CAN bus configuring and accessing on BBB using Android

Im just starting a project on which Id like to create a CAN network communication module, but I`d like to know if anyone has already use the CAN bus controller of the BBB and what should I do for that.
Do I need to create a kind of driver using JNI or is there any kind of framework already develop that I could use for that?

As I know , only socket can is used on linux kernel .