Merge tag 'linux-can-next-for-5.18-20220310' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next

Marc Kleine-Budde says:

====================
pull-request: can-next 2022-03-10

The first 3 patches are by Oliver Hartkopp, target the CAN ISOTP
protocol and update the CAN frame sending behavior, and increases the
max PDU size to 64 kByte.

The next 2 patches are also by Oliver Hartkopp and update the virtual
VXCAN driver so that CAN frames send into the peer name space show up
as RX'ed CAN frames.

Vincent Mailhol contributes a patch for the etas_es58x driver to fix a
false positive dereference uninitialized variable warning.

2 patches by Ulrich Hecht add r8a779a0 SoC support to the rcar_canfd
driver.

The remaining 21 patches target the gs_usb driver and are by Peter
Fink, Ben Evans, Eric Evenchick and me. This series cleans up the
gs-usb driver, documents some bits of the USB ABI used by the widely
used open source firmware candleLight, adds support for up to 3 CAN
interfaces per USB device, adds CAN-FD support, adds quirks for some
hardware and software workarounds and finally adds support for 2 new
devices.

* tag 'linux-can-next-for-5.18-20220310' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next: (29 commits)
  can: gs_usb: add VID/PID for ABE CAN Debugger devices
  can: gs_usb: add VID/PID for CES CANext FD devices
  can: gs_usb: add extended bt_const feature
  can: gs_usb: activate quirks for CANtact Pro unconditionally
  can: gs_usb: add quirk for CANtact Pro overlapping GS_USB_BREQ value
  can: gs_usb: add usb quirk for NXP LPC546xx controllers
  can: gs_usb: add CAN-FD support
  can: gs_usb: use union and FLEX_ARRAY for data in struct gs_host_frame
  can: gs_usb: support up to 3 channels per device
  can: gs_usb: gs_usb_probe(): introduce udev and make use of it
  can: gs_usb: document the PAD_PKTS_TO_MAX_PKT_SIZE feature
  can: gs_usb: document the USER_ID feature
  can: gs_usb: update GS_CAN_FEATURE_IDENTIFY documentation
  can: gs_usb: add HW timestamp mode bit
  can: gs_usb: gs_make_candev(): call SET_NETDEV_DEV() after handling all bt_const->feature
  can: gs_usb: rewrap usb_control_msg() and usb_fill_bulk_urb()
  can: gs_usb: rewrap error messages
  can: gs_usb: GS_CAN_FLAG_OVERFLOW: make use of BIT()
  can: gs_usb: sort include files alphabetically
  can: gs_usb: fix checkpatch warning
  ...
====================

Link: https://lore.kernel.org/r/20220310142903.341658-1-mkl@pengutronix.de
Signed-off-by: Jakub Kicinski <kuba@kernel.org>

4 files changed, 556 insertions, 265 deletions

diff --git a/drivers/net/can/rcar/rcar_canfd.c b/drivers/net/can/rcar/rcar_canfd.c
index acd74725831f..1e121e04208c 100644
--- a/drivers/net/can/rcar/rcar_canfd.c
+++ b/drivers/net/can/rcar/rcar_canfd.c
@@ -44,6 +44,7 @@
 enum rcanfd_chip_id {
 	RENESAS_RCAR_GEN3 = 0,
 	RENESAS_RZG2L,
+	RENESAS_R8A779A0,
 };
 
 /* Global register bits */
@@ -79,6 +80,7 @@ enum rcanfd_chip_id {
 #define RCANFD_GSTS_GNOPM		(BIT(0) | BIT(1) | BIT(2) | BIT(3))
 
 /* RSCFDnCFDGERFL / RSCFDnGERFL */
+#define RCANFD_GERFL_EEF0_7		GENMASK(23, 16)
 #define RCANFD_GERFL_EEF1		BIT(17)
 #define RCANFD_GERFL_EEF0		BIT(16)
 #define RCANFD_GERFL_CMPOF		BIT(3)	/* CAN FD only */
@@ -86,20 +88,26 @@ enum rcanfd_chip_id {
 #define RCANFD_GERFL_MES		BIT(1)
 #define RCANFD_GERFL_DEF		BIT(0)
 
