Merge tag 'linux-can-next-for-5.20-20220625' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next

Marc Kleine-Budde says:

====================
pull-request: can-next 2022-06-25

this is a pull request of 22 patches for net-next/master.

The first 2 patches target the xilinx driver. Srinivas Neeli's patch
adds Transmitter Delay Compensation (TDC) support, a patch by me fixes
a typo.

The next patch is by me and fixes a typo in the m_can driver.

Another patch by me allows the configuration of fixed bit rates
without need for do_set_bittiming callback.

The following 7 patches are by Vincent Mailhol and refactor the
can-dev module and Kbuild, de-inline the can_dropped_invalid_skb()
function, which has grown over the time, and drop outgoing skbs if the
controller is in listen only mode.

Max Staudt's patch fixes a reference in the networking/can.rst
documentation.

Vincent Mailhol provides 2 patches with cleanups for the etas_es58x
driver.

Conor Dooley adds bindings for the mpfs-can to the PolarFire SoC dtsi.

Another patch by me allows the configuration of fixed data bit rates
without need for do_set_data_bittiming callback.

The last 5 patches are by Frank Jungclaus. They prepare the esd_usb
driver to add support for the the CAN-USB/3 device in a later series.
====================

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

17 files changed, 542 insertions, 374 deletions

diff --git a/drivers/net/Kconfig b/drivers/net/Kconfig
index b2a4f998c180..5de243899de8 100644
--- a/drivers/net/Kconfig
+++ b/drivers/net/Kconfig
@@ -499,6 +499,8 @@ config NET_SB1000
 
 source "drivers/net/phy/Kconfig"
 
+source "drivers/net/can/Kconfig"
+
 source "drivers/net/mctp/Kconfig"
 
 source "drivers/net/mdio/Kconfig"
diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig
index b2dcc1e5a388..806f15146f69 100644
--- a/drivers/net/can/Kconfig
+++ b/drivers/net/can/Kconfig
@@ -1,5 +1,26 @@
 # SPDX-License-Identifier: GPL-2.0-only
-menu "CAN Device Drivers"
+
+menuconfig CAN_DEV
+	tristate "CAN Device Drivers"
+	default y
+	depends on CAN
+	help
+	  Controller Area Network (CAN) is serial communications protocol up to
+	  1Mbit/s for its original release (now known as Classical CAN) and up
+	  to 8Mbit/s for the more recent CAN with Flexible Data-Rate
+	  (CAN-FD). The CAN bus was originally mainly for automotive, but is now
+	  widely used in marine (NMEA2000), industrial, and medical
+	  applications. More information on the CAN network protocol family
+	  PF_CAN is contained in <Documentation/networking/can.rst>.
+
+	  This section contains all the CAN(-FD) device drivers including the
+	  virtual ones. If you own such devices or plan to use the virtual CAN
+	  interfaces to develop applications, say Y here.
+
+	  To compile as a module, choose M here: the module will be called
+	  can-dev.
+
+if CAN_DEV
 
 config CAN_VCAN
 	tristate "Virtual Local CAN Interface (vcan)"
@@ -48,15 +69,22 @@ config CAN_SLCAN
 	  can be changed by the 'maxdev=xx' module option. This driver can
 	  also be built as a module. If so, the module will be called slcan.
 
-config CAN_DEV
-	tristate "Platform CAN drivers with Netlink support"
+config CAN_NETLINK
+	bool "CAN device drivers with Netlink support"
 	default y
 	help
-	  Enables the common framework for platform CAN drivers with Netlink
-	  support. This is the standard library for CAN drivers.
-	  If unsure, say Y.
+	  Enables the common framework for CAN device drivers. This is the
+	  standard library and provides features for the Netlink interface such
+	  as bittiming validation, support of CAN error states, device restart
+	  and others.
 
-if CAN_DEV
+	  The additional features selected by this option will be added to the
+	  can-dev module.
+
+	  This is required by all platform and hardware CAN drivers. If you
+	  plan to use such devices or if unsure, say Y.
+
+if CAN_NETLINK
 
 config CAN_CALC_BITTIMING
 	bool "CAN bit-timing calculation"
@@ -69,8 +97,15 @@ config CAN_CALC_BITTIMING
 	  source clock frequencies. Disabling saves some space, but then the
 	  bit-timing parameters must be specified directly using the Netlink
 	  arguments "tq", "prop_seg", "phase_seg1", "phase_seg2" and "sjw".
+
+	  The additional features selected by this option will be added to the
+	  can-dev module.
+
 	  If unsure, say Y.
 
+config CAN_RX_OFFLOAD
+	bool
+
 config CAN_AT91
 	tristate "Atmel AT91 onchip CAN controller"
 	depends on (ARCH_AT91 || COMPILE_TEST) && HAS_IOMEM
@@ -82,6 +117,7 @@ config CAN_FLEXCAN
 	tristate "Support for Freescale FLEXCAN based chips"
 	depends on OF || COLDFIRE || COMPILE_TEST
 	depends on HAS_IOMEM
+	select CAN_RX_OFFLOAD
 	help
 	  Say Y here if you want to support for Freescale FlexCAN.
 
@@ -131,6 +167,7 @@ config CAN_SUN4I
 config CAN_TI_HECC
 	depends on ARM
 	tristate "TI High End CAN Controller"
+	select CAN_RX_OFFLOAD
 	help
 	  Driver for TI HECC (High End CAN Controller) module found on many
 	  TI devices. The device specifications are available from www.ti.com
@@ -164,7 +201,7 @@ source "drivers/net/can/softing/Kconfig"
 source "drivers/net/can/spi/Kconfig"
 source "drivers/net/can/usb/Kconfig"
 
-endif
+endif #CAN_NETLINK
 
 config CAN_DEBUG_DEVICES
 	bool "CAN devices debugging messages"
@@ -174,4 +211,4 @@ config CAN_DEBUG_DEVICES
 	  a problem with CAN support and want to see more of what is going
 	  on.
 
-endmenu
+endif #CAN_DEV
diff --git a/drivers/net/can/dev/Makefile b/drivers/net/can/dev/Makefile
index af2901db473c..633687d6b6c0 100644
--- a/drivers/net/can/dev/Makefile
+++ b/drivers/net/can/dev/Makefile
@@ -1,9 +1,12 @@
 # SPDX-License-Identifier: GPL-2.0
 
-obj-$(CONFIG_CAN_DEV)		+= can-dev.o
-can-dev-y			+= bittiming.o
-can-dev-y			+= dev.o
-can-dev-y			+= length.o
-can-dev-y			+= netlink.o
-can-dev-y			+= rx-offload.o
-can-dev-y                       += skb.o
+obj-$(CONFIG_CAN_DEV) += can-dev.o
+
+can-dev-y += skb.o
+
+can-dev-$(CONFIG_CAN_CALC_BITTIMING) += calc_bittiming.o
+can-dev-$(CONFIG_CAN_NETLINK) += bittiming.o
+can-dev-$(CONFIG_CAN_NETLINK) += dev.o
+can-dev-$(CONFIG_CAN_NETLINK) += length.o
+can-dev-$(CONFIG_CAN_NETLINK) += netlink.o
+can-dev-$(CONFIG_CAN_RX_OFFLOAD) += rx-offload.o
diff --git a/drivers/net/can/dev/bittiming.c b/drivers/net/can/dev/bittiming.c
index c1e76f0a5064..7ae80763c960 100644
--- a/drivers/net/can/dev/bittiming.c
+++ b/drivers/net/can/dev/bittiming.c
@@ -4,205 +4,8 @@
  * Copyright (C) 2008-2009 Wolfgang Grandegger <wg@grandegger.com>
  */
 
