4.3.4 CAN

ATSAMC21N18A has two CAN modules that performs communication according to ISO11898-1 (Bosch CAN specification 2.0 part A,B) and Bosch CAN FD specification V1.0.

CAN 0 and CAN 1 are connected to two on-board ATA6561 CAN physical-layer transceivers. Table 4-17 and Table 4-18 show the connections between the ATSAMC21N18A and two ATA6561 transceivers.

The CAN differential signals are connected to two 1 x 2, 100 mil pin-headerw labeled CAN 0 and CAN 1.

Table 4-17. CAN 0 Transceiver (ATA6561) Connections
SAMC21NpinFunctionATA6561 functionShared functionality
PA24CAN0 TXTXD-
PA25CAN0 RXRXD-
Table 4-18. CAN 1 Transceiver (ATA6561) Connections
SAMC21NpinFunctionATA6561 functionShared functionality
PB14CAN1 TXTXD-
PB15CAN1 RXRXD-
Table 4-19. CAN Header (CAN 0)
CAN header pinFunction
1CANH0
2CANL0
Table 4-20. CAN Header (CAN 1)
CAN header pinFunction
1CANH1
2CANL1