-#define RCANFD_GERFL_ERR(gpriv, x)	((x) & (RCANFD_GERFL_EEF1 |\
-					RCANFD_GERFL_EEF0 | RCANFD_GERFL_MES |\
-					(gpriv->fdmode ?\
-					 RCANFD_GERFL_CMPOF : 0)))
+#define RCANFD_GERFL_ERR(gpriv, x) \
+	((x) & (reg_v3u(gpriv, RCANFD_GERFL_EEF0_7, \
+			RCANFD_GERFL_EEF0 | RCANFD_GERFL_EEF1) | \
+		RCANFD_GERFL_MES | \
+		((gpriv)->fdmode ? RCANFD_GERFL_CMPOF : 0)))
 
 /* AFL Rx rules registers */
 
 /* RSCFDnCFDGAFLCFG0 / RSCFDnGAFLCFG0 */
-#define RCANFD_GAFLCFG_SETRNC(n, x)	(((x) & 0xff) << (24 - n * 8))
-#define RCANFD_GAFLCFG_GETRNC(n, x)	(((x) >> (24 - n * 8)) & 0xff)
+#define RCANFD_GAFLCFG_SETRNC(gpriv, n, x) \
+	(((x) & reg_v3u(gpriv, 0x1ff, 0xff)) << \
+	 (reg_v3u(gpriv, 16, 24) - (n) * reg_v3u(gpriv, 16, 8)))
+
+#define RCANFD_GAFLCFG_GETRNC(gpriv, n, x) \
+	(((x) >> (reg_v3u(gpriv, 16, 24) - (n) * reg_v3u(gpriv, 16, 8))) & \
+	 reg_v3u(gpriv, 0x1ff, 0xff))
 
 /* RSCFDnCFDGAFLECTR / RSCFDnGAFLECTR */
 #define RCANFD_GAFLECTR_AFLDAE		BIT(8)
-#define RCANFD_GAFLECTR_AFLPN(x)	((x) & 0x1f)
+#define RCANFD_GAFLECTR_AFLPN(gpriv, x)	((x) & reg_v3u(gpriv, 0x7f, 0x1f))
 
 /* RSCFDnCFDGAFLIDj / RSCFDnGAFLIDj */
 #define RCANFD_GAFLID_GAFLLB		BIT(29)
@@ -116,9 +124,15 @@ enum rcanfd_chip_id {
 #define RCANFD_CFG_BRP(x)		(((x) & 0x3ff) << 0)
 
 /* RSCFDnCFDCmNCFG - CAN FD only */
-#define RCANFD_NCFG_NTSEG2(x)		(((x) & 0x1f) << 24)
-#define RCANFD_NCFG_NTSEG1(x)		(((x) & 0x7f) << 16)
-#define RCANFD_NCFG_NSJW(x)		(((x) & 0x1f) << 11)
+#define RCANFD_NCFG_NTSEG2(gpriv, x) \
+	(((x) & reg_v3u(gpriv, 0x7f, 0x1f)) << reg_v3u(gpriv, 25, 24))
+
+#define RCANFD_NCFG_NTSEG1(gpriv, x) \
+	(((x) & reg_v3u(gpriv, 0xff, 0x7f)) << reg_v3u(gpriv, 17, 16))
+
+#define RCANFD_NCFG_NSJW(gpriv, x) \
+	(((x) & reg_v3u(gpriv, 0x7f, 0x1f)) << reg_v3u(gpriv, 10, 11))
+
 #define RCANFD_NCFG_NBRP(x)		(((x) & 0x3ff) << 0)
 
 /* RSCFDnCFDCmCTR / RSCFDnCmCTR */
@@ -180,11 +194,18 @@ enum rcanfd_chip_id {
 
 /* RSCFDnCFDCmDCFG */
 #define RCANFD_DCFG_DSJW(x)		(((x) & 0x7) << 24)
-#define RCANFD_DCFG_DTSEG2(x)		(((x) & 0x7) << 20)
-#define RCANFD_DCFG_DTSEG1(x)		(((x) & 0xf) << 16)
+
+#define RCANFD_DCFG_DTSEG2(gpriv, x) \
+	(((x) & reg_v3u(gpriv, 0x0f, 0x7)) << reg_v3u(gpriv, 16, 20))
+
+#define RCANFD_DCFG_DTSEG1(gpriv, x) \
+	(((x) & reg_v3u(gpriv, 0x1f, 0xf)) << reg_v3u(gpriv, 8, 16))
+
 #define RCANFD_DCFG_DBRP(x)		(((x) & 0xff) << 0)
 
