I want to bring CAN interface up on Apalis-iMX6_Console-Image_2.8b6-20200121. How to do it?

I have been using Apalis imx6q 2GB V1.1C Ixora V.1.1A carrier board and I want to bring CAN interface up on Apalis-iMX6_Console-Image_2.8b6-20200121. How to do it ?

How about something along those lines?