CAN and USB

Hi.
I'm an EE student and have an uni project to make EMC work with CAN servo controllers.
I was looking around the web and if I got it right, the main limitation is that all the communication with hardware should be done in 200uS. So far I think this is doable (and if not, it could be slowed down a bit, this is not yet supposed to be production quality).
So I'd appreciate any suggestions on this.
The other thing is, I'd try using USB CAN controller, and I found out there is rt-usb project that should work, but I can't find anything on it. Is rt-usb dead ? Where can anything on it be found ?

Thanks a lot