This is just a suggestion, not a solution.
You could try the lincan driver of the ocera project:
http://www.ocera.org/download/components/WP7/lincan-0.3.1.html
And maybe it could be only a matter of changing the linux device.
Hope this helps, and keep us updated on your solution.
Bye.

Date: Wed, 21 Dec 2005 17:17:02 -0500 (EST)
To: playerstage-users@lists.sourceforge.net
From: "Eric Keller" <eekeller@psu.edu>
Subject: [Playerstage-users] Powercube driver with Can
Reply-To: playerstage-users@lists.sourceforge.net

The Amtec Powercube driver that comes with Player is written to use the serial
port.  We have the Can version.  I'm trying to wrap my head around the changes
that would be needed to adapt the driver.  Does anyone have any words of wisdom
to help get me started on this?  Right now I have some Kvaser LapCanII
interfaces which are going into some new Segways we are getting.
Eric

--
Joćo Xavier
@ smogzer_at_gmail.com
W3 http://miarn.cjb.net
Institute for Systems and Robotics
University of Coimbra