-#include <linux/units.h>
 #include <linux/can/dev.h>
 
-#ifdef CONFIG_CAN_CALC_BITTIMING
-#define CAN_CALC_MAX_ERROR 50 /* in one-tenth of a percent */
-
-/* Bit-timing calculation derived from:
- *
- * Code based on LinCAN sources and H8S2638 project
- * Copyright 2004-2006 Pavel Pisa - DCE FELK CVUT cz
- * Copyright 2005      Stanislav Marek
- * email: pisa@cmp.felk.cvut.cz
- *
- * Calculates proper bit-timing parameters for a specified bit-rate
- * and sample-point, which can then be used to set the bit-timing
- * registers of the CAN controller. You can find more information
- * in the header file linux/can/netlink.h.
- */
-static int
-can_update_sample_point(const struct can_bittiming_const *btc,
-			const unsigned int sample_point_nominal, const unsigned int tseg,
-			unsigned int *tseg1_ptr, unsigned int *tseg2_ptr,
-			unsigned int *sample_point_error_ptr)
-{
-	unsigned int sample_point_error, best_sample_point_error = UINT_MAX;
-	unsigned int sample_point, best_sample_point = 0;
-	unsigned int tseg1, tseg2;
-	int i;
-
-	for (i = 0; i <= 1; i++) {
-		tseg2 = tseg + CAN_SYNC_SEG -
-			(sample_point_nominal * (tseg + CAN_SYNC_SEG)) /
-			1000 - i;
-		tseg2 = clamp(tseg2, btc->tseg2_min, btc->tseg2_max);
-		tseg1 = tseg - tseg2;
-		if (tseg1 > btc->tseg1_max) {
-			tseg1 = btc->tseg1_max;
-			tseg2 = tseg - tseg1;
-		}
-
-		sample_point = 1000 * (tseg + CAN_SYNC_SEG - tseg2) /
-			(tseg + CAN_SYNC_SEG);
-		sample_point_error = abs(sample_point_nominal - sample_point);
-
-		if (sample_point <= sample_point_nominal &&
-		    sample_point_error < best_sample_point_error) {
-			best_sample_point = sample_point;
-			best_sample_point_error = sample_point_error;
-			*tseg1_ptr = tseg1;
-			*tseg2_ptr = tseg2;
-		}
-	}
-
-	if (sample_point_error_ptr)
-		*sample_point_error_ptr = best_sample_point_error;
-
-	return best_sample_point;
-}
-
-int can_calc_bittiming(const struct net_device *dev, struct can_bittiming *bt,
-		       const struct can_bittiming_const *btc)
-{
-	struct can_priv *priv = netdev_priv(dev);
-	unsigned int bitrate;			/* current bitrate */
-	unsigned int bitrate_error;		/* difference between current and nominal value */
-	unsigned int best_bitrate_error = UINT_MAX;
-	unsigned int sample_point_error;	/* difference between current and nominal value */
-	unsigned int best_sample_point_error = UINT_MAX;
-	unsigned int sample_point_nominal;	/* nominal sample point */
-	unsigned int best_tseg = 0;		/* current best value for tseg */
-	unsigned int best_brp = 0;		/* current best value for brp */
-	unsigned int brp, tsegall, tseg, tseg1 = 0, tseg2 = 0;
-	u64 v64;
-
-	/* Use CiA recommended sample points */
-	if (bt->sample_point) {
-		sample_point_nominal = bt->sample_point;
-	} else {
-		if (bt->bitrate > 800 * KILO /* BPS */)
-			sample_point_nominal = 750;
-		else if (bt->bitrate > 500 * KILO /* BPS */)
-			sample_point_nominal = 800;
-		else
-			sample_point_nominal = 875;
-	}
-
-	/* tseg even = round down, odd = round up */
-	for (tseg = (btc->tseg1_max + btc->tseg2_max) * 2 + 1;
-	     tseg >= (btc->tseg1_min + btc->tseg2_min) * 2; tseg--) {
-		tsegall = CAN_SYNC_SEG + tseg / 2;
-
-		/* Compute all possible tseg choices (tseg=tseg1+tseg2) */
-		brp = priv->clock.freq / (tsegall * bt->bitrate) + tseg % 2;
-
-		/* choose brp step which is possible in system */
-		brp = (brp / btc->brp_inc) * btc->brp_inc;
-		if (brp < btc->brp_min || brp > btc->brp_max)
-			continue;
-
-		bitrate = priv->clock.freq / (brp * tsegall);
-		bitrate_error = abs(bt->bitrate - bitrate);
-
-		/* tseg brp biterror */
-		if (bitrate_error > best_bitrate_error)
-			continue;
-
-		/* reset sample point error if we have a better bitrate */
-		if (bitrate_error < best_bitrate_error)
-			best_sample_point_error = UINT_MAX;
-
-		can_update_sample_point(btc, sample_point_nominal, tseg / 2,
-					&tseg1, &tseg2, &sample_point_error);
-		if (sample_point_error >= best_sample_point_error)
-			continue;
-
-		best_sample_point_error = sample_point_error;
-		best_bitrate_error = bitrate_error;
-		best_tseg = tseg / 2;
-		best_brp = brp;
-
-		if (bitrate_error == 0 && sample_point_error == 0)
-			break;
-	}
-
-	if (best_bitrate_error) {
-		/* Error in one-tenth of a percent */
-		v64 = (u64)best_bitrate_error * 1000;
-		do_div(v64, bt->bitrate);
-		bitrate_error = (u32)v64;
-		if (bitrate_error > CAN_CALC_MAX_ERROR) {
-			netdev_err(dev,
-				   "bitrate error %d.%d%% too high\n",
-				   bitrate_error / 10, bitrate_error % 10);
-			return -EDOM;
-		}
-		netdev_warn(dev, "bitrate error %d.%d%%\n",
-			    bitrate_error / 10, bitrate_error % 10);
-	}
-
-	/* real sample point */
-	bt->sample_point = can_update_sample_point(btc, sample_point_nominal,
-						   best_tseg, &tseg1, &tseg2,
-						   NULL);
-
-	v64 = (u64)best_brp * 1000 * 1000 * 1000;
-	do_div(v64, priv->clock.freq);
-	bt->tq = (u32)v64;
-	bt->prop_seg = tseg1 / 2;
-	bt->phase_seg1 = tseg1 - bt->prop_seg;
-	bt->phase_seg2 = tseg2;
-
-	/* check for sjw user settings */
-	if (!bt->sjw || !btc->sjw_max) {
-		bt->sjw = 1;
-	} else {
-		/* bt->sjw is at least 1 -> sanitize upper bound to sjw_max */
-		if (bt->sjw > btc->sjw_max)
-			bt->sjw = btc->sjw_max;
-		/* bt->sjw must not be higher than tseg2 */
-		if (tseg2 < bt->sjw)
-			bt->sjw = tseg2;
-	}
-
-	bt->brp = best_brp;
-
-	/* real bitrate */
-	bt->bitrate = priv->clock.freq /
-		(bt->brp * (CAN_SYNC_SEG + tseg1 + tseg2));
-
-	return 0;
-}
-
-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 || !(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) {
-		/* 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 */
-
 /* Checks the validity of the specified bit-timing parameters prop_seg,
  * phase_seg1, phase_seg2 and sjw and tries to determine the bitrate
  * prescaler value brp. You can find more information in the header
diff --git a/drivers/net/can/dev/calc_bittiming.c b/drivers/net/can/dev/calc_bittiming.c
new file mode 100644
index 000000000000..d3caa040614d
--- /dev/null
+++ b/drivers/net/can/dev/calc_bittiming.c
@@ -0,0 +1,202 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/* Copyright (C) 2005 Marc Kleine-Budde, Pengutronix
+ * Copyright (C) 2006 Andrey Volkov, Varma Electronics
+ * Copyright (C) 2008-2009 Wolfgang Grandegger <wg@grandegger.com>
+ */
+
+#include <linux/units.h>
+#include <linux/can/dev.h>
+
+#define CAN_CALC_MAX_ERROR 50 /* in one-tenth of a percent */
+
+/* Bit-timing calculation derived from:
+ *
+ * Code based on LinCAN sources and H8S2638 project
+ * Copyright 2004-2006 Pavel Pisa - DCE FELK CVUT cz
+ * Copyright 2005      Stanislav Marek
+ * email: pisa@cmp.felk.cvut.cz
+ *
+ * Calculates proper bit-timing parameters for a specified bit-rate
+ * and sample-point, which can then be used to set the bit-timing
+ * registers of the CAN controller. You can find more information
+ * in the header file linux/can/netlink.h.
+ */
+static int
+can_update_sample_point(const struct can_bittiming_const *btc,
+			const unsigned int sample_point_nominal, const unsigned int tseg,
+			unsigned int *tseg1_ptr, unsigned int *tseg2_ptr,
+			unsigned int *sample_point_error_ptr)
+{
+	unsigned int sample_point_error, best_sample_point_error = UINT_MAX;
+	unsigned int sample_point, best_sample_point = 0;
+	unsigned int tseg1, tseg2;
+	int i;
+
+	for (i = 0; i <= 1; i++) {
+		tseg2 = tseg + CAN_SYNC_SEG -
+			(sample_point_nominal * (tseg + CAN_SYNC_SEG)) /
+			1000 - i;
+		tseg2 = clamp(tseg2, btc->tseg2_min, btc->tseg2_max);
+		tseg1 = tseg - tseg2;
+		if (tseg1 > btc->tseg1_max) {
+			tseg1 = btc->tseg1_max;
+			tseg2 = tseg - tseg1;
+		}
+
+		sample_point = 1000 * (tseg + CAN_SYNC_SEG - tseg2) /
+			(tseg + CAN_SYNC_SEG);
+		sample_point_error = abs(sample_point_nominal - sample_point);
+
+		if (sample_point <= sample_point_nominal &&
+		    sample_point_error < best_sample_point_error) {
+			best_sample_point = sample_point;
+			best_sample_point_error = sample_point_error;
+			*tseg1_ptr = tseg1;
+			*tseg2_ptr = tseg2;
+		}
+	}
+
+	if (sample_point_error_ptr)
+		*sample_point_error_ptr = best_sample_point_error;
+
+	return best_sample_point;
+}
+
+int can_calc_bittiming(const struct net_device *dev, struct can_bittiming *bt,
+		       const struct can_bittiming_const *btc)
+{
+	struct can_priv *priv = netdev_priv(dev);
+	unsigned int bitrate;			/* current bitrate */
+	unsigned int bitrate_error;		/* difference between current and nominal value */
+	unsigned int best_bitrate_error = UINT_MAX;
+	unsigned int sample_point_error;	/* difference between current and nominal value */
+	unsigned int best_sample_point_error = UINT_MAX;
+	unsigned int sample_point_nominal;	/* nominal sample point */
+	unsigned int best_tseg = 0;		/* current best value for tseg */
+	unsigned int best_brp = 0;		/* current best value for brp */
+	unsigned int brp, tsegall, tseg, tseg1 = 0, tseg2 = 0;
+	u64 v64;
+
+	/* Use CiA recommended sample points */
+	if (bt->sample_point) {
+		sample_point_nominal = bt->sample_point;
+	} else {
+		if (bt->bitrate > 800 * KILO /* BPS */)
+			sample_point_nominal = 750;
+		else if (bt->bitrate > 500 * KILO /* BPS */)
+			sample_point_nominal = 800;
+		else
+			sample_point_nominal = 875;
+	}
+
+	/* tseg even = round down, odd = round up */
+	for (tseg = (btc->tseg1_max + btc->tseg2_max) * 2 + 1;
+	     tseg >= (btc->tseg1_min + btc->tseg2_min) * 2; tseg--) {
+		tsegall = CAN_SYNC_SEG + tseg / 2;
+
+		/* Compute all possible tseg choices (tseg=tseg1+tseg2) */
+		brp = priv->clock.freq / (tsegall * bt->bitrate) + tseg % 2;
+
+		/* choose brp step which is possible in system */
+		brp = (brp / btc->brp_inc) * btc->brp_inc;
+		if (brp < btc->brp_min || brp > btc->brp_max)
+			continue;
+
+		bitrate = priv->clock.freq / (brp * tsegall);
+		bitrate_error = abs(bt->bitrate - bitrate);
+
+		/* tseg brp biterror */
+		if (bitrate_error > best_bitrate_error)
+			continue;
+
+		/* reset sample point error if we have a better bitrate */
+		if (bitrate_error < best_bitrate_error)
+			best_sample_point_error = UINT_MAX;
+
+		can_update_sample_point(btc, sample_point_nominal, tseg / 2,
+					&tseg1, &tseg2, &sample_point_error);
+		if (sample_point_error >= best_sample_point_error)
+			continue;
+
+		best_sample_point_error = sample_point_error;
+		best_bitrate_error = bitrate_error;
+		best_tseg = tseg / 2;
+		best_brp = brp;
+
+		if (bitrate_error == 0 && sample_point_error == 0)
+			break;
+	}
+
+	if (best_bitrate_error) {
+		/* Error in one-tenth of a percent */
+		v64 = (u64)best_bitrate_error * 1000;
+		do_div(v64, bt->bitrate);
+		bitrate_error = (u32)v64;
+		if (bitrate_error > CAN_CALC_MAX_ERROR) {
+			netdev_err(dev,
+				   "bitrate error %d.%d%% too high\n",
+				   bitrate_error / 10, bitrate_error % 10);
+			return -EDOM;
+		}
+		netdev_warn(dev, "bitrate error %d.%d%%\n",
+			    bitrate_error / 10, bitrate_error % 10);
+	}
+
+	/* real sample point */
+	bt->sample_point = can_update_sample_point(btc, sample_point_nominal,
+						   best_tseg, &tseg1, &tseg2,
+						   NULL);
+
+	v64 = (u64)best_brp * 1000 * 1000 * 1000;
+	do_div(v64, priv->clock.freq);
+	bt->tq = (u32)v64;
+	bt->prop_seg = tseg1 / 2;
+	bt->phase_seg1 = tseg1 - bt->prop_seg;
+	bt->phase_seg2 = tseg2;
+
+	/* check for sjw user settings */
+	if (!bt->sjw || !btc->sjw_max) {
+		bt->sjw = 1;
+	} else {
+		/* bt->sjw is at least 1 -> sanitize upper bound to sjw_max */
+		if (bt->sjw > btc->sjw_max)
+			bt->sjw = btc->sjw_max;
+		/* bt->sjw must not be higher than tseg2 */
+		if (tseg2 < bt->sjw)
+			bt->sjw = tseg2;
+	}
+
+	bt->brp = best_brp;
+
+	/* real bitrate */
+	bt->bitrate = priv->clock.freq /
+		(bt->brp * (CAN_SYNC_SEG + tseg1 + tseg2));
+
+	return 0;
+}
+
+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 || !(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) {
+		/* 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;
+	}
+}
diff --git a/drivers/net/can/dev/dev.c b/drivers/net/can/dev/dev.c
index 96c9d9db00cf..523eaacfe29e 100644
--- a/drivers/net/can/dev/dev.c
+++ b/drivers/net/can/dev/dev.c
@@ -4,7 +4,6 @@
  * Copyright (C) 2008-2009 Wolfgang Grandegger <wg@grandegger.com>
  */
 
