How to use CAN bus without using cape-universal?

Hello all,

I am trying to optimize the boot time of my system with Waveshare CAN cape.

I enable CAN bus by setting the following in uEnv.txt:

uboot_overlay_addr0=/lib/firmware/BB-CAN1-00A0.dtbo

It is also possible to enable it by using config-pin (cape-universal) as explained here: https://www.thomas-wedemeyer.de/beaglebone-canbus-python.html

I realized that disabling cape-universal significantly reduces boot time. However when I disable it, CAN bus cannot be enabled anymore and I get the following error:

debian@beaglebone:~$ sudo ip link set can1 up type can bitrate 500000 Cannot find device "can1"

Is it possible to use the CAN interface without cape-universal? How do I avoid unnecessary hardware initialization to reduce boot time?

Thanks
Bora