx_data | go_rx_crc | error_frame)
    rx_dlc <=#Tp 1'b0;
  else if (go_rx_dlc)
    rx_dlc <=#Tp 1'b1;
end


// Rx data state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_data <= 1'b0;
  else if (reset_mode | go_rx_crc | error_frame)
    rx_data <=#Tp 1'b0;
  else if (go_rx_data)
    rx_data <=#Tp 1'b1;
end


// Rx crc state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_crc <= 1'b0;
  else if (reset_mode | go_rx_crc_lim | error_frame)
    rx_crc <=#Tp 1'b0;
  else if (go_rx_crc)
    rx_crc <=#Tp 1'b1;
end


// Rx crc delimiter state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_crc_lim <= 1'b0;
  else if (reset_mode | go_rx_ack | error_frame)
    rx_crc_lim <=#Tp 1'b0;
  else if (go_rx_crc_lim)
    rx_crc_lim <=#Tp 1'b1;
end


// Rx ack state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_ack <= 1'b0;
  else if (reset_mode | go_rx_ack_lim | error_frame)
    rx_ack <=#Tp 1'b0;
  else if (go_rx_ack)
    rx_ack <=#Tp 1'b1;
end


// Rx ack delimiter state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_ack_lim <= 1'b0;
  else if (reset_mode | go_rx_eof | error_frame)
    rx_ack_lim <=#Tp 1'b0;
  else if (go_rx_ack_lim)
    rx_ack_lim <=#Tp 1'b1;
end


// Rx eof state
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_eof <= 1'b0;
  else if (go_rx_inter | error_frame | go_overload_frame)
    rx_eof <=#Tp 1'b0;
  else if (go_rx_eof)
    rx_eof <=#Tp 1'b1;
end



// Interframe space
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rx_inter <= 1'b0;
  else if (reset_mode | go_rx_idle | go_rx_id1 | go_overload_frame | go_error_frame)
    rx_inter <=#Tp 1'b0;
  else if (go_rx_inter)
    rx_inter <=#Tp 1'b1;
end


// ID register
always @ (posedge clk or posedge rst)
begin
  if (rst)
    id <= 0;
  else if (sample_point & (rx_id1 | rx_id2) & (~bit_de_stuff))
    id <=#Tp {id[27:0], sampled_bit};
end


// rtr1 bit
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rtr1 <= 0;
  else if (sample_point & rx_rtr1 & (~bit_de_stuff))
    rtr1 <=#Tp sampled_bit;
end


// rtr2 bit
always @ (posedge clk or posedge rst)
begin
  if (rst)
    rtr2 <= 0;
  else if (sample_point & rx_rtr2 & (~bit_de_stuff))
    rtr2 <=#Tp sampled_bit;
end


// ide bit
always @ (posedge clk or posedge rst)
begin
  if (rst)
    ide <= 0;
  else if (sample_point & rx_ide & (~bit_de_stuff))
    ide <=#Tp sampled_bit;
end


// Data length
always @ (posedge clk or posedge rst)
begin
  if (rst)
    data_len <= 0;
  else if (sample_point & rx_dlc & (~bit_de_stuff))
    data_len <=#Tp {data_len[2:0], sampled_bit};
end


// Data
always @ (posedge clk or posedge rst)
begin
  if (rst)
    tmp_data <= 0;
  else if (sample_point & rx_data & (~bit_de_stuff))
    tmp_data <=#Tp {tmp_data[6:0], sampled_bit};
end


always @ (posedge clk or posedge rst)
begin
  if (rst)
    write_data_to_tmp_fifo <= 0;
  else if (sample_point & rx_data & (~bit_de_stuff) & (&bit_cnt[2:0]))
    write_data_to_tmp_fifo <=#Tp 1'b1;
  else
    write_data_to_tmp_fifo <=#Tp 0;
end


always @ (posedge clk or posedge rst)
begin
  if (rst)
    byte_cnt <= 0;
  else if (write_data_to_tmp_fifo)
    byte_cnt <=#Tp byte_cnt + 1;
  else if (reset_mode | (sample_point & go_rx_crc_lim))
    byte_cnt <=#Tp 0;
end


always @ (posedge clk)
begin
  if (write_data_to_tmp_fifo)
    tmp_fifo[byte_cnt] <=#Tp tmp_data;
end



// CRC
always @ (posedge clk or posedge rst)
begin
  if (rst)
    crc_in <= 0;
  else if (sample_point & rx_crc & (~bit_de_stuff))
    crc_in <=#Tp {crc_in[13:0], sampled_bit};
end


