boards: microchip: sam: add CAN to sama7g54_ek dts and yaml file

There's a dual CAN interfce (J17) on sama7g54-ek board.
pin 1~5 siginal: CAN0_H, CAN0_L, GND, CAN1_H, CAN1_L.
The two CAN transceivers are controlled by PIOC15 and PIOC16 GPIOs.
Add CAN to the support list.

Signed-off-by: Tony Han <tony.han@microchip.com>

Author: TonyHan11

boards/microchip/sam/sama7g54_ek/sama7g54_ek.dts

@@ -29,6 +29,7 @@
 
 	chosen {
 		zephyr,sram = &ddram;
+		zephyr,canbus = &mcan0;
 		zephyr,console = &usart3;
 		zephyr,entropy = &trng;
 		zephyr,shell-uart = &usart3;
@@ -92,6 +93,20 @@
 			pwms = <&pwm 3 PWM_MSEC(20) PWM_POLARITY_INVERTED>;
 		};
 	};
+
+	transceiver0: can-phy0 {
+		compatible = "can-transceiver-gpio";
+		standby-gpios = <&pioc 15 GPIO_ACTIVE_HIGH>;
+		max-bitrate = <DT_FREQ_M(8)>;
+		#phy-cells = <0>;
+	};
+
+	transceiver1: can-phy1 {
+		compatible = "can-transceiver-gpio";
+		standby-gpios = <&pioc 16 GPIO_ACTIVE_HIGH>;
+		max-bitrate = <DT_FREQ_M(8)>;
+		#phy-cells = <0>;
+	};
 };
 
 &dma0 {
@@ -195,7 +210,37 @@
 	};
 };
 
+&mcan0 {
+	status = "okay";
+	pinctrl-0 = <&pinctrl_can0_default>;
+	pinctrl-names = "default";
+	phys = <&transceiver0>;
+};
+
+&mcan1 {
+	status = "okay";
+	pinctrl-0 = <&pinctrl_can1_default>;
+	pinctrl-names = "default";
+	phys = <&transceiver1>;
+};
+
 &pinctrl {
+	pinctrl_can0_default: can0_default {
+		group1 {
+			pinmux = <PIN_PD12__CANTX0>,
+				 <PIN_PD13__CANRX0>;
+			bias-disable;
+		};
+	};
+
+	pinctrl_can1_default: can1_default {
+		group1 {
+			pinmux = <PIN_PD14__CANTX1>,
+				 <PIN_PD15__CANRX1>;
+			bias-disable;
+		};
+	};
+
 	pinctrl_flx3_default: flx3_default {
 		group1 {
 			pinmux = <PIN_PD16__FLEXCOM3_IO0>,

boards/microchip/sam/sama7g54_ek/sama7g54_ek.yaml

@@ -9,6 +9,7 @@ toolchain:
   - zephyr
 ram: 128
 supported:
+  - can
   - dma
   - entropy
   - pwm