set interface bitrate:

# ip link set can0 type can bitrate 1000000

set interface up

# ip link set can0 up

For an automatic configuration of the CAN bus on systems using systemd, just create a 80-can.network file in /etc/systemd/network, with the following content

[Match]
Name=can0

[CAN]
BitRate=1M
RestartSec=100ms

Test RX:

# candump can0,0:0,#FFFFFFFF

Test TX:

# cansend can0 <ID>#<byte1>.<byte2>.<...>.<byte8>