Merge tag 'linux-can-next-for-5.16-20211024' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next

Marc Kleine-Budde says:

====================
pull-request: can-next 2021-10-24

this is a pull request of 15 patches for net-next/master.

The first patch is by Thomas Gleixner and makes use of
hrtimer_forward_now() in the CAN broad cast manager (bcm).

The next patch is by me and changes the type of the variables used in
the CAN bit timing calculation can_fixup_bittiming() to unsigned int.

Vincent Mailhol provides 6 patches targeting the CAN device
infrastructure. The CAN-FD specific Transmitter Delay Compensation
(TDC) is updated and configuration via the CAN netlink interface is
added.

Qing Wang's patch updates the at91 and janz-ican3 drivers to use
sysfs_emit() instead of snprintf() in the sysfs show functions.

Geert Uytterhoeven's patch drops the unneeded ARM dependency from the
rar Kconfig.

Cai Huoqing's patch converts the mscan driver to make use of the
dev_err_probe() helper function.

A patch by me against the gsusb driver changes the printf format
strings to use %u to print unsigned values.

Stephane Grosjean's patch updates the peak_usb CAN-FD driver to use
the 64 bit timestamps provided by the hardware.

The last 2 patches target the xilinx_can driver. Michal Simek provides
a patch that removes repeated word from the kernel-doc and Dongliang
Mu's patch removes a redundant netif_napi_del() from the xcan_remove()
function.
====================

Signed-off-by: David S. Miller <davem@davemloft.net>

12 files changed, 273 insertions, 43 deletions

diff --git a/drivers/net/can/at91_can.c b/drivers/net/can/at91_can.c
index b06af90a9964..3aea32c9b108 100644
--- a/drivers/net/can/at91_can.c
+++ b/drivers/net/can/at91_can.c
@@ -1170,9 +1170,9 @@ static ssize_t mb0_id_show(struct device *dev,
 	struct at91_priv *priv = netdev_priv(to_net_dev(dev));
 
 	if (priv->mb0_id & CAN_EFF_FLAG)
-		return snprintf(buf, PAGE_SIZE, "0x%08x\n", priv->mb0_id);
+		return sysfs_emit(buf, "0x%08x\n", priv->mb0_id);
 	else
-		return snprintf(buf, PAGE_SIZE, "0x%03x\n", priv->mb0_id);
+		return sysfs_emit(buf, "0x%03x\n", priv->mb0_id);
 }
 
 static ssize_t mb0_id_store(struct device *dev,
diff --git a/drivers/net/can/dev/bittiming.c b/drivers/net/can/dev/bittiming.c
index f49170eadd54..0509625c3082 100644
--- a/drivers/net/can/dev/bittiming.c
+++ b/drivers/net/can/dev/bittiming.c
@@ -175,27 +175,29 @@ int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt,
 	return 0;
 }
 
-void can_calc_tdco(struct net_device *dev)
-{
-	struct can_priv *priv = netdev_priv(dev);
-	const struct can_bittiming *dbt = &priv->data_bittiming;
-	struct can_tdc *tdc = &priv->tdc;
-	const struct can_tdc_const *tdc_const = priv->tdc_const;
+void can_calc_tdco(struct can_tdc *tdc, const struct can_tdc_const *tdc_const,
+		   const struct can_bittiming *dbt,
+		   u32 *ctrlmode, u32 ctrlmode_supported)
 
-	if (!tdc_const)
+{
+	if (!tdc_const || !(ctrlmode_supported & CAN_CTRLMODE_TDC_AUTO))
 		return;
 
