@Gabriel Zanetti
I got it to work on an orange pi zero 2 but you need to compile your own image. The can bus needs to be activated in the kernel:
./compile.sh BOARD=orangepizero2 BRANCH=legacy RELEASE=bullseye BUILD_MINIMAL=yes BUILD_DESKTOP=no KERNEL_ONLY=no KERNEL_CONFIGURE=yes COMPRESS_OUTPUTIMAGE=sha,gpg,xz
After the kernel configure menu comes up activate CAN in the network section and take a deep dive into the sub menus to activate usb can adapter gs_usb
This works with candelight as well as klipper USB CAN bridge.