TCAN1043-Q1: Guidance on the design of the CAN and CAN FD peripheral circuits

Hi expert,

Normal CAN is usually recorded at 500HZ, when using CAN FD customer always use 1MHZ,  is there an application document that describes the design of peripheral circuits for CAN and CANFD? Does this require modifying the parameters of the peripheral circuit？ such as the values of capacitance or resistance, thanks.