diff --git a/Documentation/devicetree/bindings/net/can/rcar_can.txt b/Documentation/devicetree/bindings/net/can/rcar_can.txt
index 002d8440bf66..f2172fb42cd8 100644
--- a/Documentation/devicetree/bindings/net/can/rcar_can.txt
+++ b/Documentation/devicetree/bindings/net/can/rcar_can.txt
@@ -6,6 +6,12 @@ Required properties:
 	      "renesas,can-r8a7779" if CAN controller is a part of R8A7779 SoC.
 	      "renesas,can-r8a7790" if CAN controller is a part of R8A7790 SoC.
 	      "renesas,can-r8a7791" if CAN controller is a part of R8A7791 SoC.
+	      "renesas,rcar-gen1-can" for a generic R-Car Gen1 compatible device.
+	      "renesas,rcar-gen2-can" for a generic R-Car Gen2 compatible device.
+	      When compatible with the generic version, nodes must list the
+	      SoC-specific version corresponding to the platform first
+	      followed by the generic version.
+
 - reg: physical base address and size of the R-Car CAN register map.
 - interrupts: interrupt specifier for the sole interrupt.
 - clocks: phandles and clock specifiers for 3 CAN clock inputs.
@@ -25,7 +31,7 @@ Example
 SoC common .dtsi file:
 
 	can0: can@e6e80000 {
-		compatible = "renesas,can-r8a7791";
+		compatible = "renesas,can-r8a7791", "renesas,rcar-gen2-can";
 		reg = <0 0xe6e80000 0 0x1000>;
 		interrupts = <0 186 IRQ_TYPE_LEVEL_HIGH>;
 		clocks = <&mstp9_clks R8A7791_CLK_RCAN0>,
diff --git a/drivers/net/can/rcar_can.c b/drivers/net/can/rcar_can.c
index bc46be39549d..ad3d2e0cb191 100644
--- a/drivers/net/can/rcar_can.c
+++ b/drivers/net/can/rcar_can.c
@@ -904,6 +904,8 @@ static const struct of_device_id rcar_can_of_table[] __maybe_unused = {
 	{ .compatible = "renesas,can-r8a7779" },
 	{ .compatible = "renesas,can-r8a7790" },
 	{ .compatible = "renesas,can-r8a7791" },
+	{ .compatible = "renesas,rcar-gen1-can" },
+	{ .compatible = "renesas,rcar-gen2-can" },
 	{ }
 };
 MODULE_DEVICE_TABLE(of, rcar_can_of_table);