Create the CAN0 interface file

sudo nano /etc/network/interfaces.d/can0

Enter the following

auto can0 iface can0 can static bitrate 500000 up ifconfig $IFACE txqueuelen 256 pre-up ip link set can0 type can bitrate 500000 pre-up ip link set can0 txqueuelen 256

You can copy paste into the file but make sure your formatting is correct to include the single space in the beginning of the last 4 lines.

Exit and save the file with CTRL + SHIFT X > Yes

Sudo Reboot