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PROCESSOR-SDK-AM335X: Missing EQEP device and driver

Part Number: PROCESSOR-SDK-AM335X

How do I got about adding the EQEP subsystem to the device tree and load the drivers?

I'm using the  Processor SDK Linux for AM335X 07_03_00. 

I looked at other kernel version but it does not appear in 5.4.

I patched am33xx-l4.dtsi to include:

eqep0: counter@180 {
	compatible = "ti,am3352-eqep";
	reg = <0x180 0x80>;
	clocks = <&l4ls_gclk>;
	clock-names = "sysclkout";
	interrupts = <79>;
	status = "disabled";
};

But am unsure how to load the kernel driver as it does not exist in the menuconfig for tisdk_am335x-evm_defconfig

Thank you