+	*ctrlmode &= ~CAN_CTRLMODE_TDC_MASK;
+
 	/* As specified in ISO 11898-1 section 11.3.3 "Transmitter
 	 * delay compensation" (TDC) is only applicable if data BRP is
 	 * one or two.
 	 */
 	if (dbt->brp == 1 || dbt->brp == 2) {
-		/* Reuse "normal" sample point and convert it to time quanta */
-		u32 sample_point_in_tq = can_bit_time(dbt) * dbt->sample_point / 1000;
-
-		tdc->tdco = min(sample_point_in_tq, tdc_const->tdco_max);
-	} else {
-		tdc->tdco = 0;
+		/* Sample point in clock periods */
+		u32 sample_point_in_tc = (CAN_SYNC_SEG + dbt->prop_seg +
+					  dbt->phase_seg1) * dbt->brp;
+
+		if (sample_point_in_tc < tdc_const->tdco_min)
+			return;
+		tdc->tdco = min(sample_point_in_tc, tdc_const->tdco_max);
+		*ctrlmode |= CAN_CTRLMODE_TDC_AUTO;
 	}
 }
 #endif /* CONFIG_CAN_CALC_BITTIMING */
@@ -209,7 +211,7 @@ static int can_fixup_bittiming(struct net_device *dev, struct can_bittiming *bt,
 			       const struct can_bittiming_const *btc)
 {
 	struct can_priv *priv = netdev_priv(dev);
-	int tseg1, alltseg;
+	unsigned int tseg1, alltseg;
 	u64 brp64;
 
 	tseg1 = bt->prop_seg + bt->phase_seg1;
diff --git a/drivers/net/can/dev/netlink.c b/drivers/net/can/dev/netlink.c
index 80425636049d..95cca4e5251f 100644
--- a/drivers/net/can/dev/netlink.c
+++ b/drivers/net/can/dev/netlink.c
@@ -2,6 +2,7 @@
 /* Copyright (C) 2005 Marc Kleine-Budde, Pengutronix
  * Copyright (C) 2006 Andrey Volkov, Varma Electronics
  * Copyright (C) 2008-2009 Wolfgang Grandegger <wg@grandegger.com>
+ * Copyright (C) 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
  */
 
 #include <linux/can/dev.h>
@@ -19,6 +20,19 @@ static const struct nla_policy can_policy[IFLA_CAN_MAX + 1] = {
 	[IFLA_CAN_DATA_BITTIMING] = { .len = sizeof(struct can_bittiming) },
 	[IFLA_CAN_DATA_BITTIMING_CONST]	= { .len = sizeof(struct can_bittiming_const) },
 	[IFLA_CAN_TERMINATION] = { .type = NLA_U16 },
+	[IFLA_CAN_TDC] = { .type = NLA_NESTED },
+};
+
+static const struct nla_policy can_tdc_policy[IFLA_CAN_TDC_MAX + 1] = {
+	[IFLA_CAN_TDC_TDCV_MIN] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCV_MAX] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCO_MIN] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCO_MAX] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCF_MIN] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCF_MAX] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCV] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCO] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCF] = { .type = NLA_U32 },
 };
 
 static int can_validate(struct nlattr *tb[], struct nlattr *data[],
@@ -30,6 +44,7 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 	 * - nominal/arbitration bittiming
 	 * - data bittiming
 	 * - control mode with CAN_CTRLMODE_FD set
+	 * - TDC parameters are coherent (details below)
 	 */
 
 	if (!data)
@@ -37,8 +52,43 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 
 	if (data[IFLA_CAN_CTRLMODE]) {
 		struct can_ctrlmode *cm = nla_data(data[IFLA_CAN_CTRLMODE]);
+		u32 tdc_flags = cm->flags & CAN_CTRLMODE_TDC_MASK;
 
 		is_can_fd = cm->flags & cm->mask & CAN_CTRLMODE_FD;
+
+		/* CAN_CTRLMODE_TDC_{AUTO,MANUAL} are mutually exclusive */
+		if (tdc_flags == CAN_CTRLMODE_TDC_MASK)
+			return -EOPNOTSUPP;
+		/* If one of the CAN_CTRLMODE_TDC_* flag is set then
+		 * TDC must be set and vice-versa
+		 */
+		if (!!tdc_flags != !!data[IFLA_CAN_TDC])
+			return -EOPNOTSUPP;
+		/* If providing TDC parameters, at least TDCO is
+		 * needed. TDCV is needed if and only if
+		 * CAN_CTRLMODE_TDC_MANUAL is set
+		 */
+		if (data[IFLA_CAN_TDC]) {
+			struct nlattr *tb_tdc[IFLA_CAN_TDC_MAX + 1];
+			int err;
+
+			err = nla_parse_nested(tb_tdc, IFLA_CAN_TDC_MAX,
+					       data[IFLA_CAN_TDC],
+					       can_tdc_policy, extack);
+			if (err)
+				return err;
+
+			if (tb_tdc[IFLA_CAN_TDC_TDCV]) {
+				if (tdc_flags & CAN_CTRLMODE_TDC_AUTO)
+					return -EOPNOTSUPP;
+			} else {
+				if (tdc_flags & CAN_CTRLMODE_TDC_MANUAL)
+					return -EOPNOTSUPP;
+			}
+
+			if (!tb_tdc[IFLA_CAN_TDC_TDCO])
+				return -EOPNOTSUPP;
+		}
 	}
 