 /* RSCFDnCFDCmFDCFG */
+#define RCANFD_FDCFG_CLOE		BIT(30)
+#define RCANFD_FDCFG_FDOE		BIT(28)
 #define RCANFD_FDCFG_TDCE		BIT(9)
 #define RCANFD_FDCFG_TDCOC		BIT(8)
 #define RCANFD_FDCFG_TDCO(x)		(((x) & 0x7f) >> 16)
@@ -219,10 +240,10 @@ enum rcanfd_chip_id {
 /* Common FIFO bits */
 
 /* RSCFDnCFDCFCCk */
-#define RCANFD_CFCC_CFTML(x)		(((x) & 0xf) << 20)
-#define RCANFD_CFCC_CFM(x)		(((x) & 0x3) << 16)
+#define RCANFD_CFCC_CFTML(gpriv, x)	(((x) & 0xf) << reg_v3u(gpriv, 16, 20))
+#define RCANFD_CFCC_CFM(gpriv, x)	(((x) & 0x3) << reg_v3u(gpriv,  8, 16))
 #define RCANFD_CFCC_CFIM		BIT(12)
-#define RCANFD_CFCC_CFDC(x)		(((x) & 0x7) << 8)
+#define RCANFD_CFCC_CFDC(gpriv, x)	(((x) & 0x7) << reg_v3u(gpriv, 21,  8))
 #define RCANFD_CFCC_CFPLS(x)		(((x) & 0x7) << 4)
 #define RCANFD_CFCC_CFTXIE		BIT(2)
 #define RCANFD_CFCC_CFE			BIT(0)
@@ -282,33 +303,31 @@ enum rcanfd_chip_id {
 #define RCANFD_GTSC			(0x0094)
 /* RSCFDnCFDGAFLECTR / RSCFDnGAFLECTR */
 #define RCANFD_GAFLECTR			(0x0098)
-/* RSCFDnCFDGAFLCFG0 / RSCFDnGAFLCFG0 */
-#define RCANFD_GAFLCFG0			(0x009c)
-/* RSCFDnCFDGAFLCFG1 / RSCFDnGAFLCFG1 */
-#define RCANFD_GAFLCFG1			(0x00a0)
+/* RSCFDnCFDGAFLCFG / RSCFDnGAFLCFG */
+#define RCANFD_GAFLCFG(ch)		(0x009c + (0x04 * ((ch) / 2)))
 /* RSCFDnCFDRMNB / RSCFDnRMNB */
 #define RCANFD_RMNB			(0x00a4)
 /* RSCFDnCFDRMND / RSCFDnRMND */
 #define RCANFD_RMND(y)			(0x00a8 + (0x04 * (y)))
 
 /* RSCFDnCFDRFCCx / RSCFDnRFCCx */
-#define RCANFD_RFCC(x)			(0x00b8 + (0x04 * (x)))
+#define RCANFD_RFCC(gpriv, x)		(reg_v3u(gpriv, 0x00c0, 0x00b8) + (0x04 * (x)))
 /* RSCFDnCFDRFSTSx / RSCFDnRFSTSx */
-#define RCANFD_RFSTS(x)			(0x00d8 + (0x04 * (x)))
+#define RCANFD_RFSTS(gpriv, x)		(RCANFD_RFCC(gpriv, x) + 0x20)
 /* RSCFDnCFDRFPCTRx / RSCFDnRFPCTRx */
-#define RCANFD_RFPCTR(x)		(0x00f8 + (0x04 * (x)))
+#define RCANFD_RFPCTR(gpriv, x)		(RCANFD_RFCC(gpriv, x) + 0x40)
 
