Is it possible to do a CAN bootloader for PIC32?

Yes, it is possible to do a bootloader with CAN. It's possible to do a bootloader with every interface really. At it's most basic, a bootloader is two things:

  1. An interface to receive a new HEX file, such as UART, SPI, CAN
  2. A group of functions to take the HEX file and program it to internal flash memory

We don't have an example of a bootloader for PIC32 with CAN at this time. A future version of MPLAB® Harmony may possibly have one. Check the Harmony Help file (Volume I: Getting Started > Applications Help > Bootloader Demonstrations) to see if it does.

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