-#include <linux/module.h>
 #include <linux/kernel.h>
 #include <linux/slab.h>
 #include <linux/netdevice.h>
@@ -17,12 +16,6 @@
 #include <linux/gpio/consumer.h>
 #include <linux/of.h>
 
-#define MOD_DESC "CAN device driver interface"
-
-MODULE_DESCRIPTION(MOD_DESC);
-MODULE_LICENSE("GPL v2");
-MODULE_AUTHOR("Wolfgang Grandegger <wg@grandegger.com>");
-
 static void can_update_state_error_stats(struct net_device *dev,
 					 enum can_state new_state)
 {
@@ -513,7 +506,7 @@ static __init int can_dev_init(void)
 
 	err = can_netlink_register();
 	if (!err)
-		pr_info(MOD_DESC "\n");
+		pr_info("CAN device driver interface\n");
 
 	return err;
 }
diff --git a/drivers/net/can/dev/netlink.c b/drivers/net/can/dev/netlink.c
index 7633d98e3912..037824011266 100644
--- a/drivers/net/can/dev/netlink.c
+++ b/drivers/net/can/dev/netlink.c
@@ -176,7 +176,8 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 		 * directly via do_set_bitrate(). Bail out if neither
 		 * is given.
 		 */
-		if (!priv->bittiming_const && !priv->do_set_bittiming)
+		if (!priv->bittiming_const && !priv->do_set_bittiming &&
+		    !priv->bitrate_const)
 			return -EOPNOTSUPP;
 
 		memcpy(&bt, nla_data(data[IFLA_CAN_BITTIMING]), sizeof(bt));
@@ -278,7 +279,8 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 		 * directly via do_set_bitrate(). Bail out if neither
 		 * is given.
 		 */
-		if (!priv->data_bittiming_const && !priv->do_set_data_bittiming)
+		if (!priv->data_bittiming_const && !priv->do_set_data_bittiming &&
+		    !priv->data_bitrate_const)
 			return -EOPNOTSUPP;
 
 		memcpy(&dbt, nla_data(data[IFLA_CAN_DATA_BITTIMING]),
diff --git a/drivers/net/can/dev/skb.c b/drivers/net/can/dev/skb.c
index 61660248c69e..8bb62dd864c8 100644
--- a/drivers/net/can/dev/skb.c
+++ b/drivers/net/can/dev/skb.c
@@ -5,6 +5,14 @@
  */
 
 #include <linux/can/dev.h>
+#include <linux/can/netlink.h>
+#include <linux/module.h>
+
+#define MOD_DESC "CAN device driver interface"
+
+MODULE_DESCRIPTION(MOD_DESC);
+MODULE_LICENSE("GPL v2");
+MODULE_AUTHOR("Wolfgang Grandegger <wg@grandegger.com>");
 
