SBS-Greenspring makes an interesting IP module that uses an Infineon (Siemens) CAN processor. They sell it with CAN firmware and DEVICENET firmware to download to it. The firmware has C-code functions that interface ot the CAN processor through DPRAM. You should be able to use this C-Code (It just talks to the inineon processor through DPRAM)  directly in your RTlinux thread in order to write and receive data to and from the CAN bus.
 
For more information about Industry packs modules (IPs) and this board go to www.SBS.com and look for greenspring IO.
 
~Ken

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