Canon offer suggestions for that somewhere. Different cameras need different settings. But I always treat sharpening at a bare minimum as a three stage process. The first is a fairly gentle broadbrush sharpen to correct the softening caused by the lowpass filter you mention. Then I might do some "creative" sharpening during post processing and save the finished image like that. Finally, when I print, I apply a further sharpen based on the size of the print and the paper I intend to use.
My own rule of thumb for printing on Epson Premium Glossy paper at 360ppi is to sharpen until the image looks "crunchy" on screen at 100%. By crunchy I mean the sharpening should be obvious, with jaggies clearly visible. For Hahnemuhles Torchon (a very soft textured matte paper) I go a lot farther.