 /* Local echo of CAN messages
  *
@@ -252,3 +260,67 @@ struct sk_buff *alloc_can_err_skb(struct net_device *dev, struct can_frame **cf)
 	return skb;
 }
 EXPORT_SYMBOL_GPL(alloc_can_err_skb);
+
+/* Check for outgoing skbs that have not been created by the CAN subsystem */
+static bool can_skb_headroom_valid(struct net_device *dev, struct sk_buff *skb)
+{
+	/* af_packet creates a headroom of HH_DATA_MOD bytes which is fine */
+	if (WARN_ON_ONCE(skb_headroom(skb) < sizeof(struct can_skb_priv)))
+		return false;
+
+	/* af_packet does not apply CAN skb specific settings */
+	if (skb->ip_summed == CHECKSUM_NONE) {
+		/* init headroom */
+		can_skb_prv(skb)->ifindex = dev->ifindex;
+		can_skb_prv(skb)->skbcnt = 0;
+
+		skb->ip_summed = CHECKSUM_UNNECESSARY;
+
+		/* perform proper loopback on capable devices */
+		if (dev->flags & IFF_ECHO)
+			skb->pkt_type = PACKET_LOOPBACK;
+		else
+			skb->pkt_type = PACKET_HOST;
+
+		skb_reset_mac_header(skb);
+		skb_reset_network_header(skb);
+		skb_reset_transport_header(skb);
+	}
+
+	return true;
+}
+
+/* Drop a given socketbuffer if it does not contain a valid CAN frame. */
+bool can_dropped_invalid_skb(struct net_device *dev, struct sk_buff *skb)
+{
+	const struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
+	struct can_priv *priv = netdev_priv(dev);
+
+	if (skb->protocol == htons(ETH_P_CAN)) {
+		if (unlikely(skb->len != CAN_MTU ||
+			     cfd->len > CAN_MAX_DLEN))
+			goto inval_skb;
+	} else if (skb->protocol == htons(ETH_P_CANFD)) {
+		if (unlikely(skb->len != CANFD_MTU ||
+			     cfd->len > CANFD_MAX_DLEN))
+			goto inval_skb;
+	} else {
+		goto inval_skb;
+	}
+
+	if (!can_skb_headroom_valid(dev, skb)) {
+		goto inval_skb;
+	} else if (priv->ctrlmode & CAN_CTRLMODE_LISTENONLY) {
+		netdev_info_once(dev,
+				 "interface in listen only mode, dropping skb\n");
+		goto inval_skb;
+	}
+
+	return false;
+
+inval_skb:
+	kfree_skb(skb);
+	dev->stats.tx_dropped++;
+	return true;
+}
+EXPORT_SYMBOL_GPL(can_dropped_invalid_skb);
diff --git a/drivers/net/can/m_can/Kconfig b/drivers/net/can/m_can/Kconfig
index 45ad1b3f0cd0..fc2afab36279 100644
--- a/drivers/net/can/m_can/Kconfig
+++ b/drivers/net/can/m_can/Kconfig
@@ -1,6 +1,7 @@
 # SPDX-License-Identifier: GPL-2.0-only
 menuconfig CAN_M_CAN
 	tristate "Bosch M_CAN support"
+	select CAN_RX_OFFLOAD
 	help
 	  Say Y here if you want support for Bosch M_CAN controller framework.
 	  This is common support for devices that embed the Bosch M_CAN IP.
diff --git a/drivers/net/can/m_can/m_can.c b/drivers/net/can/m_can/m_can.c
index 5d0c82d8b9a9..4f90e17354f2 100644
--- a/drivers/net/can/m_can/m_can.c
+++ b/drivers/net/can/m_can/m_can.c
@@ -1348,8 +1348,8 @@ static void m_can_chip_config(struct net_device *dev)
 	/* set bittiming params */
 	m_can_set_bittiming(dev);
 
-	/* enable internal timestamp generation, with a prescalar of 16. The
-	 * prescalar is applied to the nominal bit timing
+	/* enable internal timestamp generation, with a prescaler of 16. The
+	 * prescaler is applied to the nominal bit timing
 	 */
 	m_can_write(cdev, M_CAN_TSCC, FIELD_PREP(TSCC_TCP_MASK, 0xf));
 
diff --git a/drivers/net/can/spi/mcp251xfd/Kconfig b/drivers/net/can/spi/mcp251xfd/Kconfig
index dd0fc0a54be1..877e4356010d 100644
--- a/drivers/net/can/spi/mcp251xfd/Kconfig
+++ b/drivers/net/can/spi/mcp251xfd/Kconfig
@@ -2,6 +2,7 @@
 
 config CAN_MCP251XFD
 	tristate "Microchip MCP251xFD SPI CAN controllers"
+	select CAN_RX_OFFLOAD
 	select REGMAP
 	select WANT_DEV_COREDUMP
 	help
diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
index f959215c9d53..1218f9642f33 100644
--- a/drivers/net/can/usb/Kconfig
+++ b/drivers/net/can/usb/Kconfig
@@ -14,11 +14,18 @@ config CAN_EMS_USB
 	  This driver is for the one channel CPC-USB/ARM7 CAN/USB interface
 	  from EMS Dr. Thomas Wuensche (http://www.ems-wuensche.de).
 
-config CAN_ESD_USB2
-	tristate "ESD USB/2 CAN/USB interface"
+config CAN_ESD_USB
+	tristate "esd electronics gmbh CAN/USB interfaces"
 	help
-	  This driver supports the CAN-USB/2 interface
-	  from esd electronic system design gmbh (http://www.esd.eu).
+	  This driver adds supports for several CAN/USB interfaces
+	  from esd electronics gmbh (https://www.esd.eu).
+
+	  The drivers supports the following devices:
+	    - esd CAN-USB/2
+	    - esd CAN-USB/Micro
+
+	  To compile this driver as a module, choose M here: the module
+	  will be called esd_usb.
 
 config CAN_ETAS_ES58X
 	tristate "ETAS ES58X CAN/USB interfaces"
diff --git a/drivers/net/can/usb/Makefile b/drivers/net/can/usb/Makefile
index 748cf31a0d53..1ea16be5743b 100644
--- a/drivers/net/can/usb/Makefile
+++ b/drivers/net/can/usb/Makefile
@@ -5,7 +5,7 @@
 
 obj-$(CONFIG_CAN_8DEV_USB) += usb_8dev.o
 obj-$(CONFIG_CAN_EMS_USB) += ems_usb.o
-obj-$(CONFIG_CAN_ESD_USB2) += esd_usb2.o
+obj-$(CONFIG_CAN_ESD_USB) += esd_usb.o
 obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x/
 obj-$(CONFIG_CAN_GS_USB) += gs_usb.o
 obj-$(CONFIG_CAN_KVASER_USB) += kvaser_usb/
diff --git a/drivers/net/can/usb/esd_usb2.c b/drivers/net/can/usb/esd_usb.c
index 286daaaea0b8..8a4bf2961f3d 100644
--- a/drivers/net/can/usb/esd_usb2.c
+++ b/drivers/net/can/usb/esd_usb.c
@@ -1,8 +1,9 @@
 // SPDX-License-Identifier: GPL-2.0-only
 /*
- * CAN driver for esd CAN-USB/2 and CAN-USB/Micro
+ * CAN driver for esd electronics gmbh CAN-USB/2 and CAN-USB/Micro
  *
- * Copyright (C) 2010-2012 Matthias Fuchs <matthias.fuchs@esd.eu>, esd gmbh
+ * Copyright (C) 2010-2012 esd electronic system design gmbh, Matthias Fuchs <socketcan@esd.eu>
+ * Copyright (C) 2022 esd electronics gmbh, Frank Jungclaus <frank.jungclaus@esd.eu>
  */
 #include <linux/signal.h>
 #include <linux/slab.h>
@@ -14,20 +15,24 @@
 #include <linux/can/dev.h>
 #include <linux/can/error.h>
 
-MODULE_AUTHOR("Matthias Fuchs <matthias.fuchs@esd.eu>");
-MODULE_DESCRIPTION("CAN driver for esd CAN-USB/2 and CAN-USB/Micro interfaces");
+MODULE_AUTHOR("Matthias Fuchs <socketcan@esd.eu>");
+MODULE_AUTHOR("Frank Jungclaus <frank.jungclaus@esd.eu>");
+MODULE_DESCRIPTION("CAN driver for esd electronics gmbh CAN-USB/2 and CAN-USB/Micro interfaces");
 MODULE_LICENSE("GPL v2");
 
-/* Define these values to match your devices */
+/* USB vendor and product ID */
 #define USB_ESDGMBH_VENDOR_ID	0x0ab4
 #define USB_CANUSB2_PRODUCT_ID	0x0010
 #define USB_CANUSBM_PRODUCT_ID	0x0011
 
+/* CAN controller clock frequencies */
 #define ESD_USB2_CAN_CLOCK	60000000
 #define ESD_USBM_CAN_CLOCK	36000000
-#define ESD_USB2_MAX_NETS	2
 
-/* USB2 commands */
+/* Maximum number of CAN nets */
+#define ESD_USB_MAX_NETS	2
+
+/* USB commands */
 #define CMD_VERSION		1 /* also used for VERSION_REPLY */
 #define CMD_CAN_RX		2 /* device to host only */
 #define CMD_CAN_TX		3 /* also used for TX_DONE */
@@ -43,13 +48,15 @@ MODULE_LICENSE("GPL v2");
 #define ESD_EVENT		0x40000000
 #define ESD_IDMASK		0x1fffffff
 
-/* esd CAN event ids used by this driver */
-#define ESD_EV_CAN_ERROR_EXT	2
+/* esd CAN event ids */
+#define ESD_EV_CAN_ERROR_EXT	2 /* CAN controller specific diagnostic data */
 
 /* baudrate message flags */
-#define ESD_USB2_UBR		0x80000000
-#define ESD_USB2_LOM		0x40000000
-#define ESD_USB2_NO_BAUDRATE	0x7fffffff
+#define ESD_USB_UBR		0x80000000
+#define ESD_USB_LOM		0x40000000
+#define ESD_USB_NO_BAUDRATE	0x7fffffff
+
+/* bit timing CAN-USB/2 */
 #define ESD_USB2_TSEG1_MIN	1
 #define ESD_USB2_TSEG1_MAX	16
 #define ESD_USB2_TSEG1_SHIFT	16
@@ -68,7 +75,7 @@ MODULE_LICENSE("GPL v2");
 #define ESD_ID_ENABLE		0x80
 #define ESD_MAX_ID_SEGMENT	64
 
-/* SJA1000 ECC register (emulated by usb2 firmware) */
+/* SJA1000 ECC register (emulated by usb firmware) */
 #define SJA1000_ECC_SEG		0x1F
 #define SJA1000_ECC_DIR		0x20
 #define SJA1000_ECC_ERR		0x06
@@ -158,7 +165,7 @@ struct set_baudrate_msg {
 };
 
