PocketBeagle2 I2C and CANBus

I am considering using the PocketBeagle-2 for a submodule of an agricultural field planter prototype.
I’ve not used any PocketBeagles before, having stayed with the Black Rev C, Green and Black Wireless (now discontinued).

Before I jump too far into this, I need to know if the PocketBeagle 2 supports CANBus. We have a custom board with a transceiver, so I just need the digital i/o for RXD and TXD that goes to our board.

I will also need an I2C bus at the same time.

Looking forward to learning about this!

per the attached link/document, i have not used them

MCU_MCAN0

MCU_MCAN1

MCAN0

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Thanks! Somewhat confusing documentation! It’s early days I suppose.