diff --git a/drivers/net/can/c_can/c_can.c b/drivers/net/can/c_can/c_can.c
index 8e78bb48f5a4..f94a9fa60488 100644
--- a/drivers/net/can/c_can/c_can.c
+++ b/drivers/net/can/c_can/c_can.c
@@ -35,6 +35,7 @@
 #include <linux/list.h>
 #include <linux/io.h>
 #include <linux/pm_runtime.h>
+#include <linux/pinctrl/consumer.h>
 
 #include <linux/can.h>
 #include <linux/can/dev.h>
@@ -603,6 +604,8 @@ static int c_can_start(struct net_device *dev)
 
 	priv->can.state = CAN_STATE_ERROR_ACTIVE;
 
+	/* activate pins */
+	pinctrl_pm_select_default_state(dev->dev.parent);
 	return 0;
 }
 
@@ -611,6 +614,9 @@ static void c_can_stop(struct net_device *dev)
 	struct c_can_priv *priv = netdev_priv(dev);
 
 	c_can_irq_control(priv, false);
+
+	/* deactivate pins */
+	pinctrl_pm_select_sleep_state(dev->dev.parent);
 	priv->can.state = CAN_STATE_STOPPED;
 }
 
@@ -1244,6 +1250,13 @@ int register_c_can_dev(struct net_device *dev)
 	struct c_can_priv *priv = netdev_priv(dev);
 	int err;
 
+	/* Deactivate pins to prevent DRA7 DCAN IP from being
+	 * stuck in transition when module is disabled.
+	 * Pins are activated in c_can_start() and deactivated
+	 * in c_can_stop()
+	 */
+	pinctrl_pm_select_sleep_state(dev->dev.parent);
+
 	c_can_pm_runtime_enable(priv);
 
 	dev->flags |= IFF_ECHO;	/* we support local echo */