 /* Main message type used between library and application */
-struct __attribute__ ((packed)) esd_usb2_msg {
+struct __packed esd_usb_msg {
 	union {
 		struct header_msg hdr;
 		struct version_msg version;
@@ -171,23 +178,23 @@ struct __attribute__ ((packed)) esd_usb2_msg {
 	} msg;
 };
 
-static struct usb_device_id esd_usb2_table[] = {
+static struct usb_device_id esd_usb_table[] = {
 	{USB_DEVICE(USB_ESDGMBH_VENDOR_ID, USB_CANUSB2_PRODUCT_ID)},
 	{USB_DEVICE(USB_ESDGMBH_VENDOR_ID, USB_CANUSBM_PRODUCT_ID)},
 	{}
 };
-MODULE_DEVICE_TABLE(usb, esd_usb2_table);
+MODULE_DEVICE_TABLE(usb, esd_usb_table);
 
-struct esd_usb2_net_priv;
+struct esd_usb_net_priv;
 
 struct esd_tx_urb_context {
-	struct esd_usb2_net_priv *priv;
+	struct esd_usb_net_priv *priv;
 	u32 echo_index;
 };
 
-struct esd_usb2 {
+struct esd_usb {
 	struct usb_device *udev;
-	struct esd_usb2_net_priv *nets[ESD_USB2_MAX_NETS];
+	struct esd_usb_net_priv *nets[ESD_USB_MAX_NETS];
 
 	struct usb_anchor rx_submitted;
 
@@ -198,22 +205,22 @@ struct esd_usb2 {
 	dma_addr_t rxbuf_dma[MAX_RX_URBS];
 };
 
-struct esd_usb2_net_priv {
+struct esd_usb_net_priv {
 	struct can_priv can; /* must be the first member */
 
 	atomic_t active_tx_jobs;
 	struct usb_anchor tx_submitted;
 	struct esd_tx_urb_context tx_contexts[MAX_TX_URBS];
 
-	struct esd_usb2 *usb2;
+	struct esd_usb *usb;
 	struct net_device *netdev;
 	int index;
 	u8 old_state;
 	struct can_berr_counter bec;
 };
 
-static void esd_usb2_rx_event(struct esd_usb2_net_priv *priv,
-			      struct esd_usb2_msg *msg)
+static void esd_usb_rx_event(struct esd_usb_net_priv *priv,
+			     struct esd_usb_msg *msg)
 {
 	struct net_device_stats *stats = &priv->netdev->stats;
 	struct can_frame *cf;
@@ -296,8 +303,8 @@ static void esd_usb2_rx_event(struct esd_usb2_net_priv *priv,
 	}
 }
 
-static void esd_usb2_rx_can_msg(struct esd_usb2_net_priv *priv,
-				struct esd_usb2_msg *msg)
+static void esd_usb_rx_can_msg(struct esd_usb_net_priv *priv,
+			       struct esd_usb_msg *msg)
 {
 	struct net_device_stats *stats = &priv->netdev->stats;
 	struct can_frame *cf;
@@ -311,7 +318,7 @@ static void esd_usb2_rx_can_msg(struct esd_usb2_net_priv *priv,
 	id = le32_to_cpu(msg->msg.rx.id);
 
 	if (id & ESD_EVENT) {
-		esd_usb2_rx_event(priv, msg);
+		esd_usb_rx_event(priv, msg);
 	} else {
 		skb = alloc_can_skb(priv->netdev, &cf);
 		if (skb == NULL) {
@@ -338,12 +345,10 @@ static void esd_usb2_rx_can_msg(struct esd_usb2_net_priv *priv,
 
 		netif_rx(skb);
 	}
-
-	return;
 }
 
-static void esd_usb2_tx_done_msg(struct esd_usb2_net_priv *priv,
-				 struct esd_usb2_msg *msg)
+static void esd_usb_tx_done_msg(struct esd_usb_net_priv *priv,
+				struct esd_usb_msg *msg)
 {
 	struct net_device_stats *stats = &priv->netdev->stats;
 	struct net_device *netdev = priv->netdev;
@@ -370,9 +375,9 @@ static void esd_usb2_tx_done_msg(struct esd_usb2_net_priv *priv,
 	netif_wake_queue(netdev);
 }
 
-static void esd_usb2_read_bulk_callback(struct urb *urb)
+static void esd_usb_read_bulk_callback(struct urb *urb)
 {
-	struct esd_usb2 *dev = urb->context;
+	struct esd_usb *dev = urb->context;
 	int retval;
 	int pos = 0;
 	int i;
@@ -394,9 +399,9 @@ static void esd_usb2_read_bulk_callback(struct urb *urb)
 	}
 
 	while (pos < urb->actual_length) {
-		struct esd_usb2_msg *msg;
+		struct esd_usb_msg *msg;
 
-		msg = (struct esd_usb2_msg *)(urb->transfer_buffer + pos);
+		msg = (struct esd_usb_msg *)(urb->transfer_buffer + pos);
 
 		switch (msg->msg.hdr.cmd) {
 		case CMD_CAN_RX:
@@ -405,7 +410,7 @@ static void esd_usb2_read_bulk_callback(struct urb *urb)
 				break;
 			}
 
-			esd_usb2_rx_can_msg(dev->nets[msg->msg.rx.net], msg);
+			esd_usb_rx_can_msg(dev->nets[msg->msg.rx.net], msg);
 			break;
 
 		case CMD_CAN_TX:
@@ -414,8 +419,8 @@ static void esd_usb2_read_bulk_callback(struct urb *urb)
 				break;
 			}
 
-			esd_usb2_tx_done_msg(dev->nets[msg->msg.txdone.net],
-					     msg);
+			esd_usb_tx_done_msg(dev->nets[msg->msg.txdone.net],
+					    msg);
 			break;
 		}
 
@@ -430,7 +435,7 @@ static void esd_usb2_read_bulk_callback(struct urb *urb)
 resubmit_urb:
 	usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 1),
 			  urb->transfer_buffer, RX_BUFFER_SIZE,
-			  esd_usb2_read_bulk_callback, dev);
+			  esd_usb_read_bulk_callback, dev);
 
 	retval = usb_submit_urb(urb, GFP_ATOMIC);
 	if (retval == -ENODEV) {
@@ -442,19 +447,15 @@ resubmit_urb:
 		dev_err(dev->udev->dev.parent,
 			"failed resubmitting read bulk urb: %d\n", retval);
 	}
-
-	return;
 }
 
-/*
- * callback for bulk IN urb
- */
-static void esd_usb2_write_bulk_callback(struct urb *urb)
+/* callback for bulk IN urb */
+static void esd_usb_write_bulk_callback(struct urb *urb)
 {
 	struct esd_tx_urb_context *context = urb->context;
-	struct esd_usb2_net_priv *priv;
+	struct esd_usb_net_priv *priv;
 	struct net_device *netdev;
-	size_t size = sizeof(struct esd_usb2_msg);
+	size_t size = sizeof(struct esd_usb_msg);
 
 	WARN_ON(!context);
 
@@ -478,7 +479,7 @@ static ssize_t firmware_show(struct device *d,
 			     struct device_attribute *attr, char *buf)
 {
 	struct usb_interface *intf = to_usb_interface(d);
-	struct esd_usb2 *dev = usb_get_intfdata(intf);
+	struct esd_usb *dev = usb_get_intfdata(intf);
 
 	return sprintf(buf, "%d.%d.%d\n",
 		       (dev->version >> 12) & 0xf,
@@ -491,7 +492,7 @@ static ssize_t hardware_show(struct device *d,
 			     struct device_attribute *attr, char *buf)
 {
 	struct usb_interface *intf = to_usb_interface(d);
-	struct esd_usb2 *dev = usb_get_intfdata(intf);
+	struct esd_usb *dev = usb_get_intfdata(intf);
 
 	return sprintf(buf, "%d.%d.%d\n",
 		       (dev->version >> 28) & 0xf,
@@ -504,13 +505,13 @@ static ssize_t nets_show(struct device *d,
 			 struct device_attribute *attr, char *buf)
 {
 	struct usb_interface *intf = to_usb_interface(d);
-	struct esd_usb2 *dev = usb_get_intfdata(intf);
+	struct esd_usb *dev = usb_get_intfdata(intf);
 
 	return sprintf(buf, "%d", dev->net_count);
 }
 static DEVICE_ATTR_RO(nets);
 
-static int esd_usb2_send_msg(struct esd_usb2 *dev, struct esd_usb2_msg *msg)
+static int esd_usb_send_msg(struct esd_usb *dev, struct esd_usb_msg *msg)
 {
 	int actual_length;
 
@@ -522,8 +523,8 @@ static int esd_usb2_send_msg(struct esd_usb2 *dev, struct esd_usb2_msg *msg)
 			    1000);
 }
 
-static int esd_usb2_wait_msg(struct esd_usb2 *dev,
-			     struct esd_usb2_msg *msg)
+static int esd_usb_wait_msg(struct esd_usb *dev,
+			    struct esd_usb_msg *msg)
 {
 	int actual_length;
 
@@ -535,7 +536,7 @@ static int esd_usb2_wait_msg(struct esd_usb2 *dev,
 			    1000);
 }
 