 /* Common FIFO Control registers */
 
 /* RSCFDnCFDCFCCx / RSCFDnCFCCx */
-#define RCANFD_CFCC(ch, idx)		(0x0118 + (0x0c * (ch)) + \
-					 (0x04 * (idx)))
+#define RCANFD_CFCC(gpriv, ch, idx) \
+	(reg_v3u(gpriv, 0x0120, 0x0118) + (0x0c * (ch)) + (0x04 * (idx)))
 /* RSCFDnCFDCFSTSx / RSCFDnCFSTSx */
-#define RCANFD_CFSTS(ch, idx)		(0x0178 + (0x0c * (ch)) + \
-					 (0x04 * (idx)))
+#define RCANFD_CFSTS(gpriv, ch, idx) \
+	(reg_v3u(gpriv, 0x01e0, 0x0178) + (0x0c * (ch)) + (0x04 * (idx)))
 /* RSCFDnCFDCFPCTRx / RSCFDnCFPCTRx */
-#define RCANFD_CFPCTR(ch, idx)		(0x01d8 + (0x0c * (ch)) + \
-					 (0x04 * (idx)))
+#define RCANFD_CFPCTR(gpriv, ch, idx) \
+	(reg_v3u(gpriv, 0x0240, 0x01d8) + (0x0c * (ch)) + (0x04 * (idx)))
 
 /* RSCFDnCFDFESTS / RSCFDnFESTS */
 #define RCANFD_FESTS			(0x0238)
@@ -387,22 +406,23 @@ enum rcanfd_chip_id {
 #define RCANFD_C_RMDF1(q)		(0x060c + (0x10 * (q)))
 
 /* RSCFDnRFXXx -> RCANFD_C_RFXX(x) */
-#define RCANFD_C_RFOFFSET		(0x0e00)
-#define RCANFD_C_RFID(x)		(RCANFD_C_RFOFFSET + (0x10 * (x)))
-#define RCANFD_C_RFPTR(x)		(RCANFD_C_RFOFFSET + 0x04 + \
-					 (0x10 * (x)))
-#define RCANFD_C_RFDF(x, df)		(RCANFD_C_RFOFFSET + 0x08 + \
-					 (0x10 * (x)) + (0x04 * (df)))
+#define RCANFD_C_RFOFFSET	(0x0e00)
+#define RCANFD_C_RFID(x)	(RCANFD_C_RFOFFSET + (0x10 * (x)))
+#define RCANFD_C_RFPTR(x)	(RCANFD_C_RFOFFSET + 0x04 + (0x10 * (x)))
+#define RCANFD_C_RFDF(x, df) \
+		(RCANFD_C_RFOFFSET + 0x08 + (0x10 * (x)) + (0x04 * (df)))
 
 /* RSCFDnCFXXk -> RCANFD_C_CFXX(ch, k) */
 #define RCANFD_C_CFOFFSET		(0x0e80)
-#define RCANFD_C_CFID(ch, idx)		(RCANFD_C_CFOFFSET + (0x30 * (ch)) + \
-					 (0x10 * (idx)))
-#define RCANFD_C_CFPTR(ch, idx)		(RCANFD_C_CFOFFSET + 0x04 + \
-					 (0x30 * (ch)) + (0x10 * (idx)))
-#define RCANFD_C_CFDF(ch, idx, df)	(RCANFD_C_CFOFFSET + 0x08 + \
-					 (0x30 * (ch)) + (0x10 * (idx)) + \
-					 (0x04 * (df)))
+
+#define RCANFD_C_CFID(ch, idx) \
+	(RCANFD_C_CFOFFSET + (0x30 * (ch)) + (0x10 * (idx)))
+
+#define RCANFD_C_CFPTR(ch, idx)	\
+	(RCANFD_C_CFOFFSET + 0x04 + (0x30 * (ch)) + (0x10 * (idx)))
+
+#define RCANFD_C_CFDF(ch, idx, df) \
+	(RCANFD_C_CFOFFSET + 0x08 + (0x30 * (ch)) + (0x10 * (idx)) + (0x04 * (df)))
 
 /* RSCFDnTMXXp -> RCANFD_C_TMXX(p) */
 #define RCANFD_C_TMID(p)		(0x1000 + (0x10 * (p)))
@@ -415,6 +435,12 @@ enum rcanfd_chip_id {
 /* RSCFDnRPGACCr */
 #define RCANFD_C_RPGACC(r)		(0x1900 + (0x04 * (r)))
 
