ARM: dts: am57xx-idk: Add DCAN support

AM571x IDK and the AM572x IDK use CAN1 interface.
This patch enables it for both boards.

Tested on AM572x IDK using cansequence.
Signed-off-by: NSchuyler Patton <spatton@ti.com>
Signed-off-by: NKishon Vijay Abraham I <kishon@ti.com>
Signed-off-by: NFranklin S Cooper Jr <fcooper@ti.com>
[nsekhar@ti.com: move to use DRA7XX_CORE_IOPAD())
Signed-off-by: NSekhar Nori <nsekhar@ti.com>
Signed-off-by: NTony Lindgren <tony@atomide.com>

arch/arm/boot/dts/am57xx-idk-common.dtsi

@@ -101,6 +101,22 @@
 	};
 };
 
+&dra7_pmx_core {
+	dcan1_pins_default: dcan1_pins_default {
+		pinctrl-single,pins = <
+			DRA7XX_CORE_IOPAD(0x37d0, PIN_OUTPUT_PULLUP | MUX_MODE0)	/* dcan1_tx */
+			DRA7XX_CORE_IOPAD(0x37d4, PIN_INPUT_PULLUP | MUX_MODE0)		/* dcan1_rx */
+		>;
+	};
+
+	dcan1_pins_sleep: dcan1_pins_sleep {
+		pinctrl-single,pins = <
+			DRA7XX_CORE_IOPAD(0x37d0, MUX_MODE15 | PULL_UP)	/* dcan1_tx.off */
+			DRA7XX_CORE_IOPAD(0x37d4, MUX_MODE15 | PULL_UP)	/* dcan1_rx.off */
+		>;
+	};
+};
+
 &i2c1 {
 	status = "okay";
 	clock-frequency = <400000>;
@@ -391,6 +407,14 @@
 	max-frequency = <96000000>;
 };
 
+&dcan1 {
+	status = "okay";
+	pinctrl-names = "default", "sleep", "active";
+	pinctrl-0 = <&dcan1_pins_sleep>;
+	pinctrl-1 = <&dcan1_pins_sleep>;
+	pinctrl-2 = <&dcan1_pins_default>;
+};
+
 &qspi {
 	status = "okay";