-static int esd_usb2_setup_rx_urbs(struct esd_usb2 *dev)
+static int esd_usb_setup_rx_urbs(struct esd_usb *dev)
 {
 	int i, err = 0;
 
@@ -568,7 +569,7 @@ static int esd_usb2_setup_rx_urbs(struct esd_usb2 *dev)
 		usb_fill_bulk_urb(urb, dev->udev,
 				  usb_rcvbulkpipe(dev->udev, 1),
 				  buf, RX_BUFFER_SIZE,
-				  esd_usb2_read_bulk_callback, dev);
+				  esd_usb_read_bulk_callback, dev);
 		urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
 		usb_anchor_urb(urb, &dev->rx_submitted);
 
@@ -606,14 +607,12 @@ freeurb:
 	return 0;
 }
 
-/*
- * Start interface
- */
-static int esd_usb2_start(struct esd_usb2_net_priv *priv)
+/* Start interface */
+static int esd_usb_start(struct esd_usb_net_priv *priv)
 {
-	struct esd_usb2 *dev = priv->usb2;
+	struct esd_usb *dev = priv->usb;
 	struct net_device *netdev = priv->netdev;
-	struct esd_usb2_msg *msg;
+	struct esd_usb_msg *msg;
 	int err, i;
 
 	msg = kmalloc(sizeof(*msg), GFP_KERNEL);
@@ -622,8 +621,7 @@ static int esd_usb2_start(struct esd_usb2_net_priv *priv)
 		goto out;
 	}
 
-	/*
-	 * Enable all IDs
+	/* Enable all IDs
 	 * The IDADD message takes up to 64 32 bit bitmasks (2048 bits).
 	 * Each bit represents one 11 bit CAN identifier. A set bit
 	 * enables reception of the corresponding CAN identifier. A cleared
@@ -644,11 +642,11 @@ static int esd_usb2_start(struct esd_usb2_net_priv *priv)
 	/* enable 29bit extended IDs */
 	msg->msg.filter.mask[ESD_MAX_ID_SEGMENT] = cpu_to_le32(0x00000001);
 
-	err = esd_usb2_send_msg(dev, msg);
+	err = esd_usb_send_msg(dev, msg);
 	if (err)
 		goto out;
 
-	err = esd_usb2_setup_rx_urbs(dev);
+	err = esd_usb_setup_rx_urbs(dev);
 	if (err)
 		goto out;
 
@@ -664,9 +662,9 @@ out:
 	return err;
 }
 
-static void unlink_all_urbs(struct esd_usb2 *dev)
+static void unlink_all_urbs(struct esd_usb *dev)
 {
-	struct esd_usb2_net_priv *priv;
+	struct esd_usb_net_priv *priv;
 	int i, j;
 
 	usb_kill_anchored_urbs(&dev->rx_submitted);
@@ -687,9 +685,9 @@ static void unlink_all_urbs(struct esd_usb2 *dev)
 	}
 }
 
-static int esd_usb2_open(struct net_device *netdev)
+static int esd_usb_open(struct net_device *netdev)
 {
-	struct esd_usb2_net_priv *priv = netdev_priv(netdev);
+	struct esd_usb_net_priv *priv = netdev_priv(netdev);
 	int err;
 
 	/* common open */
@@ -698,7 +696,7 @@ static int esd_usb2_open(struct net_device *netdev)
 		return err;
 
 	/* finally start device */
-	err = esd_usb2_start(priv);
+	err = esd_usb_start(priv);
 	if (err) {
 		netdev_warn(netdev, "couldn't start device: %d\n", err);
 		close_candev(netdev);
@@ -710,20 +708,20 @@ static int esd_usb2_open(struct net_device *netdev)
 	return 0;
 }
 
-static netdev_tx_t esd_usb2_start_xmit(struct sk_buff *skb,
+static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb,
 				      struct net_device *netdev)
 {
-	struct esd_usb2_net_priv *priv = netdev_priv(netdev);
-	struct esd_usb2 *dev = priv->usb2;
+	struct esd_usb_net_priv *priv = netdev_priv(netdev);
+	struct esd_usb *dev = priv->usb;
 	struct esd_tx_urb_context *context = NULL;
 	struct net_device_stats *stats = &netdev->stats;
 	struct can_frame *cf = (struct can_frame *)skb->data;
-	struct esd_usb2_msg *msg;
+	struct esd_usb_msg *msg;
 	struct urb *urb;
 	u8 *buf;
 	int i, err;
 	int ret = NETDEV_TX_OK;
-	size_t size = sizeof(struct esd_usb2_msg);
+	size_t size = sizeof(struct esd_usb_msg);
 
 	if (can_dropped_invalid_skb(netdev, skb))
 		return NETDEV_TX_OK;
@@ -745,7 +743,7 @@ static netdev_tx_t esd_usb2_start_xmit(struct sk_buff *skb,
 		goto nobufmem;
 	}
 
-	msg = (struct esd_usb2_msg *)buf;
+	msg = (struct esd_usb_msg *)buf;
 
 	msg->msg.hdr.len = 3; /* minimal length */
 	msg->msg.hdr.cmd = CMD_CAN_TX;
@@ -771,9 +769,7 @@ static netdev_tx_t esd_usb2_start_xmit(struct sk_buff *skb,
 		}
 	}
 
-	/*
-	 * This may never happen.
-	 */
+	/* This may never happen */
 	if (!context) {
 		netdev_warn(netdev, "couldn't find free context\n");
 		ret = NETDEV_TX_BUSY;
@@ -788,7 +784,7 @@ static netdev_tx_t esd_usb2_start_xmit(struct sk_buff *skb,
 
 	usb_fill_bulk_urb(urb, dev->udev, usb_sndbulkpipe(dev->udev, 2), buf,
 			  msg->msg.hdr.len << 2,
-			  esd_usb2_write_bulk_callback, context);
+			  esd_usb_write_bulk_callback, context);
 
 	urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
 
@@ -821,8 +817,7 @@ static netdev_tx_t esd_usb2_start_xmit(struct sk_buff *skb,
 
 	netif_trans_update(netdev);
 
-	/*
-	 * Release our reference to this URB, the USB core will eventually free
+	/* Release our reference to this URB, the USB core will eventually free
 	 * it entirely.
 	 */
 	usb_free_urb(urb);
@@ -839,24 +834,24 @@ nourbmem:
 	return ret;
 }
 
-static int esd_usb2_close(struct net_device *netdev)
+static int esd_usb_close(struct net_device *netdev)
 {
-	struct esd_usb2_net_priv *priv = netdev_priv(netdev);
-	struct esd_usb2_msg *msg;
+	struct esd_usb_net_priv *priv = netdev_priv(netdev);
+	struct esd_usb_msg *msg;
 	int i;
 
 	msg = kmalloc(sizeof(*msg), GFP_KERNEL);
 	if (!msg)
 		return -ENOMEM;
 
-	/* Disable all IDs (see esd_usb2_start()) */
+	/* Disable all IDs (see esd_usb_start()) */
 	msg->msg.hdr.cmd = CMD_IDADD;
 	msg->msg.hdr.len = 2 + ESD_MAX_ID_SEGMENT;
 	msg->msg.filter.net = priv->index;
 	msg->msg.filter.option = ESD_ID_ENABLE; /* start with segment 0 */
 	for (i = 0; i <= ESD_MAX_ID_SEGMENT; i++)
 		msg->msg.filter.mask[i] = 0;
-	if (esd_usb2_send_msg(priv->usb2, msg) < 0)
+	if (esd_usb_send_msg(priv->usb, msg) < 0)
 		netdev_err(netdev, "sending idadd message failed\n");
 
 	/* set CAN controller to reset mode */
@@ -864,8 +859,8 @@ static int esd_usb2_close(struct net_device *netdev)
 	msg->msg.hdr.cmd = CMD_SETBAUD;
 	msg->msg.setbaud.net = priv->index;
 	msg->msg.setbaud.rsvd = 0;
-	msg->msg.setbaud.baud = cpu_to_le32(ESD_USB2_NO_BAUDRATE);
-	if (esd_usb2_send_msg(priv->usb2, msg) < 0)
+	msg->msg.setbaud.baud = cpu_to_le32(ESD_USB_NO_BAUDRATE);
+	if (esd_usb_send_msg(priv->usb, msg) < 0)
 		netdev_err(netdev, "sending setbaud message failed\n");
 
 	priv->can.state = CAN_STATE_STOPPED;
@@ -879,10 +874,10 @@ static int esd_usb2_close(struct net_device *netdev)
 	return 0;
 }
 
-static const struct net_device_ops esd_usb2_netdev_ops = {
-	.ndo_open = esd_usb2_open,
-	.ndo_stop = esd_usb2_close,
-	.ndo_start_xmit = esd_usb2_start_xmit,
+static const struct net_device_ops esd_usb_netdev_ops = {
+	.ndo_open = esd_usb_open,
+	.ndo_stop = esd_usb_close,
+	.ndo_start_xmit = esd_usb_start_xmit,
 	.ndo_change_mtu = can_change_mtu,
 };
 
