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"can0_pins_a" is not correct, correct "can_ph_pins" or "can_pa_pins"
because all files "sun7i-a20-*.dts" files has definition:
can-pa-pins {
pins = "PA16\0PA17";
function = "can";
phandle = < 0x63 >;
};
can-ph-pins {
pins = "PH20\0PH21";
function = "can";
phandle = < 0x64 >;
};
and
can_pa_pins = "/soc/pinctrl@1c20800/can-pa-pins";
can_ph_pins = "/soc/pinctrl@1c20800/can-ph-pins";