So, i finally manege this to work.
Tested on newest kernel :
Linux bananapi 5.4.26-sunxi #20.02.5 SMP Thu Mar 19 22:23:40 CET 2020 armv7l GNU/Linux
First, you need to patch dtb :
# cd /boot/dtb-5.4.26-sunxi
# diff sun7i-a20-bananapi.dts sun7i-a20-bananapi.dts.bak
710c710,716
< can0_pins_a: can0@0 {
---
> can-pa-pins {
> pins = "PA16\0PA17";
> function = "can";
> phandle = < 0x63 >;
> };
>
> can-ph-pins {
713d718
< linux,phandle = < 0x64 >;
1446,1447c1451
< status = "okay";
< linux,phandle =