The modules feature one or two CAN interfaces. The driver interface complies to the SocketCAN interface.
There is general documentation for SocketCAN available in the Linux kernel tree at ./Documentation/networking/can.txt.
For basic testing you can initialize the can0 interface using:
ifconfig can0 up
The configuration of the can module is done by ip commands.
Example for setting the bitrate:
ip link set can0 type can bitrate 100000
Sending a can message is done by:
cansend can0 000#01.01
Sniffing a can interface is initiated by: