How can I use CANBus on Apalis TK1?

Thanks. And I already tried and it worked out of the box.
Is the performance issue also found and fixed?

if you’re looking for very high CAN utilisation it is recommended to change cpufreq governor to performance (default value is ondemand), mostly to help with latency.
In extreme cases compiling kernel with TEGRA_CPUQUIET and TEGRA_AUTO_HOTPLUG disabled may be required (rare relatively long data bursts (>512 packets per channel at 1Mbps) on both channels simultaneously).