 	if (is_can_fd) {
@@ -46,7 +96,7 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 			return -EOPNOTSUPP;
 	}
 
-	if (data[IFLA_CAN_DATA_BITTIMING]) {
+	if (data[IFLA_CAN_DATA_BITTIMING] || data[IFLA_CAN_TDC]) {
 		if (!is_can_fd)
 			return -EOPNOTSUPP;
 	}
@@ -54,11 +104,60 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 	return 0;
 }
 
+static int can_tdc_changelink(struct can_priv *priv, const struct nlattr *nla,
+			      struct netlink_ext_ack *extack)
+{
+	struct nlattr *tb_tdc[IFLA_CAN_TDC_MAX + 1];
+	struct can_tdc tdc = { 0 };
+	const struct can_tdc_const *tdc_const = priv->tdc_const;
+	int err;
+
+	if (!tdc_const || !can_tdc_is_enabled(priv))
+		return -EOPNOTSUPP;
+
+	err = nla_parse_nested(tb_tdc, IFLA_CAN_TDC_MAX, nla,
+			       can_tdc_policy, extack);
+	if (err)
+		return err;
+
+	if (tb_tdc[IFLA_CAN_TDC_TDCV]) {
+		u32 tdcv = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCV]);
+
+		if (tdcv < tdc_const->tdcv_min || tdcv > tdc_const->tdcv_max)
+			return -EINVAL;
+
+		tdc.tdcv = tdcv;
+	}
+
+	if (tb_tdc[IFLA_CAN_TDC_TDCO]) {
+		u32 tdco = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCO]);
+
+		if (tdco < tdc_const->tdco_min || tdco > tdc_const->tdco_max)
+			return -EINVAL;
+
+		tdc.tdco = tdco;
+	}
+
+	if (tb_tdc[IFLA_CAN_TDC_TDCF]) {
+		u32 tdcf = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCF]);
+
+		if (tdcf < tdc_const->tdcf_min || tdcf > tdc_const->tdcf_max)
+			return -EINVAL;
+
+		tdc.tdcf = tdcf;
+	}
+
+	priv->tdc = tdc;
+
+	return 0;
+}
+
 static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 			  struct nlattr *data[],
 			  struct netlink_ext_ack *extack)
 {
 	struct can_priv *priv = netdev_priv(dev);
+	u32 tdc_mask = 0;
 	int err;
 
 	/* We need synchronization with dev->stop() */
@@ -138,7 +237,16 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 			dev->mtu = CAN_MTU;
 			memset(&priv->data_bittiming, 0,
 			       sizeof(priv->data_bittiming));
+			priv->ctrlmode &= ~CAN_CTRLMODE_TDC_MASK;
+			memset(&priv->tdc, 0, sizeof(priv->tdc));
 		}
+
+		tdc_mask = cm->mask & CAN_CTRLMODE_TDC_MASK;
+		/* CAN_CTRLMODE_TDC_{AUTO,MANUAL} are mutually
+		 * exclusive: make sure to turn the other one off
+		 */
+		if (tdc_mask)
+			priv->ctrlmode &= cm->flags | ~CAN_CTRLMODE_TDC_MASK;
 	}
 
 	if (data[IFLA_CAN_RESTART_MS]) {
@@ -187,9 +295,26 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 			return -EINVAL;
 		}
 
