There is project for AT91SAM7X256. Step first: we take datasheet example of the doc6120.pdf (Atmel AT91 ARM Thumb-based Microcontrollers on page 507-508). Example of bit timing determination for CAN baudrate of 500 Kbit/s: BRP = 5, PROPAG = 2, PHASE1 = PHASE2 = 5, SJW = 3, i.e.
void main(void){ .... CAN_BR = 0x00053255; .... }
Step second: compile and run debugger simulator. But if look at Peripherals->CAN -> CAN Controller, that in Settings view 533333 baud, instead of 500000. Than this explain?
P.S.: Keil mdk 3.20, MCK=48.000000MHz.