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Is there a good tutorial or example for interfacing the F2812 with CAN? using CCS 5.3 (Compiler version 6.1.2, DSP/BIOS version 5.42.07)

I have looked for some example code to allow our legacy board (based on the F2812) to add CAN communications to it.

If there is none available for that chip, can you point me to a similar example for a sibling chip?

Thanks in advance for any assistance.