Beaggle CANOPEN 1M and realtime

Hi,
I would like to know if the beaggle bone card can run a realtime OS able to have a 1khz main loop with calculation and mastering a CANOPEN bus with 8 slave and a WebSite.
Is the BBB have a serial port ?
On the Raspberry forum they tell me about Xenomai to make realtime OS.
Sincerely.