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AN247
A CAN Bootloader for PIC18F CAN Microcontrollers
Author: Ross M. Fosler Microchip Technology Inc. The drawback to this is a lack of efficiency, as directly manipulating the target memory and manually verifying data takes significant time on the CAN bus. To make the operation more efficient, the programming target could be given some intelligence, like selfverification. This would make communications unidirectional, essentially cutting the time on the CAN bus in half. Overall, the best savings is to design all the nodes in the system with similar, modular firmware. Each node could then use only those modules required for its task, but the entire group of nodes could be updated simultaneously.
AN247 Datasheet
