@@ -28,6 +28,25 @@
 		gpio = <&lsio_gpio4 19 GPIO_ACTIVE_HIGH>;
 		enable-active-high;
 	};
+
+	reg_can_en: regulator-can-en {
+		compatible = "regulator-fixed";
+		regulator-name = "can-en";
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		gpio = <&pca6416 3 GPIO_ACTIVE_HIGH>;
+		enable-active-high;
+	};
+
+	reg_can_stby: regulator-can-stby {
+		compatible = "regulator-fixed";
+		regulator-name = "can-stby";
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		gpio = <&pca6416 5 GPIO_ACTIVE_HIGH>;
+		enable-active-high;
+		vin-supply = <&reg_can_en>;
+	};
 };
 
 &cm40_i2c {

@@ -80,6 +99,20 @@
 	};
 };
 
+&adma_flexcan0 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_flexcan0>;
+	xceiver-supply = <&reg_can_stby>;
+	status = "okay";
+};
+
+&adma_flexcan1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_flexcan1>;
+	xceiver-supply = <&reg_can_stby>;
+	status = "okay";
+};
+
 &adma_i2c1 {
 	#address-cells = <1>;
 	#size-cells = <0>;

@@ -207,6 +240,20 @@
 		>;
 	};
 
+	pinctrl_flexcan0: flexcan0grp {
+		fsl,pins = <
+			IMX8QXP_FLEXCAN0_TX_ADMA_FLEXCAN0_TX			0x00000021
+			IMX8QXP_FLEXCAN0_RX_ADMA_FLEXCAN0_RX			0x00000021
+		>;
+	};
+
+	pinctrl_flexcan1: flexcan1grp {
+		fsl,pins = <
+			IMX8QXP_FLEXCAN1_TX_ADMA_FLEXCAN1_TX			0x00000021
+			IMX8QXP_FLEXCAN1_RX_ADMA_FLEXCAN1_RX			0x00000021
+		>;
+	};
+
 	pinctrl_ioexp_rst: ioexp_rst_grp {
 		fsl,pins = <
 			IMX8QXP_SPI2_SDO_LSIO_GPIO1_IO01			0x06000021

@@ -34,6 +34,9 @@
 		serial1 = &adma_lpuart1;
 		serial2 = &adma_lpuart2;
 		serial3 = &adma_lpuart3;
+		can0 = &adma_flexcan0;
+		can1 = &adma_flexcan1;
+		can2 = &adma_flexcan2;
 	};
 
 	cpus {

@@ -384,6 +387,62 @@
 			power-domains = <&pd IMX_SC_R_I2C_3>;
 			status = "disabled";
 		};
+
+		adma_flexcan0: can@5a8d0000 {
+			compatible = "fsl,imx8qxp-flexcan", "fsl,imx8qm-flexcan";
+			reg = <0x5a8d0000 0x10000>;
+			interrupts = <GIC_SPI 235 IRQ_TYPE_LEVEL_HIGH>;
+			interrupt-parent = <&gic>;
+			clocks = <&adma_lpcg IMX_ADMA_LPCG_CAN0_IPG_CLK>,
+				 <&adma_lpcg IMX_ADMA_LPCG_CAN0_IPG_PE_CLK>;
+			clock-names = "ipg", "per";
+			assigned-clocks = <&clk IMX_ADMA_CAN0_CLK>;
+			assigned-clock-rates = <40000000>;
+			power-domains = <&pd IMX_SC_R_CAN_0>;
+			/* SLSlice[4] */
+			fsl,clk-source = <0>;
+			status = "disabled";
+		};
+
+		adma_flexcan1: can@5a8e0000 {
+			compatible = "fsl,imx8qxp-flexcan", "fsl,imx8qm-flexcan";
+			reg = <0x5a8e0000 0x10000>;
+			interrupts = <GIC_SPI 236 IRQ_TYPE_LEVEL_HIGH>;
+			interrupt-parent = <&gic>;
+			/* CAN0 clock and PD is shared among all CAN instances
+			 * as CAN1 shares CAN0's clock and to enable CAN0's
+			 * clock it has to be powered on.
+			 */
+			clocks = <&adma_lpcg IMX_ADMA_LPCG_CAN0_IPG_CLK>,
+				 <&adma_lpcg IMX_ADMA_LPCG_CAN0_IPG_PE_CLK>;
+			clock-names = "ipg", "per";
+			assigned-clocks = <&clk IMX_ADMA_CAN0_CLK>;
+			assigned-clock-rates = <40000000>;
+			power-domains = <&pd IMX_SC_R_CAN_1>;
+			/* SLSlice[4] */
+			fsl,clk-source = <0>;
+			status = "disabled";
+		};
+
+		adma_flexcan2: can@5a8f0000 {
+			compatible = "fsl,imx8qxp-flexcan", "fsl,imx8qm-flexcan";
+			reg = <0x5a8f0000 0x10000>;
+			interrupts = <GIC_SPI 237 IRQ_TYPE_LEVEL_HIGH>;
+			interrupt-parent = <&gic>;
+			/* CAN0 clock and PD is shared among all CAN instances
+			 * as CAN2 shares CAN0's clock and to enable CAN0's
+			 * clock it has to be powered on.
+			 */
+			clocks = <&adma_lpcg IMX_ADMA_LPCG_CAN0_IPG_CLK>,
+				 <&adma_lpcg IMX_ADMA_LPCG_CAN0_IPG_PE_CLK>;
+			clock-names = "ipg", "per";
+			assigned-clocks = <&clk IMX_ADMA_CAN0_CLK>;
+			assigned-clock-rates = <40000000>;
+			power-domains = <&pd IMX_SC_R_CAN_2>;
+			/* SLSlice[4] */
+			fsl,clk-source = <0>;
+			status = "disabled";
+		};
 	};
 
 	conn_subsys: bus@5b000000 {