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AM623: Is it possible to access mcu_mcan0/1 from a53

Part Number: AM623

Hi

We have the use case that we need 2 CAN interfaces. So the idea is to use MCU_CAN0 and MCU_CAN1 in the Main Domain (A53 Cores).

Is this possible now and what are the restrictions we have? Is there a "reference design" for the polling method? 

I have found several similar threads, but most of them are older, where SDK 9.xx was not available.



Thank you and Best Regards

Marcel Kaltschmied