diff --git a/arch/arm/boot/dts/am4372.dtsi b/arch/arm/boot/dts/am4372.dtsi
index 42d791c4ad73..d42d7865dd53 100644
--- a/arch/arm/boot/dts/am4372.dtsi
+++ b/arch/arm/boot/dts/am4372.dtsi
@@ -922,6 +922,28 @@
 			compatible = "mmio-sram";
 			reg = <0x40300000 0x40000>; /* 256k */
 		};
+
+		dcan0: can@481cc000 {
+			compatible = "ti,am4372-d_can", "ti,am3352-d_can";
+			ti,hwmods = "d_can0";
+			clocks = <&dcan0_fck>;
+			clock-names = "fck";
+			reg = <0x481cc000 0x2000>;
+			syscon-raminit = <&am43xx_control_module 0x644 0>;
+			interrupts = <GIC_SPI 52 IRQ_TYPE_LEVEL_HIGH>;
+			status = "disabled";
+		};
+
+		dcan1: can@481d0000 {
+			compatible = "ti,am4372-d_can", "ti,am3352-d_can";
+			ti,hwmods = "d_can1";
+			clocks = <&dcan1_fck>;
+			clock-names = "fck";
+			reg = <0x481d0000 0x2000>;
+			syscon-raminit = <&am43xx_control_module 0x644 1>;
+			interrupts = <GIC_SPI 49 IRQ_TYPE_LEVEL_HIGH>;
+			status = "disabled";
+		};
 	};
 };