-		memcpy(&priv->data_bittiming, &dbt, sizeof(dbt));
+		memset(&priv->tdc, 0, sizeof(priv->tdc));
+		if (data[IFLA_CAN_TDC]) {
+			/* TDC parameters are provided: use them */
+			err = can_tdc_changelink(priv, data[IFLA_CAN_TDC],
+						 extack);
+			if (err) {
+				priv->ctrlmode &= ~CAN_CTRLMODE_TDC_MASK;
+				return err;
+			}
+		} else if (!tdc_mask) {
+			/* Neither of TDC parameters nor TDC flags are
+			 * provided: do calculation
+			 */
+			can_calc_tdco(&priv->tdc, priv->tdc_const, &priv->data_bittiming,
+				      &priv->ctrlmode, priv->ctrlmode_supported);
+		} /* else: both CAN_CTRLMODE_TDC_{AUTO,MANUAL} are explicitly
+		   * turned off. TDC is disabled: do nothing
+		   */
 
-		can_calc_tdco(dev);
+		memcpy(&priv->data_bittiming, &dbt, sizeof(dbt));
 
 		if (priv->do_set_data_bittiming) {
 			/* Finally, set the bit-timing registers */
@@ -226,6 +351,38 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 	return 0;
 }
 
+static size_t can_tdc_get_size(const struct net_device *dev)
+{
+	struct can_priv *priv = netdev_priv(dev);
+	size_t size;
+
+	if (!priv->tdc_const)
+		return 0;
+
+	size = nla_total_size(0);			/* nest IFLA_CAN_TDC */
+	if (priv->ctrlmode_supported & CAN_CTRLMODE_TDC_MANUAL) {
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCV_MIN */
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCV_MAX */
+	}
+	size += nla_total_size(sizeof(u32));		/* IFLA_CAN_TDCO_MIN */
+	size += nla_total_size(sizeof(u32));		/* IFLA_CAN_TDCO_MAX */
+	if (priv->tdc_const->tdcf_max) {
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCF_MIN */
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCF_MAX */
+	}
+
+	if (can_tdc_is_enabled(priv)) {
+		if (priv->ctrlmode & CAN_CTRLMODE_TDC_MANUAL ||
+		    priv->do_get_auto_tdcv)
+			size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCV */
+		size += nla_total_size(sizeof(u32));		/* IFLA_CAN_TDCO */
+		if (priv->tdc_const->tdcf_max)
+			size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCF */
+	}
+
+	return size;
+}
+
 static size_t can_get_size(const struct net_device *dev)
 {
 	struct can_priv *priv = netdev_priv(dev);
@@ -257,10 +414,64 @@ static size_t can_get_size(const struct net_device *dev)
 		size += nla_total_size(sizeof(*priv->data_bitrate_const) *
 				       priv->data_bitrate_const_cnt);
 	size += sizeof(priv->bitrate_max);			/* IFLA_CAN_BITRATE_MAX */
+	size += can_tdc_get_size(dev);				/* IFLA_CAN_TDC */
 
 	return size;
 }
 
+static int can_tdc_fill_info(struct sk_buff *skb, const struct net_device *dev)
+{
+	struct nlattr *nest;
+	struct can_priv *priv = netdev_priv(dev);
+	struct can_tdc *tdc = &priv->tdc;
+	const struct can_tdc_const *tdc_const = priv->tdc_const;
+
+	if (!tdc_const)
+		return 0;
+
+	nest = nla_nest_start(skb, IFLA_CAN_TDC);
+	if (!nest)
+		return -EMSGSIZE;
+
+	if (priv->ctrlmode_supported & CAN_CTRLMODE_TDC_MANUAL &&
+	    (nla_put_u32(skb, IFLA_CAN_TDC_TDCV_MIN, tdc_const->tdcv_min) ||
+	     nla_put_u32(skb, IFLA_CAN_TDC_TDCV_MAX, tdc_const->tdcv_max)))
+		goto err_cancel;
+	if (nla_put_u32(skb, IFLA_CAN_TDC_TDCO_MIN, tdc_const->tdco_min) ||
+	    nla_put_u32(skb, IFLA_CAN_TDC_TDCO_MAX, tdc_const->tdco_max))
+		goto err_cancel;
+	if (tdc_const->tdcf_max &&
+	    (nla_put_u32(skb, IFLA_CAN_TDC_TDCF_MIN, tdc_const->tdcf_min) ||
+	     nla_put_u32(skb, IFLA_CAN_TDC_TDCF_MAX, tdc_const->tdcf_max)))
+		goto err_cancel;
+
+	if (can_tdc_is_enabled(priv)) {
+		u32 tdcv;
+		int err = -EINVAL;
+
+		if (priv->ctrlmode & CAN_CTRLMODE_TDC_MANUAL) {
+			tdcv = tdc->tdcv;
+			err = 0;
+		} else if (priv->do_get_auto_tdcv) {
+			err = priv->do_get_auto_tdcv(dev, &tdcv);
+		}
+		if (!err && nla_put_u32(skb, IFLA_CAN_TDC_TDCV, tdcv))
+			goto err_cancel;
+		if (nla_put_u32(skb, IFLA_CAN_TDC_TDCO, tdc->tdco))
+			goto err_cancel;
+		if (tdc_const->tdcf_max &&
+		    nla_put_u32(skb, IFLA_CAN_TDC_TDCF, tdc->tdcf))
+			goto err_cancel;
+	}
+
+	nla_nest_end(skb, nest);
+	return 0;
+
+err_cancel:
+	nla_nest_cancel(skb, nest);
+	return -EMSGSIZE;
+}
+
 static int can_fill_info(struct sk_buff *skb, const struct net_device *dev)
 {
 	struct can_priv *priv = netdev_priv(dev);
@@ -318,7 +529,9 @@ static int can_fill_info(struct sk_buff *skb, const struct net_device *dev)
 
