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There are two simple ways: either you take Philips' SJA1000 or you take Microchip's MCP2510. Having used both, I prefer MCP2510. A bit more complicated is to take a controller with CAN on board - from the point of view of delivery.
The datasheets of both devices provide good description of CAN itself - again, MCP2510 a bit better.
Also appnotes are useful.
Regards,
Mihasic.
E-mail: info@telesys.ru