@@ -900,20 +895,20 @@ static const struct can_bittiming_const esd_usb2_bittiming_const = {
 
 static int esd_usb2_set_bittiming(struct net_device *netdev)
 {
-	struct esd_usb2_net_priv *priv = netdev_priv(netdev);
+	struct esd_usb_net_priv *priv = netdev_priv(netdev);
 	struct can_bittiming *bt = &priv->can.bittiming;
-	struct esd_usb2_msg *msg;
+	struct esd_usb_msg *msg;
 	int err;
 	u32 canbtr;
 	int sjw_shift;
 
-	canbtr = ESD_USB2_UBR;
+	canbtr = ESD_USB_UBR;
 	if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY)
-		canbtr |= ESD_USB2_LOM;
+		canbtr |= ESD_USB_LOM;
 
 	canbtr |= (bt->brp - 1) & (ESD_USB2_BRP_MAX - 1);
 
-	if (le16_to_cpu(priv->usb2->udev->descriptor.idProduct) ==
+	if (le16_to_cpu(priv->usb->udev->descriptor.idProduct) ==
 	    USB_CANUSBM_PRODUCT_ID)
 		sjw_shift = ESD_USBM_SJW_SHIFT;
 	else
@@ -941,16 +936,16 @@ static int esd_usb2_set_bittiming(struct net_device *netdev)
 
 	netdev_info(netdev, "setting BTR=%#x\n", canbtr);
 
-	err = esd_usb2_send_msg(priv->usb2, msg);
+	err = esd_usb_send_msg(priv->usb, msg);
 
 	kfree(msg);
 	return err;
 }
 
-static int esd_usb2_get_berr_counter(const struct net_device *netdev,
-				     struct can_berr_counter *bec)
+static int esd_usb_get_berr_counter(const struct net_device *netdev,
+				    struct can_berr_counter *bec)
 {
-	struct esd_usb2_net_priv *priv = netdev_priv(netdev);
+	struct esd_usb_net_priv *priv = netdev_priv(netdev);
 
 	bec->txerr = priv->bec.txerr;
 	bec->rxerr = priv->bec.rxerr;
@@ -958,7 +953,7 @@ static int esd_usb2_get_berr_counter(const struct net_device *netdev,
 	return 0;
 }
 
-static int esd_usb2_set_mode(struct net_device *netdev, enum can_mode mode)
+static int esd_usb_set_mode(struct net_device *netdev, enum can_mode mode)
 {
 	switch (mode) {
 	case CAN_MODE_START:
@@ -972,11 +967,11 @@ static int esd_usb2_set_mode(struct net_device *netdev, enum can_mode mode)
 	return 0;
 }
 
-static int esd_usb2_probe_one_net(struct usb_interface *intf, int index)
+static int esd_usb_probe_one_net(struct usb_interface *intf, int index)
 {
-	struct esd_usb2 *dev = usb_get_intfdata(intf);
+	struct esd_usb *dev = usb_get_intfdata(intf);
 	struct net_device *netdev;
-	struct esd_usb2_net_priv *priv;
+	struct esd_usb_net_priv *priv;
 	int err = 0;
 	int i;
 
@@ -995,7 +990,7 @@ static int esd_usb2_probe_one_net(struct usb_interface *intf, int index)
 	for (i = 0; i < MAX_TX_URBS; i++)
 		priv->tx_contexts[i].echo_index = MAX_TX_URBS;
 
-	priv->usb2 = dev;
+	priv->usb = dev;
 	priv->netdev = netdev;
 	priv->index = index;
 
@@ -1013,12 +1008,12 @@ static int esd_usb2_probe_one_net(struct usb_interface *intf, int index)
 
 	priv->can.bittiming_const = &esd_usb2_bittiming_const;
 	priv->can.do_set_bittiming = esd_usb2_set_bittiming;
-	priv->can.do_set_mode = esd_usb2_set_mode;
-	priv->can.do_get_berr_counter = esd_usb2_get_berr_counter;
+	priv->can.do_set_mode = esd_usb_set_mode;
+	priv->can.do_get_berr_counter = esd_usb_get_berr_counter;
 
 	netdev->flags |= IFF_ECHO; /* we support local echo */
 
-	netdev->netdev_ops = &esd_usb2_netdev_ops;
+	netdev->netdev_ops = &esd_usb_netdev_ops;
 
 	SET_NETDEV_DEV(netdev, &intf->dev);
 	netdev->dev_id = index;
@@ -1038,17 +1033,16 @@ done:
 	return err;
 }
 
-/*
- * probe function for new USB2 devices
+/* probe function for new USB devices
  *
  * check version information and number of available
  * CAN interfaces
  */
-static int esd_usb2_probe(struct usb_interface *intf,
+static int esd_usb_probe(struct usb_interface *intf,
 			 const struct usb_device_id *id)
 {
-	struct esd_usb2 *dev;
-	struct esd_usb2_msg *msg;
+	struct esd_usb *dev;
+	struct esd_usb_msg *msg;
 	int i, err;
 
 	dev = kzalloc(sizeof(*dev), GFP_KERNEL);
@@ -1076,13 +1070,13 @@ static int esd_usb2_probe(struct usb_interface *intf,
 	msg->msg.version.flags = 0;
 	msg->msg.version.drv_version = 0;
 
-	err = esd_usb2_send_msg(dev, msg);
+	err = esd_usb_send_msg(dev, msg);
 	if (err < 0) {
 		dev_err(&intf->dev, "sending version message failed\n");
 		goto free_msg;
 	}
 
-	err = esd_usb2_wait_msg(dev, msg);
+	err = esd_usb_wait_msg(dev, msg);
 	if (err < 0) {
 		dev_err(&intf->dev, "no version message answer\n");
 		goto free_msg;
@@ -1105,7 +1099,7 @@ static int esd_usb2_probe(struct usb_interface *intf,
 
 	/* do per device probing */
 	for (i = 0; i < dev->net_count; i++)
-		esd_usb2_probe_one_net(intf, i);
+		esd_usb_probe_one_net(intf, i);
 
 free_msg:
 	kfree(msg);
@@ -1115,12 +1109,10 @@ done:
 	return err;
 }
 
-/*
- * called by the usb core when the device is removed from the system
- */
-static void esd_usb2_disconnect(struct usb_interface *intf)
+/* called by the usb core when the device is removed from the system */
+static void esd_usb_disconnect(struct usb_interface *intf)
 {
-	struct esd_usb2 *dev = usb_get_intfdata(intf);
+	struct esd_usb *dev = usb_get_intfdata(intf);
 	struct net_device *netdev;
 	int i;
 
@@ -1144,11 +1136,11 @@ static void esd_usb2_disconnect(struct usb_interface *intf)
 }
 
 /* usb specific object needed to register this driver with the usb subsystem */
-static struct usb_driver esd_usb2_driver = {
-	.name = "esd_usb2",
-	.probe = esd_usb2_probe,
-	.disconnect = esd_usb2_disconnect,
-	.id_table = esd_usb2_table,
+static struct usb_driver esd_usb_driver = {
+	.name = "esd_usb",
+	.probe = esd_usb_probe,
+	.disconnect = esd_usb_disconnect,
+	.id_table = esd_usb_table,
 };
 
-module_usb_driver(esd_usb2_driver);
+module_usb_driver(esd_usb_driver);
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
index 2d73ebbf3836..7353745f92d7 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
@@ -1707,7 +1707,7 @@ static int es58x_alloc_rx_urbs(struct es58x_device *es58x_dev)
 {
 	const struct device *dev = es58x_dev->dev;
 	const struct es58x_parameters *param = es58x_dev->param;
-	size_t rx_buf_len = es58x_dev->rx_max_packet_size;
+	u16 rx_buf_len = usb_maxpacket(es58x_dev->udev, es58x_dev->rx_pipe);
 	struct urb *urb;
 	u8 *buf;
 	int i;
@@ -1739,7 +1739,7 @@ static int es58x_alloc_rx_urbs(struct es58x_device *es58x_dev)
 		dev_err(dev, "%s: Could not setup any rx URBs\n", __func__);
 		return ret;
 	}
-	dev_dbg(dev, "%s: Allocated %d rx URBs each of size %zu\n",
+	dev_dbg(dev, "%s: Allocated %d rx URBs each of size %u\n",
 		__func__, i, rx_buf_len);
 
 	return ret;
@@ -2223,7 +2223,6 @@ static struct es58x_device *es58x_init_es58x_dev(struct usb_interface *intf,
 					     ep_in->bEndpointAddress);
 	es58x_dev->tx_pipe = usb_sndbulkpipe(es58x_dev->udev,
 					     ep_out->bEndpointAddress);
-	es58x_dev->rx_max_packet_size = le16_to_cpu(ep_in->wMaxPacketSize);
 
 	return es58x_dev;
 }
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.h b/drivers/net/can/usb/etas_es58x/es58x_core.h
index e5033cb5e695..d769bdf740b7 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.h
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.h
@@ -380,7 +380,6 @@ struct es58x_operators {
  * @timestamps: a temporary buffer to store the time stamps before
  *	feeding them to es58x_can_get_echo_skb(). Can only be used
  *	in RX branches.
- * @rx_max_packet_size: Maximum length of bulk-in URB.
  * @num_can_ch: Number of CAN channel (i.e. number of elements of @netdev).
  * @opened_channel_cnt: number of channels opened. Free of race
  *	conditions because its two users (net_device_ops:ndo_open()
@@ -401,8 +400,8 @@ struct es58x_device {
 	const struct es58x_parameters *param;
 	const struct es58x_operators *ops;
 