 	    (nla_put(skb, IFLA_CAN_BITRATE_MAX,
 		     sizeof(priv->bitrate_max),
-		     &priv->bitrate_max))
+		     &priv->bitrate_max)) ||
+
+	    (can_tdc_fill_info(skb, dev))
 	    )
 
 		return -EMSGSIZE;
diff --git a/drivers/net/can/janz-ican3.c b/drivers/net/can/janz-ican3.c
index c68ad56628bd..32006dbf5abd 100644
--- a/drivers/net/can/janz-ican3.c
+++ b/drivers/net/can/janz-ican3.c
@@ -1831,7 +1831,7 @@ static ssize_t termination_show(struct device *dev,
 		return -ETIMEDOUT;
 	}
 
-	return snprintf(buf, PAGE_SIZE, "%u\n", mod->termination_enabled);
+	return sysfs_emit(buf, "%u\n", mod->termination_enabled);
 }
 
 static ssize_t termination_store(struct device *dev,
diff --git a/drivers/net/can/mscan/mpc5xxx_can.c b/drivers/net/can/mscan/mpc5xxx_can.c
index 35892c1efef0..de4ddf79ba9b 100644
--- a/drivers/net/can/mscan/mpc5xxx_can.c
+++ b/drivers/net/can/mscan/mpc5xxx_can.c
@@ -293,10 +293,8 @@ static int mpc5xxx_can_probe(struct platform_device *ofdev)
 		return -EINVAL;
 
 	base = of_iomap(np, 0);
-	if (!base) {
-		dev_err(&ofdev->dev, "couldn't ioremap\n");
-		return err;
-	}
+	if (!base)
+		return dev_err_probe(&ofdev->dev, err, "couldn't ioremap\n");
 
 	irq = irq_of_parse_and_map(np, 0);
 	if (!irq) {
diff --git a/drivers/net/can/rcar/Kconfig b/drivers/net/can/rcar/Kconfig
index 56320a7f828b..c66762ef631b 100644
--- a/drivers/net/can/rcar/Kconfig
+++ b/drivers/net/can/rcar/Kconfig
@@ -1,7 +1,7 @@
 # SPDX-License-Identifier: GPL-2.0
 config CAN_RCAR
 	tristate "Renesas R-Car and RZ/G CAN controller"
-	depends on ARCH_RENESAS || ARM || COMPILE_TEST
+	depends on ARCH_RENESAS || COMPILE_TEST
 	help
 	  Say Y here if you want to use CAN controller found on Renesas R-Car
 	  or RZ/G SoCs.
@@ -11,7 +11,7 @@ config CAN_RCAR
 
 config CAN_RCAR_CANFD
 	tristate "Renesas R-Car CAN FD controller"
-	depends on ARCH_RENESAS || ARM || COMPILE_TEST
+	depends on ARCH_RENESAS || COMPILE_TEST
 	help
 	  Say Y here if you want to use CAN FD controller found on
 	  Renesas R-Car SoCs. The driver puts the controller in CAN FD only
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.c b/drivers/net/can/usb/etas_es58x/es58x_fd.c
index af042aa55f59..4f0cae29f4d8 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_fd.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c
@@ -428,7 +428,7 @@ static int es58x_fd_enable_channel(struct es58x_priv *priv)
 		es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming,
 					   &priv->can.data_bittiming);
 
