CAN programming

Hello,
Where can i find some documentation for CAN programming on Nvidia Jetson TX2?

Here’s a start
https://devtalk.nvidia.com/default/topic/1010204/tx2-can-bus-read/?offset=8

More specifically look up SocketCAN on Linux
https://en.wikipedia.org/wiki/SocketCAN
https://elinux.org/CAN_Bus