fix bug for nican driver and support nixnet candriver

Types of changes

[x] Bug fix (non-breaking change which fixes an issue)
[x] New feature (non-breaking change which adds functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to change)
[x] I have read the CONTRIBUTING document.
[x] My code follows the code style of this project.
[ ] My change requires a change to the documentation.
[ ] I have updated the documentation accordingly.
[ ] I have added tests to cover my changes.
[ ] All new and existing tests passed.