-		if (priv->can.tdc.tdco) {
+		if (can_tdc_is_enabled(&priv->can)) {
 			tx_conf_msg.tdc_enabled = 1;
 			tx_conf_msg.tdco = cpu_to_le16(priv->can.tdc.tdco);
 			tx_conf_msg.tdcf = cpu_to_le16(priv->can.tdc.tdcf);
@@ -505,8 +505,11 @@ static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
  * Register" from Microchip.
  */
 static const struct can_tdc_const es58x_tdc_const = {
+	.tdcv_min = 0,
 	.tdcv_max = 0, /* Manual mode not supported. */
+	.tdco_min = 0,
 	.tdco_max = 127,
+	.tdcf_min = 0,
 	.tdcf_max = 127
 };
 
@@ -523,7 +526,7 @@ const struct es58x_parameters es58x_fd_param = {
 	.clock = {.freq = 80 * CAN_MHZ},
 	.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
 	    CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO |
-	    CAN_CTRLMODE_CC_LEN8_DLC,
+	    CAN_CTRLMODE_CC_LEN8_DLC | CAN_CTRLMODE_TDC_AUTO,
 	.tx_start_of_frame = 0xCEFA,	/* FACE in little endian */
 	.rx_start_of_frame = 0xFECA,	/* CAFE in little endian */
 	.tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
diff --git a/drivers/net/can/usb/gs_usb.c b/drivers/net/can/usb/gs_usb.c
index 5e892bef46b0..1b400de00f51 100644
--- a/drivers/net/can/usb/gs_usb.c
+++ b/drivers/net/can/usb/gs_usb.c
@@ -352,7 +352,7 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 	} else { /* echo_id == hf->echo_id */
 		if (hf->echo_id >= GS_MAX_TX_URBS) {
 			netdev_err(netdev,
-				   "Unexpected out of range echo id %d\n",
+				   "Unexpected out of range echo id %u\n",
 				   hf->echo_id);
 			goto resubmit_urb;
 		}
@@ -365,7 +365,7 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 		/* bad devices send bad echo_ids. */
 		if (!txc) {
 			netdev_err(netdev,
-				   "Unexpected unused echo id %d\n",
+				   "Unexpected unused echo id %u\n",
 				   hf->echo_id);
 			goto resubmit_urb;
 		}
@@ -458,7 +458,7 @@ static void gs_usb_xmit_callback(struct urb *urb)
 	struct net_device *netdev = dev->netdev;
 
 	if (urb->status)
-		netdev_info(netdev, "usb xmit fail %d\n", txc->echo_id);
+		netdev_info(netdev, "usb xmit fail %u\n", txc->echo_id);
 
 	usb_free_coherent(urb->dev,
 			  urb->transfer_buffer_length,
@@ -501,7 +501,7 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
 	idx = txc->echo_id;
 
 	if (idx >= GS_MAX_TX_URBS) {
-		netdev_err(netdev, "Invalid tx context %d\n", idx);
+		netdev_err(netdev, "Invalid tx context %u\n", idx);
 		goto badidx;
 	}
 
@@ -964,11 +964,11 @@ static int gs_usb_probe(struct usb_interface *intf,
 	}
 
 	icount = dconf->icount + 1;
-	dev_info(&intf->dev, "Configuring for %d interfaces\n", icount);
+	dev_info(&intf->dev, "Configuring for %u interfaces\n", icount);
 
 	if (icount > GS_MAX_INTF) {
 		dev_err(&intf->dev,
-			"Driver cannot handle more that %d CAN interfaces\n",
+			"Driver cannot handle more that %u CAN interfaces\n",
 			GS_MAX_INTF);
 		kfree(dconf);
 		return -EINVAL;
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_core.c b/drivers/net/can/usb/peak_usb/pcan_usb_core.c
index e8f43ed90b72..6107fef9f4a0 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_core.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_core.c
@@ -205,6 +205,19 @@ int peak_usb_netif_rx(struct sk_buff *skb,
 	return netif_rx(skb);
 }
 
