diff --git a/arch/arm64/boot/dts/renesas/r9a07g044c2-smarc.dts b/arch/arm64/boot/dts/renesas/r9a07g044c2-smarc.dts
index 50abdabc374aeda95730f52945c97a547139efde..5a5cea82a5d9ed92648c7a05bcd0e2b5893a36a1 100644
--- a/arch/arm64/boot/dts/renesas/r9a07g044c2-smarc.dts
+++ b/arch/arm64/boot/dts/renesas/r9a07g044c2-smarc.dts
@@ -14,12 +14,6 @@
 	compatible = "renesas,smarc-evk", "renesas,r9a07g044c2", "renesas,r9a07g044";
 };
 
-&canfd {
-	/delete-property/ pinctrl-0;
-	/delete-property/ pinctrl-names;
-	status = "disabled";
-};
-
 &ehci0 {
 	/delete-property/ pinctrl-0;
 	/delete-property/ pinctrl-names;
diff --git a/arch/arm64/boot/dts/renesas/rzg2lc-smarc-pinfunction.dtsi b/arch/arm64/boot/dts/renesas/rzg2lc-smarc-pinfunction.dtsi
index ec9e08ec082248db51c975f2c245fe78b0b40e94..bff56d69693667f1b85d2d2d5ac584e145a05997 100644
--- a/arch/arm64/boot/dts/renesas/rzg2lc-smarc-pinfunction.dtsi
+++ b/arch/arm64/boot/dts/renesas/rzg2lc-smarc-pinfunction.dtsi
@@ -17,6 +17,14 @@
 			 <RZG2L_PORT_PINMUX(38, 1, 1)>;	/* RxD */
 	};
 
+#if SW_SCIF_CAN
+	/* SW8 should be at position 2->1 */
+	can1_pins: can1 {
+		pinmux = <RZG2L_PORT_PINMUX(40, 0, 3)>, /* TxD */
+			 <RZG2L_PORT_PINMUX(40, 1, 3)>; /* RxD */
+	};
+#endif
+
 	scif1_pins: scif1 {
 		pinmux = <RZG2L_PORT_PINMUX(40, 0, 1)>, /* TxD */
 			 <RZG2L_PORT_PINMUX(40, 1, 1)>, /* RxD */
@@ -24,6 +32,21 @@
 			 <RZG2L_PORT_PINMUX(41, 1, 1)>; /* RTS# */
 	};
 
+#if SW_RSPI_CAN
+	/* SW8 should be at position 2->3 so that GPIO9_CAN1_STB line is activated */
+	can1-stb {
+		gpio-hog;
+		gpios = <RZG2L_GPIO(44, 3) GPIO_ACTIVE_HIGH>;
+		output-low;
+		line-name = "can1_stb";
+	};
+
+	can1_pins: can1 {
+		pinmux = <RZG2L_PORT_PINMUX(44, 0, 3)>, /* TxD */
+			 <RZG2L_PORT_PINMUX(44, 1, 3)>; /* RxD */
+	};
+#endif
+
 	sd1-pwr-en-hog {
 		gpio-hog;
 		gpios = <RZG2L_GPIO(39, 2) GPIO_ACTIVE_HIGH>;
diff --git a/arch/arm64/boot/dts/renesas/rzg2lc-smarc.dtsi b/arch/arm64/boot/dts/renesas/rzg2lc-smarc.dtsi
index 1b59ef3762965c6c0924bd9ad82c5781abe0281f..28f21c287ba355ae6ed6505960684f3c9c9e2f46 100644
--- a/arch/arm64/boot/dts/renesas/rzg2lc-smarc.dtsi
+++ b/arch/arm64/boot/dts/renesas/rzg2lc-smarc.dtsi
@@ -44,6 +44,19 @@
 	};
 };
 
+#if (SW_SCIF_CAN || SW_RSPI_CAN)
+&canfd {
+	pinctrl-0 = <&can1_pins>;
+	/delete-node/ channel@0;
+};
+#else
+&canfd {
+	/delete-property/ pinctrl-0;
+	/delete-property/ pinctrl-names;
+	status = "disabled";
+};
+#endif
+
 /*
  * To enable SCIF1 (SER0) on PMOD1 (CN7), On connector board
  * SW1 should be at position 2->3 so that SER0_CTS# line is activated