The full text of the rules in question:
Quote:
R69
If CAN-bus communication is used, the CAN-bus must be connected to the cRIO through either the Ethernet network connected to Port 1, Port 2, or the DB-9 RS-232 port connection.
Ethernet-to-CAN bridges or RS-232-to-CAN bridges (including the “black” Jaguars) may be used to connect the CAN-bus to the cRIO.
Additional switches, sensor modules, custom circuits, third-party modules, etc. may also be placed on the CAN-bus.
No device that interferes with, alters, or blocks communications between the cRIO and the Jaguars will be permitted (tunneling packets for the purposes of passing them through an Ethernet-to-CAN bridge is acceptable as the commands are not altered).
R72
All outputs from sensors, custom circuits and additional electronics shall connect to only the following:
other custom circuits,
additional COTS electronics,
input ports on the Digital Sidecar,
input ports on the Analog Breakout Board,
the RS-232 port on the cRIO,
the Ethernet network connected to either Port 1 or Port 2 of the cRIO,
the CAN-bus if and only if all Jaguar motor controllers on the CAN-bus are wired in full compliance with R68 and R69, or
the sensor inputs on the Jaguar motor controller.
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Remember, the only official source of clarification is the Q&A, so ask there! However, my personal interpretation of this rule is that connecting other items to the serial port on the cRio is permitted so long as it doesn't interfere with CAN communication with the Jaguars. If you aren't using CAN, I don't think there's nothing to worry about... if you are, expect to have to prove to the inspector how the communication and control pathways work (we don't want the embedded computer talking directly to the Jaguars).