USB to CAN coding in C/C++

I need to control speed of a maxon EC- max series DC motor which has a EPOS controller, with Raspberry Pi 2, but seems there is no library function available. I will also have to use the CAN interface of the EPOS controller to communicate with Rasp Pi and since Rasp Pi doesnt have any CAN interface built in so I am using a USB to CAN adapter (from IXXAT).

I would appreciate suggestions regarding where I can start from, eventually reference to any library file in case anyone has already worked on such topic.

EPOS details- … Detailsite

This forum is for support of OSCM. Your question would be better asked on the Raspberry Pi site: