I took another look and it looks like the PRU can also use the peripherals, so you might be able to have a simple realtime component utilizing the CAN periphera

I took another look and it looks like the PRU can also use the peripherals, so you might be able to have a simple realtime component utilizing the CAN peripheral. I used it for a proof of concept for a project and ended up taking a different route for the final design due to BOM cost desires. The original plan was to use the beaglecore, which is the core of the thing on a PCB with an LGA bottom. It actually comes in a giant cut tape form factor for mutant pick and place machines. I had never seen anything like that before. http://beaglecore.com/ http://beaglecore.com/