主要是连线与修改设备树，有需要的可以点赞，有空会更新。

设备树如下：

// int 引脚连接到了gpio3 c1
&spi0 {
    status = "okay";
    pinctrl-0 = <&spi0m3_pins>;
    cs-gpios = <&gpio3 RK_PD4 1>;

    /* MCP2515 CAN 控制器 */
    mcp2515@0 {
        compatible = "microchip,mcp2515";
        reg = <0>;                    /* SPI0 CS0 */
        spi-max-frequency = <10000000>;
        // spi-max-frequency = <10000000>; /* 改为 1 MHz */

        interrupt-parent = <&gpio3>;
        interrupts = <RK_PC1 IRQ_TYPE_EDGE_FALLING>;

        clocks = <&clk8m>;

        pinctrl-names = "default";
        pinctrl-0 = <&mcp2515_int_grp>;

        status = "okay";
    };

    clk8m: clk8 {
        compatible = "fixed-clock";
        #clock-cells = <0>;
        clock-frequency = <8000000>; //8m
    };
};

/* MCP2515 中断管脚 */
&pinctrl {
    mcp2515_int: mcp2515-int {
        mcp2515_int_grp: mcp2515_int_grp {
            rockchip,pins = <3 RK_PC1 RK_FUNC_GPIO &pcfg_pull_up>;
        };
    };
};

连线就是spi的接线方式。int引脚是中断引脚，我接到了40pin的GPIO3_C1