for my BananaPi I recently downloaded "Armbian_21.05.1_Bananapi_buster_current_5.10.34.img" and did not get the on-board CAN controller working with this image.
I found out that in sun7i-a20-bananapi.dtb (uses sun7i-a20.dtsi) the group name for the CAN pins PH20 and PH21 has changed from "can0_pins_a" to "can_ph_pins" but in the sun7i-a20-can overlay this change had not been done accordingly, and the DT merging failed.
So changing "sun7i-a20-can.dts" to:
compatible = "allwinner,sun7i-a20";
target = <&can0