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Until now, I can't find any materials which have a guide of the CAN bus interface in PSoC6.
Can you describe your requirement, maybe we can advice you to choose another kind of chip.
I was thinking to use a psoc 5 lp with a tja 1050. But I was looking for another processor to improve my design so I saw the new psoc for IoT applications and transmit info from can bus, and other variables
Now, PSoC 6 512K part has support for CAN-PD and will be in production next year Q2.