SoftCAN based on the PRU OMAP L138

Hi All,

We need to use PRU for Soft CAN on OMAP L138.  For this we are using pru_sw.

Currently we have below questions

1) Is PRUSS based softCAN node feasible when connecting it with multiple node CAN network ? 

2) How to change and configure PRUSS clock ?

3) How to Calculate and achieve below standard bit-rates using SOFT CAN with PRUSS  ?

     125 kbps, 150 kbps, 250 kbps, 500 kbps and 1Mbps

4) where is Soft- CAN Implementation on OMAPL_PRU_-_Software_Users_Guide ?

Any response will be appreciated.

Regards,

Kalpesh Panchal