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DRV8873H-Q1EVM: connect DRV8873HPWPRQ1 with the microcontroller(AT90CAN32)

Part Number: DRV8873-Q1
Other Parts Discussed in Thread: DRV8873H-Q1EVM, MSP430G2553,

I wanted to know how to interface DRV8873H-Q1EVM with AT90CAN32 microcontroller?