+/* post received skb with native 64-bit hw timestamp */
+int peak_usb_netif_rx_64(struct sk_buff *skb, u32 ts_low, u32 ts_high)
+{
+	struct skb_shared_hwtstamps *hwts = skb_hwtstamps(skb);
+	u64 ns_ts;
+
+	ns_ts = (u64)ts_high << 32 | ts_low;
+	ns_ts *= NSEC_PER_USEC;
+	hwts->hwtstamp = ns_to_ktime(ns_ts);
+
+	return netif_rx(skb);
+}
+
 /*
  * callback for bulk Rx urb
  */
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_core.h b/drivers/net/can/usb/peak_usb/pcan_usb_core.h
index b00a4811bf61..daa19f57e742 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_core.h
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_core.h
@@ -143,6 +143,7 @@ void peak_usb_set_ts_now(struct peak_time_ref *time_ref, u32 ts_now);
 void peak_usb_get_ts_time(struct peak_time_ref *time_ref, u32 ts, ktime_t *tv);
 int peak_usb_netif_rx(struct sk_buff *skb,
 		      struct peak_time_ref *time_ref, u32 ts_low);
+int peak_usb_netif_rx_64(struct sk_buff *skb, u32 ts_low, u32 ts_high);
 void peak_usb_async_complete(struct urb *urb);
 void peak_usb_restart_complete(struct peak_usb_device *dev);
 
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
index 09029a3bad1a..6bd12549f101 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
@@ -515,7 +515,8 @@ static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if,
 	netdev->stats.rx_packets++;
 	netdev->stats.rx_bytes += cfd->len;
 
-	peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(rm->ts_low));
+	peak_usb_netif_rx_64(skb, le32_to_cpu(rm->ts_low),
+			     le32_to_cpu(rm->ts_high));
 
 	return 0;
 }
@@ -579,7 +580,8 @@ static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if,
 	netdev->stats.rx_packets++;
 	netdev->stats.rx_bytes += cf->len;
 
-	peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(sm->ts_low));
+	peak_usb_netif_rx_64(skb, le32_to_cpu(sm->ts_low),
+			     le32_to_cpu(sm->ts_high));
 
 	return 0;
 }
@@ -629,7 +631,8 @@ static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if,
 	cf->can_id |= CAN_ERR_CRTL;
 	cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
 
-	peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(ov->ts_low));
+	peak_usb_netif_rx_64(skb, le32_to_cpu(ov->ts_low),
+			     le32_to_cpu(ov->ts_high));
 
 	netdev->stats.rx_over_errors++;
 	netdev->stats.rx_errors++;
diff --git a/drivers/net/can/xilinx_can.c b/drivers/net/can/xilinx_can.c
index 3b883e607d8b..e2b15d29d15e 100644
--- a/drivers/net/can/xilinx_can.c
+++ b/drivers/net/can/xilinx_can.c
@@ -516,8 +516,7 @@ static int xcan_chip_start(struct net_device *ndev)
  * @ndev:	Pointer to net_device structure
  * @mode:	Tells the mode of the driver
  *
- * This check the drivers state and calls the
- * the corresponding modes to set.
+ * This check the drivers state and calls the corresponding modes to set.
  *
  * Return: 0 on success and failure value on error
  */
@@ -982,7 +981,7 @@ static void xcan_update_error_state_after_rxtx(struct net_device *ndev)
  * @isr:	interrupt status register value
  *
  * This is the CAN error interrupt and it will
- * check the the type of error and forward the error
+ * check the type of error and forward the error
  * frame to upper layers.
  */
 static void xcan_err_interrupt(struct net_device *ndev, u32 isr)
@@ -1844,11 +1843,9 @@ err:
 static int xcan_remove(struct platform_device *pdev)
 {
 	struct net_device *ndev = platform_get_drvdata(pdev);
-	struct xcan_priv *priv = netdev_priv(ndev);
 
 	unregister_candev(ndev);
 	pm_runtime_disable(&pdev->dev);
-	netif_napi_del(&priv->napi);
 	free_candev(ndev);
 
 	return 0;