Motorola has a reprint of this in PDF (BCANPSV2.0).

Also there's a decent (if a little hard to read) book that gives a pretty in
depth discussion on CAN:

Controller Area Network Basics, Protocols, Chips and Applications
By Konrad Etschberger
ISBN 2-00-007376-0


-----Original Message-----
From: Olin Lathrop

> Does anyone know of a tutorial or introduction to CAN?  With a PIC would
> be a bonus.  :)

There is no substitute for the real thing.  Start by reading the CAN
standard, then you'll be able to understand all the various implementations
of it.  It used to be available from Bosch, but I don't know if there is now
some official CAN standards organization.  A few years ago it didn't take
much time on the web to find it.


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