I stumbled upon this project while I was searching for info on using the CAN interface on the AT90CAN.http://kschaefer.eit.h-da.de/ATMEL/CAN/index.html
Saved me alot of time, so I thought I'd share it with you guys.
It's code for the CAN interface, both with the freeRTOS (http://www.freertos.org/
) and without. Well comented aswell.