@terranx , You are right, I don't know where I got the idea that the device would have to appear in the /dev directory, it helped me to see the command to show the CAN connection, I needed to have it working to start learning, thank you very much.
@terranx, excuse my ignorance, but how do you make a custom overlay?
'dmesg | grep can' command returns the following error:
rockchip_canfd fea60000.can can0: rockchip_canfd_get_berr_counter RX_ERR_CNT=0x00000000, TX_ERR_CNT=0x00000000