CAN support can be very hardware specific at the bottom. Does the chip have mailboxes? How many? Do they support extended identifiers or only standard identifiers? What auto-routing is supported by the mailbox / channel?
Basically, I think that any libraries that you can find will be tied specifically to hardware interfaces.
You can take a look at National Instruments - they usually provide reliable libraries for their equipment, even if they are not the cheapest.
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