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diff --git a/Documentation/devicetree/bindings/net/can/xilinx,can.yaml b/Documentation/devicetree/bindings/net/can/xilinx,can.yaml
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+# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: http://devicetree.org/schemas/net/can/xilinx,can.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title:
+  Xilinx Axi CAN/Zynq CANPS controller
+
+maintainers:
+  - Appana Durga Kedareswara rao <appana.durga.rao@xilinx.com>
+
+properties:
+  compatible:
+    enum:
+      - xlnx,zynq-can-1.0
+      - xlnx,axi-can-1.00.a
+      - xlnx,canfd-1.0
+      - xlnx,canfd-2.0
+
+  reg:
+    maxItems: 1
+
+  interrupts:
+    maxItems: 1
+
+  clocks:
+    minItems: 1
+    maxItems: 2
+
+  clock-names:
+    maxItems: 2
+
+  power-domains:
+    maxItems: 1
+
+  tx-fifo-depth:
+    $ref: "/schemas/types.yaml#/definitions/uint32"
+    description: CAN Tx fifo depth (Zynq, Axi CAN).
+
+  rx-fifo-depth:
+    $ref: "/schemas/types.yaml#/definitions/uint32"
+    description: CAN Rx fifo depth (Zynq, Axi CAN, CAN FD in sequential Rx mode)
+
+  tx-mailbox-count:
+    $ref: "/schemas/types.yaml#/definitions/uint32"
+    description: CAN Tx mailbox buffer count (CAN FD)
+
+required:
+  - compatible
+  - reg
+  - interrupts
+  - clocks
+  - clock-names
+
+unevaluatedProperties: false
+
+allOf:
+  - $ref: can-controller.yaml#
+  - if:
+      properties:
+        compatible:
+          contains:
+            enum:
+              - xlnx,zynq-can-1.0
+
+    then:
+      properties:
+        clock-names:
+          items:
+            - const: can_clk
+            - const: pclk
+      required:
+        - tx-fifo-depth
+        - rx-fifo-depth
+
+  - if:
+      properties:
+        compatible:
+          contains:
+            enum:
+              - xlnx,axi-can-1.00.a
+
+    then:
+      properties:
+        clock-names:
+          items:
+            - const: can_clk
+            - const: s_axi_aclk
+      required:
+        - tx-fifo-depth
+        - rx-fifo-depth
+
+  - if:
+      properties:
+        compatible:
+          contains:
+            enum:
+              - xlnx,canfd-1.0
+              - xlnx,canfd-2.0
+
+    then:
+      properties:
+        clock-names:
+          items:
+            - const: can_clk
+            - const: s_axi_aclk
+      required:
+        - tx-mailbox-count
+        - rx-fifo-depth
+
+examples:
+  - |
+    #include <dt-bindings/interrupt-controller/arm-gic.h>
+
+    can@e0008000 {
+        compatible = "xlnx,zynq-can-1.0";
+        reg = <0xe0008000 0x1000>;
+        clocks = <&clkc 19>, <&clkc 36>;
+        clock-names = "can_clk", "pclk";
+        interrupts = <GIC_SPI 28 IRQ_TYPE_LEVEL_HIGH>;
+        interrupt-parent = <&intc>;
+        tx-fifo-depth = <0x40>;
+        rx-fifo-depth = <0x40>;
+    };
+
+  - |
+    can@40000000 {
+        compatible = "xlnx,axi-can-1.00.a";
+        reg = <0x40000000 0x10000>;
+        clocks = <&clkc 0>, <&clkc 1>;
+        clock-names = "can_clk", "s_axi_aclk";
+        interrupt-parent = <&intc>;
+        interrupts = <GIC_SPI 59 IRQ_TYPE_EDGE_RISING>;
+        tx-fifo-depth = <0x40>;
+        rx-fifo-depth = <0x40>;
+    };
+
+  - |
+    can@40000000 {
+        compatible = "xlnx,canfd-1.0";
+        reg = <0x40000000 0x2000>;
+        clocks = <&clkc 0>, <&clkc 1>;
+        clock-names = "can_clk", "s_axi_aclk";
+        interrupt-parent = <&intc>;
+        interrupts = <GIC_SPI 59 IRQ_TYPE_EDGE_RISING>;
+        tx-mailbox-count = <0x20>;
+        rx-fifo-depth = <0x20>;
+    };
+
+  - |
+    can@ff060000 {
+        compatible = "xlnx,canfd-2.0";
+        reg = <0xff060000 0x6000>;
+        clocks = <&clkc 0>, <&clkc 1>;
+        clock-names = "can_clk", "s_axi_aclk";
+        interrupt-parent = <&intc>;
+        interrupts = <GIC_SPI 59 IRQ_TYPE_EDGE_RISING>;
+        tx-mailbox-count = <0x20>;
+        rx-fifo-depth = <0x40>;
+    };