// bit_cnt
always @ (posedge clk or posedge rst)
begin
  if (rst)
    bit_cnt <= 0;
  else if (go_rx_id1 | go_rx_id2 | go_rx_dlc | go_rx_data | go_rx_crc | 
           go_rx_ack | go_rx_eof | go_rx_inter | go_error_frame | go_overload_frame)
    bit_cnt <=#Tp 0;
  else if (sample_point & (~bit_de_stuff))
    bit_cnt <=#Tp bit_cnt + 1'b1;
end


// eof_cnt
always @ (posedge clk or posedge rst)
begin
  if (rst)
    eof_cnt <= 0;
  else if (sample_point)
    begin
      if (reset_mode | go_rx_inter | go_error_frame | go_overload_frame)
        eof_cnt <=#Tp 0;
      else if (rx_eof)
        eof_cnt <=#Tp eof_cnt + 1'b1;
    end
end


// Enabling bit de-stuffing
always @ (posedge clk or posedge rst)
begin
  if (rst)
    bit_stuff_cnt_en <= 1'b0;
  else if (bit_de_stuff_set)
    bit_stuff_cnt_en <=#Tp 1'b1;
  else if (bit_de_stuff_reset)
    bit_stuff_cnt_en <=#Tp 1'b0;
end


// bit_stuff_cnt
always @ (posedge clk or posedge rst)
begin
  if (rst)
    bit_stuff_cnt <= 1;
  else if (bit_de_stuff_reset)
    bit_stuff_cnt <=#Tp 1;
  else if (sample_point & bit_stuff_cnt_en)
    begin
      if (bit_stuff_cnt == 5)
        bit_stuff_cnt <=#Tp 1;
      else if (sampled_bit == sampled_bit_q)
        bit_stuff_cnt <=#Tp bit_stuff_cnt + 1'b1;
      else
        bit_stuff_cnt <=#Tp 1;
    end
end


// Enabling bit de-stuffing for tx
always @ (posedge clk or posedge rst)
begin
  if (rst)
    bit_stuff_cnt_tx_en <= 1'b0;
  else if (bit_de_stuff_set & transmitting)
    bit_stuff_cnt_tx_en <=#Tp 1'b1;
  else if (bit_de_stuff_reset)
    bit_stuff_cnt_tx_en <=#Tp 1'b0;
end


// bit_stuff_cnt_tx
always @ (posedge clk or posedge rst)
begin
  if (rst)
    bit_stuff_cnt_tx <= 1;
  else if (bit_de_stuff_reset)
    bit_stuff_cnt_tx <=#Tp 1;
  else if (tx_point_q & bit_stuff_cnt_en)
    begin
      if (bit_stuff_cnt_tx == 5)
        bit_stuff_cnt_tx <=#Tp 1;
      else if (tx == tx_q)
        bit_stuff_cnt_tx <=#Tp bit_stuff_cnt_tx + 1'b1;
      else
        bit_stuff_cnt_tx <=#Tp 1;
    end
end


assign bit_de_stuff = bit_stuff_cnt == 5;
assign bit_de_stuff_tx = bit_stuff_cnt_tx == 5;



// stuff_err
assign stuff_err = sample_point & bit_stuff_cnt_en & bit_de_stuff & (sampled_bit == sampled_bit_q);



// Generating delayed signals
always @ (posedge clk)
begin
  reset_mode_q <=#Tp reset_mode;
  node_bus_off_q <=#Tp node_bus_off;
end



always @ (posedge clk or posedge rst)
begin
  if (rst)
    crc_enable <= 1'b0;
  else if (go_crc_enable)
    crc_enable <=#Tp 1'b1;
  else if (reset_mode | rst_crc_enable)
    crc_enable <=#Tp 1'b0;
end


// CRC error generation
always @ (posedge clk or posedge rst)
begin
  if (rst)
    crc_err <= 1'b0;
  else if (go_rx_ack)
    crc_err <=#Tp crc_in != calculated_crc;
  else if (reset_mode | error_frame_ended)
    crc_err <=#Tp 1'b0;
end


// Conditions for form error
assign form_err = sample_point & ( ((~bit_de_stuff) & rx_ide     &   sampled_bit & (~rtr1)      ) |
                                   (                  rx_crc_lim & (~sampled_bit)               ) |
                                   (                  rx_ack_lim & (~sampled_bit)               ) |
                                   ((eof_cnt < 6)   & rx_eof     & (~sampled_bit) & (~tx_state) ) |
                                   (                & rx_eof     & (~sampled_bit) &   tx_state  )
                                 );


always @ (posedge clk or posedge rst)
begin
  if (rst)
    ack_err_latched <= 1'b0;
  else if (reset_mode | error_frame_ended | go_overload_frame)
    ack_err_latched <=#Tp 1'b0;
  else if (ack_err)
    ack_err_latched <=#Tp 1'b1;
end


always @ (posedge clk or posedge rst)
begin