diff --git a/boards/same54-xpro/include/periph_conf.h b/boards/same54-xpro/include/periph_conf.h
index 6b09dc77c3b7b..74f746af79628 100644
--- a/boards/same54-xpro/include/periph_conf.h
+++ b/boards/same54-xpro/include/periph_conf.h
@@ -110,12 +110,12 @@ static const tc32_conf_t timer_config[] = {
  * @name CAN configuration
  * @{
  */
+/** Available CAN interfaces */
 static const can_conf_t candev_conf[] = {
     {
         .can = CAN1,
         .rx_pin = GPIO_PIN(PB, 13),
         .tx_pin = GPIO_PIN(PB, 12),
-        .mux = GPIO_MUX_H,
         .tdc_ctrl = false,
         .dar_ctrl = false,
         .tx_fifo_queue_ctrl = false,
@@ -123,9 +123,10 @@ static const can_conf_t candev_conf[] = {
     }
 };
 
-/* CAN 1 configuration */
+/** CAN 1 configuration */
 #define ISR_CAN1    isr_can1
 
+/** Number of CAN interfaces */
 #define CAN_NUMOF         ARRAY_SIZE(candev_conf)
 /** @} */
 
diff --git a/cpu/samd5x/include/candev_samd5x.h b/cpu/samd5x/include/candev_samd5x.h
index 3ddafb37a478d..40039efcac499 100644
--- a/cpu/samd5x/include/candev_samd5x.h
+++ b/cpu/samd5x/include/candev_samd5x.h
@@ -71,7 +71,6 @@ typedef struct {
     Can *can;                                       /**< CAN device handler */
     gpio_t rx_pin;                                  /**< CAN Rx pin */
     gpio_t tx_pin;                                  /**< CAN Tx pin */
-    gpio_mux_t mux;
     bool tdc_ctrl;									/**< Enable/Disable Transceiver Delay Compensation */
     bool dar_ctrl;									/**< Enable/Disable Automatic Retransmission */
     bool tx_fifo_queue_ctrl;						/**< False to use Tx FIFO operation
@@ -85,7 +84,7 @@ typedef struct {
  * @brief CAN message RAM accessible to the CAN controller
  */
 typedef struct {
-	/** Standard filters space in the CAN message RAM */
+    /** Standard filters space in the CAN message RAM */
     CanMramSidfe std_filter[CANDEV_SAMD5X_DEFAULT_STD_FILTER_NUM];
     /** Extended filters space in the CAN message RAM */
     CanMramXifde ext_filter[CANDEV_SAMD5X_DEFAULT_EXT_FILTER_NUM];
@@ -105,8 +104,11 @@ typedef struct {
  * @brief CAN device descriptor
  */
 typedef struct {
+    /** Structure to hold driver state */
     candev_t candev;
+    /** CAN device configuration descriptor */
     const can_conf_t *conf;
+    /** CAN message RAM accessible to the CAN controller */
     msg_ram_conf_t msg_ram_conf;
 } can_t;
 #define HAVE_CAN_T
@@ -151,4 +153,4 @@ void candev_samd5x_enter_sleep_mode(candev_t *candev);
  */
 void candev_samd5x_exit_sleep_mode(candev_t *candev);
 
-#endif
+#endif /* CANDEV_SAMD5X_H */
diff --git a/cpu/samd5x/periph/can.c b/cpu/samd5x/periph/can.c
index 6edd92682e373..cf8935c04cbe9 100644
--- a/cpu/samd5x/periph/can.c
+++ b/cpu/samd5x/periph/can.c
@@ -183,8 +183,17 @@ void candev_samd5x_set_pins(can_t *dev)
     gpio_init(dev->conf->tx_pin, GPIO_OUT);
     gpio_init(dev->conf->rx_pin, GPIO_IN);
 
-    gpio_init_mux(dev->conf->tx_pin, dev->conf->mux);
-    gpio_init_mux(dev->conf->rx_pin, dev->conf->mux);
+    if (dev->conf->can == CAN0) {
+        gpio_init_mux(dev->conf->tx_pin, GPIO_MUX_I);
+        gpio_init_mux(dev->conf->rx_pin, GPIO_MUX_I);
+    }
+    else if (dev->conf->can == CAN1) {
+        gpio_init_mux(dev->conf->tx_pin, GPIO_MUX_H);
+        gpio_init_mux(dev->conf->rx_pin, GPIO_MUX_H);
+    }
+    else {
+        DEBUG_PUTS("Unsupported can channel");
+    }
 }
 
 void candev_samd5x_enter_sleep_mode(candev_t *candev)