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I'm dng project on ultrasonic based range finding system using PIC controller(18f4480). This needs lot of stuff to do. first CAN controller (MCP2510/15) based details which is inbuilt in that. Registers we needs to go through like how to initialize the CAN, to set baud rate, modes(config, self-test, loop), read the status of CAN, try to make functions like transmitting and receiving. You needs to refer Tx and Rx buffers and acceptance filters and masking.
CAN is 18-pin which is having Tx and Rx pins, from this we needs to interface with CAN transceiver MCP2551. This chip produce the data on CAN_H and CAN_L pins which produce recessive and dominant states. So, from this we can get the data and transmit to salve devices like LCD.