Hi satheesh
one can look at i.MX6 can examples described in
iMX6_Firmware_Guide.pdf Chapter 11 Configuring the FlexCAN Modules
i.MX 6Series Platform SDK 
: Bare-metal SDK
and linux examples in imx-test (ltib package) in folder
..imx-test-3.0.35-4.1.0/test/can
L3.0.35_4.1.0_ER_SOURCE_BSP : i.MX 6Quad, i.MX 6Dual, i.MX 6DualLite,
i.MX 6Solo and i.MX 6Sololite Linux BSP Source Code Files.
Best regards
igor
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