This is an easy way to configure a CAN bus interface during boot. Just create a new config file:

$ sudo nano /etc/network/interfaces.d/can0

...and add the following:

allow-hotplug can0
iface can0 can static
    bitrate 125000

Supported bitrates are 125000, 250000, 500000, 1000000 for standard CAN (non-FD).