CAN Bus baudrate detection

Hi.

How can I be reliable detect the baudrate from a can bus?


I set the Node in Mode: Bit Timing Mode (CFMODL:10b).

If i set CFSEL to 0 and poll the NFCR0->CFC to get the minimum value,
it varies a lot.. ( 0x2FC .. 0x789 @ 125k; 0xC7 .. 0x1FE @ 250k; 0x01 .. 0xBF @ 500k),


If i set CFSEL to 1 and poll the NFCR0->CFC to get the minimum value,.
it varies a lot.. (0x51 .. 0x1BC @ 250k; 0x01 .. 0x5C @ 500k),


So I can not find a safe value to distinguish whether it is an outlier at the low, or at least the high baudrate.


Is the a code snippet or a app note available?
What is the best CFSEL value for unknown Data on the CAN Bus?