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AWR1642BOOST: Calculation of CAN bit timing segments

Part Number: AWR1642BOOST

Hi,

I am working on canfd demo(C:\ti\mmwave_sdk_01_00_00_05\packages\ti\drivers\canfd) to test the CAN-FD external transmit/receive. I want to calculate the CAN baudrate configurations(Brp,PropSeg,Pseg1 and Pseg2) by using the  baudrate .

What is the formula for calculating these parameters(mcanBitTimingParams) using the baudrate?

Thanks.