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μC/CAN is provided with a μC/OS-II and μC/OS-III interface. If you use a different RTOS, you can use the can_os.* for μC/OS-II or μC/OS-III as a template to interface to the RTOS of your choice.
Its also possible to use μC/CAN without an RTOS. In this case the function to get time information needs to be supplied. Note that the supplied file can_no_os.* files for NO OS ('NONE') is replacing the OS semaphore and is polling on the flags instead. This might result in a decrease of overall system performance.