I also use the MCP2551.
An example is planned but currently im drowning in work...

No problem! I was able to get this working The code provided was perfect - I just needed to wire up my MCP2551 correctly.

I'm assuming the DAC is not linear either? I was testing it and a voltage sent to the ADC from an external sensor was a bit higher than if the same value is sent through the DAC

Update.
Now the driver calculates the baud rate prescaler based on the APB clock and I added a few more baud rates. (requires math.h)

CAN_Init
intCAN_init(){

//Time quantum
double __tq = 0;

//Bit timing
float __bt = 1000/CAN_cfg.speed;

//enable module
SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN ...