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Commit fd6283f

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‎content/learn/05.communication/10.can/can.md‎

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@@ -6,12 +6,7 @@ tags: [CAN Bus, Communication Protocols]
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hardware:
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- hardware/01.mkr/01.boards/mkr-wifi-1010
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- hardware/02.hero/boards/uno-r4-wifi
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- hardware/03.nano/boards/nano-every
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- hardware/03.nano/boards/nano-33-iot
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- hardware/04.pro/boards/portenta-h7
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- hardware/04.pro/boards/portenta-h7-lite-connected
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- hardware/05.pro-solutions/solutions-and-kits/portenta-machine-control
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- hardware/10.mega/boards/giga-r1-wifi
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- hardware/10.mega/boards/due
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software:
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- ide-v1
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- ide-v2
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- [Origin and Purpose](#origin-and-purpose)
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- [Timeline of Standards](#timeline-of-standards)
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- [Examples](#examples)
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- [Arduino UNO R4 WiFi CAN Bus](https://docs.arduino.cc/tutorials/uno-r4-wifi/can/)
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- [Sending Data Between Two MKR CAN Shields](https://docs.arduino.cc/tutorials/mkr-can-shield/mkr-can-communication/)
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- [Arduino UNO R4 WiFi CAN Bus](#arduino-uno-r4-wifi-can-bus)
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- [Sending Data Between Two MKR CAN Shields](#sending-data-between-two-mkr-can-shields)
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## CAN Class
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| Board / Shield | CAN0_RX | CAN0_TX | CAN1_RX | CAN1_TX |
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| -------------- | --------- | --------- | ------- | ------- |
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| UNO R4 WiFi | D13 | D10 | | |
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| UNO R4 | D13 | D10 | | |
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| DUE | D68 | D69 | D66 | D53 |
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| Portenta X8 | 52 (J1) | 50 (J1) | 49 (J1) | 51 (J1) |
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| MKR CAN Shield | dedicated | dedicated | | |
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## Technical Specifications
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Bit timing is divided into **Time Quanta (TQ)**, which are the smallest units of time in CAN communication. The total number of TQ in a bit period defines the bit timing, adjusted to ensure high reliability in communication.
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In your code you set the BitRate like so:
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In your code, you set the bit rate like so:
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```arduino
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CAN.begin(CanBitRate::BR_250k)
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CAN.begin(CanBitRate::BR_250k);
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```
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### Termination Resistors

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