CAN driver for AT91SAM7X

Hi, I wanted to ask, if somebody has tried out the CAN bus for AT91SAM7X with FreeRTOS. I use two Atmel AT91SAM7X-EK boards and want to communicate via CAN bus. I use Linux and arm-elf-gcc (GCC) 4.2.1. Thanx

CAN driver for AT91SAM7X

I have used CAN with FreeRTOS, what problems do you have exactly?