-	int rx_pipe;
-	int tx_pipe;
+	unsigned int rx_pipe;
+	unsigned int tx_pipe;
 
 	struct usb_anchor rx_urbs;
 	struct usb_anchor tx_urbs_busy;
@@ -414,7 +413,6 @@ struct es58x_device {
 
 	u64 timestamps[ES58X_ECHO_BULK_MAX];
 
-	u16 rx_max_packet_size;
 	u8 num_can_ch;
 	u8 opened_channel_cnt;
 
diff --git a/drivers/net/can/xilinx_can.c b/drivers/net/can/xilinx_can.c
index 8a3b7b103ca4..393b2d9f9d2a 100644
--- a/drivers/net/can/xilinx_can.c
+++ b/drivers/net/can/xilinx_can.c
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: GPL-2.0-or-later
 /* Xilinx CAN device driver
  *
- * Copyright (C) 2012 - 2014 Xilinx, Inc.
+ * Copyright (C) 2012 - 2022 Xilinx, Inc.
  * Copyright (C) 2009 PetaLogix. All rights reserved.
  * Copyright (C) 2017 - 2018 Sandvik Mining and Construction Oy
  *
@@ -9,6 +9,7 @@
  * This driver is developed for Axi CAN IP and for Zynq CANPS Controller.
  */
 
+#include <linux/bitfield.h>
 #include <linux/clk.h>
 #include <linux/errno.h>
 #include <linux/init.h>
@@ -50,7 +51,7 @@ enum xcan_reg {
 
 	/* only on CAN FD cores */
 	XCAN_F_BRPR_OFFSET	= 0x088, /* Data Phase Baud Rate
-					  * Prescalar
+					  * Prescaler
 					  */
 	XCAN_F_BTR_OFFSET	= 0x08C, /* Data Phase Bit Timing */
 	XCAN_TRR_OFFSET		= 0x0090, /* TX Buffer Ready Request */
@@ -86,6 +87,8 @@ enum xcan_reg {
 #define XCAN_MSR_LBACK_MASK		0x00000002 /* Loop back mode select */
 #define XCAN_MSR_SLEEP_MASK		0x00000001 /* Sleep mode select */
 #define XCAN_BRPR_BRP_MASK		0x000000FF /* Baud rate prescaler */
+#define XCAN_BRPR_TDCO_MASK		GENMASK(12, 8)  /* TDCO */
+#define XCAN_2_BRPR_TDCO_MASK		GENMASK(13, 8)  /* TDCO for CANFD 2.0 */
 #define XCAN_BTR_SJW_MASK		0x00000180 /* Synchronous jump width */
 #define XCAN_BTR_TS2_MASK		0x00000070 /* Time segment 2 */
 #define XCAN_BTR_TS1_MASK		0x0000000F /* Time segment 1 */
@@ -99,6 +102,7 @@ enum xcan_reg {
 #define XCAN_ESR_STER_MASK		0x00000004 /* Stuff error */
 #define XCAN_ESR_FMER_MASK		0x00000002 /* Form error */
 #define XCAN_ESR_CRCER_MASK		0x00000001 /* CRC error */
+#define XCAN_SR_TDCV_MASK		GENMASK(22, 16) /* TDCV Value */
 #define XCAN_SR_TXFLL_MASK		0x00000400 /* TX FIFO is full */
 #define XCAN_SR_ESTAT_MASK		0x00000180 /* Error status */
 #define XCAN_SR_ERRWRN_MASK		0x00000040 /* Error warning */
@@ -132,6 +136,7 @@ enum xcan_reg {
 #define XCAN_DLCR_BRS_MASK		0x04000000 /* BRS Mask in DLC */
 
 /* CAN register bit shift - XCAN_<REG>_<BIT>_SHIFT */
+#define XCAN_BRPR_TDC_ENABLE		BIT(16) /* Transmitter Delay Compensation (TDC) Enable */
 #define XCAN_BTR_SJW_SHIFT		7  /* Synchronous jump width */
 #define XCAN_BTR_TS2_SHIFT		4  /* Time segment 2 */
 #define XCAN_BTR_SJW_SHIFT_CANFD	16 /* Synchronous jump width */
@@ -276,6 +281,26 @@ static const struct can_bittiming_const xcan_data_bittiming_const_canfd2 = {
 	.brp_inc = 1,
 };
 
+/* Transmission Delay Compensation constants for CANFD 1.0 */
+static const struct can_tdc_const xcan_tdc_const_canfd = {
+	.tdcv_min = 0,
+	.tdcv_max = 0, /* Manual mode not supported. */
+	.tdco_min = 0,
+	.tdco_max = 32,
+	.tdcf_min = 0, /* Filter window not supported */
+	.tdcf_max = 0,
+};
+
+/* Transmission Delay Compensation constants for CANFD 2.0 */
+static const struct can_tdc_const xcan_tdc_const_canfd2 = {
+	.tdcv_min = 0,
+	.tdcv_max = 0, /* Manual mode not supported. */
+	.tdco_min = 0,
+	.tdco_max = 64,
+	.tdcf_min = 0, /* Filter window not supported */
+	.tdcf_max = 0,
+};
+
 /**
  * xcan_write_reg_le - Write a value to the device register little endian
  * @priv:	Driver private data structure
@@ -405,7 +430,7 @@ static int xcan_set_bittiming(struct net_device *ndev)
 		return -EPERM;
 	}
 
-	/* Setting Baud Rate prescalar value in BRPR Register */
+	/* Setting Baud Rate prescaler value in BRPR Register */
 	btr0 = (bt->brp - 1);
 
 	/* Setting Time Segment 1 in BTR Register */
@@ -422,8 +447,16 @@ static int xcan_set_bittiming(struct net_device *ndev)
 
 	if (priv->devtype.cantype == XAXI_CANFD ||
 	    priv->devtype.cantype == XAXI_CANFD_2_0) {
-		/* Setting Baud Rate prescalar value in F_BRPR Register */
+		/* Setting Baud Rate prescaler value in F_BRPR Register */
 		btr0 = dbt->brp - 1;
+		if (can_tdc_is_enabled(&priv->can)) {
+			if (priv->devtype.cantype == XAXI_CANFD)
+				btr0 |= FIELD_PREP(XCAN_BRPR_TDCO_MASK, priv->can.tdc.tdco) |
+					XCAN_BRPR_TDC_ENABLE;
+			else
+				btr0 |= FIELD_PREP(XCAN_2_BRPR_TDCO_MASK, priv->can.tdc.tdco) |
+					XCAN_BRPR_TDC_ENABLE;
+		}
 
 		/* Setting Time Segment 1 in BTR Register */
 		btr1 = dbt->prop_seg + dbt->phase_seg1 - 1;
@@ -1483,6 +1516,22 @@ static int xcan_get_berr_counter(const struct net_device *ndev,
 	return 0;
 }
 
+/**
+ * xcan_get_auto_tdcv - Get Transmitter Delay Compensation Value
+ * @ndev:	Pointer to net_device structure
+ * @tdcv:	Pointer to TDCV value
+ *
+ * Return: 0 on success
+ */
+static int xcan_get_auto_tdcv(const struct net_device *ndev, u32 *tdcv)
+{
+	struct xcan_priv *priv = netdev_priv(ndev);
+
+	*tdcv = FIELD_GET(XCAN_SR_TDCV_MASK, priv->read_reg(priv, XCAN_SR_OFFSET));
+
+	return 0;
+}
+
 static const struct net_device_ops xcan_netdev_ops = {
 	.ndo_open	= xcan_open,
 	.ndo_stop	= xcan_close,
@@ -1735,17 +1784,24 @@ static int xcan_probe(struct platform_device *pdev)
 	priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK |
 					CAN_CTRLMODE_BERR_REPORTING;
 
-	if (devtype->cantype == XAXI_CANFD)
+	if (devtype->cantype == XAXI_CANFD) {
 		priv->can.data_bittiming_const =
 			&xcan_data_bittiming_const_canfd;
+		priv->can.tdc_const = &xcan_tdc_const_canfd;
+	}
 
-	if (devtype->cantype == XAXI_CANFD_2_0)
+	if (devtype->cantype == XAXI_CANFD_2_0) {
 		priv->can.data_bittiming_const =
 			&xcan_data_bittiming_const_canfd2;
+		priv->can.tdc_const = &xcan_tdc_const_canfd2;
+	}
 
 	if (devtype->cantype == XAXI_CANFD ||
-	    devtype->cantype == XAXI_CANFD_2_0)
-		priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
+	    devtype->cantype == XAXI_CANFD_2_0) {
+		priv->can.ctrlmode_supported |= CAN_CTRLMODE_FD |
+						CAN_CTRLMODE_TDC_AUTO;
+		priv->can.do_get_auto_tdcv = xcan_get_auto_tdcv;
+	}
 
 	priv->reg_base = addr;
 	priv->tx_max = tx_max;