+/* R-Car V3U Classical and CAN FD mode specific register map */
+#define RCANFD_V3U_CFDCFG		(0x1314)
+#define RCANFD_V3U_DCFG(m)		(0x1400 + (0x20 * (m)))
+
+#define RCANFD_V3U_GAFL_OFFSET		(0x1800)
+
 /* CAN FD mode specific register map */
 
 /* RSCFDnCFDCmXXX -> RCANFD_F_XXX(m) */
@@ -434,26 +460,28 @@ enum rcanfd_chip_id {
 #define RCANFD_F_RMDF(q, b)		(0x200c + (0x04 * (b)) + (0x20 * (q)))
 
 /* RSCFDnCFDRFXXx -> RCANFD_F_RFXX(x) */
-#define RCANFD_F_RFOFFSET		(0x3000)
-#define RCANFD_F_RFID(x)		(RCANFD_F_RFOFFSET + (0x80 * (x)))
-#define RCANFD_F_RFPTR(x)		(RCANFD_F_RFOFFSET + 0x04 + \
-					 (0x80 * (x)))
-#define RCANFD_F_RFFDSTS(x)		(RCANFD_F_RFOFFSET + 0x08 + \
-					 (0x80 * (x)))
-#define RCANFD_F_RFDF(x, df)		(RCANFD_F_RFOFFSET + 0x0c + \
-					 (0x80 * (x)) + (0x04 * (df)))
+#define RCANFD_F_RFOFFSET(gpriv)	reg_v3u(gpriv, 0x6000, 0x3000)
+#define RCANFD_F_RFID(gpriv, x)		(RCANFD_F_RFOFFSET(gpriv) + (0x80 * (x)))
+#define RCANFD_F_RFPTR(gpriv, x)	(RCANFD_F_RFOFFSET(gpriv) + 0x04 + (0x80 * (x)))
+#define RCANFD_F_RFFDSTS(gpriv, x)	(RCANFD_F_RFOFFSET(gpriv) + 0x08 + (0x80 * (x)))
+#define RCANFD_F_RFDF(gpriv, x, df) \
+	(RCANFD_F_RFOFFSET(gpriv) + 0x0c + (0x80 * (x)) + (0x04 * (df)))
 
 /* RSCFDnCFDCFXXk -> RCANFD_F_CFXX(ch, k) */
-#define RCANFD_F_CFOFFSET		(0x3400)
-#define RCANFD_F_CFID(ch, idx)		(RCANFD_F_CFOFFSET + (0x180 * (ch)) + \
-					 (0x80 * (idx)))
-#define RCANFD_F_CFPTR(ch, idx)		(RCANFD_F_CFOFFSET + 0x04 + \
-					 (0x180 * (ch)) + (0x80 * (idx)))
-#define RCANFD_F_CFFDCSTS(ch, idx)	(RCANFD_F_CFOFFSET + 0x08 + \
-					 (0x180 * (ch)) + (0x80 * (idx)))
-#define RCANFD_F_CFDF(ch, idx, df)	(RCANFD_F_CFOFFSET + 0x0c + \
-					 (0x180 * (ch)) + (0x80 * (idx)) + \
-					 (0x04 * (df)))
+#define RCANFD_F_CFOFFSET(gpriv)	reg_v3u(gpriv, 0x6400, 0x3400)
+
+#define RCANFD_F_CFID(gpriv, ch, idx) \
+	(RCANFD_F_CFOFFSET(gpriv) + (0x180 * (ch)) + (0x80 * (idx)))
+
+#define RCANFD_F_CFPTR(gpriv, ch, idx) \
+	(RCANFD_F_CFOFFSET(gpriv) + 0x04 + (0x180 * (ch)) + (0x80 * (idx)))
+
+#define RCANFD_F_CFFDCSTS(gpriv, ch, idx) \
+	(RCANFD_F_CFOFFSET(gpriv) + 0x08 + (0x180 * (ch)) + (0x80 * (idx)))
+
+#define RCANFD_F_CFDF(gpriv, ch, idx, df) \
+	(RCANFD_F_CFOFFSET(gpriv) + 0x0c + (0x180 * (ch)) + (0x80 * (idx)) + \
+	 (0x04 * (df)))
 
