diff --git a/arch/arm64/boot/dts/ti/k3-j721e-sk.dts b/arch/arm64/boot/dts/ti/k3-j721e-sk.dts
index 0c4575ad8d7c..9406d6f370fa 100644
--- a/arch/arm64/boot/dts/ti/k3-j721e-sk.dts
+++ b/arch/arm64/boot/dts/ti/k3-j721e-sk.dts
@@ -210,6 +210,42 @@ vdd_sd_dv_alt: gpio-regulator-tps659411 {
 			 <3300000 0x1>;
 	};
 
+	transceiver1: can-phy0 {
+		compatible = "ti,tcan1042";
+		#phy-cells = <0>;
+		max-bitrate = <5000000>;
+		pinctrl-names = "default";
+		pinctrl-0 = <&mcu_mcan0_gpio_pins_default>;
+		standby-gpios = <&wkup_gpio0 3 GPIO_ACTIVE_HIGH>;
+	};
+
+	transceiver2: can-phy1 {
+		compatible = "ti,tcan1042";
+		#phy-cells = <0>;
+		max-bitrate = <5000000>;
+		pinctrl-names = "default";
+		pinctrl-0 = <&main_mcan0_gpio_pins_default>;
+		standby-gpios = <&main_gpio0 65 GPIO_ACTIVE_HIGH>;
+	};
+
+	transceiver3: can-phy2 {
+		compatible = "ti,tcan1042";
+		#phy-cells = <0>;
+		max-bitrate = <5000000>;
+		pinctrl-names = "default";
+		pinctrl-0 = <&main_mcan5_gpio_pins_default>;
+		standby-gpios = <&main_gpio0 66 GPIO_ACTIVE_HIGH>;
+	};
+
+	transceiver4: can-phy3 {
+		compatible = "ti,tcan1042";
+		#phy-cells = <0>;
+		max-bitrate = <5000000>;
+		pinctrl-names = "default";
+		pinctrl-0 = <&main_mcan9_gpio_pins_default>;
+		standby-gpios = <&main_gpio0 67 GPIO_ACTIVE_HIGH>;
+	};
+
 	dp_pwr_3v3: fixedregulator-dp-prw {
 		compatible = "regulator-fixed";
 		regulator-name = "dp-pwr";
@@ -367,6 +403,45 @@ J721E_IOPAD(0x164, PIN_OUTPUT, 7) /* (V29) RGMII5_TD2 */
 		>;
 	};
 
+	main_mcan0_pins_default: main-mcan0-default-pins {
+		pinctrl-single,pins = <
+			J721E_IOPAD(0x208, PIN_INPUT, 0) /* (W5) MCAN0_RX */
+			J721E_IOPAD(0x20c, PIN_OUTPUT, 0) /* (W6) MCAN0_TX */
+		>;
+	};
+
+	main_mcan0_gpio_pins_default: main-mcan0-gpio-default-pins {
+		pinctrl-single,pins = <
+			J721E_IOPAD(0x108, PIN_INPUT, 7) /* (AD27) PRG0_PRU1_GPO2.GPIO0_65 */
+		>;
+	};
+
+	main_mcan5_pins_default: main-mcan5-default-pins {
+		pinctrl-single,pins = <
+			J721E_IOPAD(0x050, PIN_INPUT, 6) /* (AE21) PRG1_PRU0_GPO18.MCAN5_RX */
+			J721E_IOPAD(0x04c, PIN_OUTPUT, 6) /* (AJ21) PRG1_PRU0_GPO17.MCAN5_TX */
+		>;
+	};
+
+	main_mcan5_gpio_pins_default: main-mcan5-gpio-default-pins {
+		pinctrl-single,pins = <
+			J721E_IOPAD(0x10c, PIN_INPUT, 7) /* (AC25) PRG0_PRU1_GPO3.GPIO0_66 */
+		>;
+	};
+
+	main_mcan9_pins_default: main-mcan9-default-pins {
+		pinctrl-single,pins = <
+			J721E_IOPAD(0x0d0, PIN_INPUT, 6) /* (AC27) PRG0_PRU0_GPO8.MCAN9_RX */
+			J721E_IOPAD(0x0cc, PIN_OUTPUT, 6) /* (AC28) PRG0_PRU0_GPO7.MCAN9_TX */
+		>;
+	};
+
+	main_mcan9_gpio_pins_default: main-mcan9-gpio-default-pins {
+		pinctrl-single,pins = <
+			J721E_IOPAD(0x110, PIN_INPUT, 7) /* (AD29) PRG0_PRU1_GPO4.GPIO0_67 */
+		>;
+	};
+
 	dp0_pins_default: dp0-default-pins {
 		pinctrl-single,pins = <
 			J721E_IOPAD(0x1c4, PIN_INPUT, 5) /* SPI0_CS1.DP0_HPD */
@@ -555,6 +630,19 @@ J721E_WKUP_IOPAD(0xfc, PIN_INPUT_PULLUP, 0) /* (H24) WKUP_I2C0_SDA */
 		>;
 	};
 
+	mcu_mcan0_pins_default: mcu-mcan0-default-pins {
+		pinctrl-single,pins = <
+			J721E_WKUP_IOPAD(0x0ac, PIN_INPUT, 0) /* (C29) MCU_MCAN0_RX */
+			J721E_WKUP_IOPAD(0x0a8, PIN_OUTPUT, 0) /* (D29) MCU_MCAN0_TX */
+		>;
+	};
+
+	mcu_mcan0_gpio_pins_default: mcu-mcan0-gpio-default-pins {
+		pinctrl-single,pins = <
+			J721E_WKUP_IOPAD(0x0bc, PIN_INPUT, 7) /* (F27) WKUP_GPIO0_3 */
+		>;
+	};
+
 	/* Reset for M.2 M Key slot on PCIe1  */
 	mkey_reset_pins_default: mkey-reset-pns-default-pins {
 		pinctrl-single,pins = <
@@ -1108,6 +1196,34 @@ &pcie1_rc {
 	num-lanes = <2>;
 };
 
+&mcu_mcan0 {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&mcu_mcan0_pins_default>;
+	phys = <&transceiver1>;
+};
+
+&main_mcan0 {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&main_mcan0_pins_default>;
+	phys = <&transceiver2>;
+};
+
+&main_mcan5 {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&main_mcan5_pins_default>;
+	phys = <&transceiver3>;
+};
+
+&main_mcan9 {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&main_mcan9_pins_default>;
+	phys = <&transceiver4>;
+};
+
 &ufs_wrapper {
 	status = "disabled";
 };
