Hello ,Thanks for reply.
en...Good news is that dcan's loopback mode work !
Bad news is still that  dcan can't use in nomal mode .I keep consulting the 
TI engineer.
referring 
to https://e2e.ti.com/support/processors/f/791/p/739907/2731843#2731843

在 2018年10月11日星期四 UTC+8下午7:53:59,[email protected]写道:
>
> Hi,
> Now can you use dcan on bb-x15?
> If yes, please advise me how do open it
> I see this link 
> https://e2e.ti.com/support/processors/f/791/p/715990/2645332#pi239031349=1
> but it cannot use
>
> เมื่อ วันอังคารที่ 14 สิงหาคม ค.ศ. 2018 14 นาฬิกา 27 นาที 31 วินาที UTC+7, 
> ezio H เขียนว่า:
>>
>> Link on ti e2e:  https://e2e.ti.com/support/arm/sitara_arm/f/791/t/710355
>> .
>> bb_x15 's DCAM1 don't work on either 
>> *ubuntu-16.04.3-minimal-armhf-2017-10-10  
>> * or  TI's Arogo
>> On Arogo,I use:
>>
>> root@am57xx-evm:~# canconfig can0 bitrate 50000 ctrlmode triple-samplin
>> [  757.361582] omap_hwmod: dcan1: _wait_target_disable failed
>> can0 bitrate: 50000, sample-point: 0.875                               
>> [  757.376837] omap_hwmod: dcan1: _wait_target_disable failed          
>> can0 ctrlmode: loopback[OFF], listen-only[OFF], 
>> tripple-sampling[ON],one-shot[OFF], berr-reporting[OFF]
>> root@am57xx-evm:~# ifconfig can0 up 
>>
>>
>> And everything about CAN looks good 
>>
>> root@am57xx-evm:~# lsmod | grep can                                
>> can_raw                 6589  2                                              
>> can                    29904  1 can_raw                                      
>> c_can_platform          6638  0         
>> c_can                   9718  1 c_can_platform
>> can_dev                12397  1 c_can
>>
>> root@am57xx-evm:~# cat /proc/device-tree/ocp/can\@481cc000/status      
>> okay
>>
>>
>>
>>
>> Except: omap_hwmod: dcan1: _wait_target_disable failed.
>> What should I do with this error messagge 
>>
>>

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