I know I'm a little late to this thread, but I've got a project to do just this. I was working on it a bit last year and it stalled for a number of reasons, but I'm firing it back up. I've got the hard part of handling CAN on the Launchpad done (with some impressive performance results), I just need to finish a CAN<->Ethernet daemon to deliver the traffic to a host. I would use socketcand, but it had no facility for configuring the CAN interfaces. I started on something previously, but it may be a bit too heavyweight and I'm about to revisit the design and knock something out that's relatively simple. If anybody would be interested in helping/following along, drop me a line and let me know.