diff --git a/arch/arm64/boot/dts/rockchip/overlays/odroidm1s/Makefile b/arch/arm64/boot/dts/rockchip/overlays/odroidm1s/Makefile
index 1e26e51f807b..214e29954c85 100644
--- a/arch/arm64/boot/dts/rockchip/overlays/odroidm1s/Makefile
+++ b/arch/arm64/boot/dts/rockchip/overlays/odroidm1s/Makefile
@@ -2,6 +2,7 @@
 
 dtbo-$(CONFIG_ARCH_ROCKCHIP_ODROIDM1) += \
 	blueled_off.dtbo \
+	board_stepper.dtbo \
 	dht11.dtbo \
 	display_3_5.dtbo \
 	display_5_0.dtbo \
diff --git a/arch/arm64/boot/dts/rockchip/overlays/odroidm1s/board_stepper.dts b/arch/arm64/boot/dts/rockchip/overlays/odroidm1s/board_stepper.dts
new file mode 100644
index 000000000000..65c307b6a48d
--- /dev/null
+++ b/arch/arm64/boot/dts/rockchip/overlays/odroidm1s/board_stepper.dts
@@ -0,0 +1,51 @@
+/dts-v1/;
+/plugin/;
+
+#include <dt-bindings/gpio/gpio.h>
+#include <dt-bindings/pinctrl/rockchip.h>
+#include <dt-bindings/interrupt-controller/irq.h>
+
+/ {
+	fragment@0 {
+		target-path = "/";
+
+		__overlay__ {
+			stepper_canfdclk: stepper_canfdclk {
+				compatible = "fixed-clock";
+				#clock-cells = <0>;
+				clock-frequency = <20000000>;
+			};
+		};
+	};
+
+	fragment@1 {
+		target = <&spi1>;
+
+		__overlay__ {
+			num_chipselect = <1>;
+			cs-gpios = <&gpio3 RK_PA1 GPIO_ACTIVE_LOW>;
+		};
+	};
+
+	fragment@2 {
+		target = <&spi1>;
+
+		__overlay__ {
+			status = "okay";
+			#address-cells = <1>;
+			#size-cells = <0>;
+
+			stepper_canfd: canfd@0 {
+				compatible = "microchip,mcp2517fd";
+				pinctrl-names = "default";
+				pinctrl-0 = <&stepper_canfd_int_pins>;
+				reg = <0>;
+				clocks = <&stepper_canfdclk>;
+				interrupt-parent = <&gpio2>;
+				interrupts = <RK_PB0 IRQ_TYPE_EDGE_FALLING>;
+				spi-max-frequency = <10000000>;
+				status = "okay";
+			};
+		};
+	};
+};
diff --git a/arch/arm64/boot/dts/rockchip/rk3566-odroid-m1s.dts b/arch/arm64/boot/dts/rockchip/rk3566-odroid-m1s.dts
index 5bf5afd46762..e4e632f1b6b2 100644
--- a/arch/arm64/boot/dts/rockchip/rk3566-odroid-m1s.dts
+++ b/arch/arm64/boot/dts/rockchip/rk3566-odroid-m1s.dts
@@ -1068,6 +1068,10 @@
 		mcp2515_int_pins: mcp2515_int_pins {
 			rockchip,pins = <0 RK_PC0 RK_FUNC_GPIO &pcfg_pull_none>;
 		};
+
+		stepper_canfd_int_pins: stepper_canfd_int_pins {
+			rockchip,pins = <2 RK_PB0 RK_FUNC_GPIO &pcfg_pull_none>;
+		};
 	};
 
 	gmac1 {