 /* RSCFDnCFDTMXXp -> RCANFD_F_TMXX(p) */
 #define RCANFD_F_TMID(p)		(0x4000 + (0x20 * (p)))
@@ -470,7 +498,7 @@ enum rcanfd_chip_id {
 #define RCANFD_FIFO_DEPTH		8	/* Tx FIFO depth */
 #define RCANFD_NAPI_WEIGHT		8	/* Rx poll quota */
 
-#define RCANFD_NUM_CHANNELS		2	/* Two channels max */
+#define RCANFD_NUM_CHANNELS		8	/* Eight channels max */
 #define RCANFD_CHANNELS_MASK		BIT((RCANFD_NUM_CHANNELS) - 1)
 
 #define RCANFD_GAFL_PAGENUM(entry)	((entry) / 16)
@@ -521,6 +549,7 @@ struct rcar_canfd_global {
 	struct reset_control *rstc1;
 	struct reset_control *rstc2;
 	enum rcanfd_chip_id chip_id;
+	u32 max_channels;
 };
 
 /* CAN FD mode nominal rate constants */
@@ -563,6 +592,17 @@ static const struct can_bittiming_const rcar_canfd_bittiming_const = {
 };
 
 /* Helper functions */
+static inline bool is_v3u(struct rcar_canfd_global *gpriv)
+{
+	return gpriv->chip_id == RENESAS_R8A779A0;
+}
+
+static inline u32 reg_v3u(struct rcar_canfd_global *gpriv,
+			  u32 v3u, u32 not_v3u)
+{
+	return is_v3u(gpriv) ? v3u : not_v3u;
+}
+
 static inline void rcar_canfd_update(u32 mask, u32 val, u32 __iomem *reg)
 {
 	u32 data = readl(reg);
@@ -628,6 +668,25 @@ static void rcar_canfd_tx_failure_cleanup(struct net_device *ndev)
 		can_free_echo_skb(ndev, i, NULL);
 }
 
+static void rcar_canfd_set_mode(struct rcar_canfd_global *gpriv)
+{
+	if (is_v3u(gpriv)) {
+		if (gpriv->fdmode)
+			rcar_canfd_set_bit(gpriv->base, RCANFD_V3U_CFDCFG,
+					   RCANFD_FDCFG_FDOE);
+		else
+			rcar_canfd_set_bit(gpriv->base, RCANFD_V3U_CFDCFG,
+					   RCANFD_FDCFG_CLOE);
+	} else {
+		if (gpriv->fdmode)
+			rcar_canfd_set_bit(gpriv->base, RCANFD_GRMCFG,
+					   RCANFD_GRMCFG_RCMC);
+		else
+			rcar_canfd_clear_bit(gpriv->base, RCANFD_GRMCFG,
+					     RCANFD_GRMCFG_RCMC);
+	}
+}
+
 static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
 {
 	u32 sts, ch;
@@ -660,15 +719,10 @@ static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
 	rcar_canfd_write(gpriv->base, RCANFD_GERFL, 0x0);
 
 	/* Set the controller into appropriate mode */
-	if (gpriv->fdmode)
-		rcar_canfd_set_bit(gpriv->base, RCANFD_GRMCFG,
-				   RCANFD_GRMCFG_RCMC);
-	else
-		rcar_canfd_clear_bit(gpriv->base, RCANFD_GRMCFG,
-				     RCANFD_GRMCFG_RCMC);
+	rcar_canfd_set_mode(gpriv);
 
 	/* Transition all Channels to reset mode */
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+	for_each_set_bit(ch, &gpriv->channels_mask, gpriv->max_channels) {
 		rcar_canfd_clear_bit(gpriv->base,
 				     RCANFD_CCTR(ch), RCANFD_CCTR_CSLPR);
 
@@ -709,7 +763,7 @@ static void rcar_canfd_configure_controller(struct rcar_canfd_global *gpriv)
 	rcar_canfd_set_bit(gpriv->base, RCANFD_GCFG, cfg);
 
 	/* Channel configuration settings */
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+	for_each_set_bit(ch, &gpriv->channels_mask, gpriv->max_channels) {
 		rcar_canfd_set_bit(gpriv->base, RCANFD_CCTR(ch),
 				   RCANFD_CCTR_ERRD);
 		rcar_canfd_update_bit(gpriv->base, RCANFD_CCTR(ch),
@@ -729,20 +783,22 @@ static void rcar_canfd_configure_afl_rules(struct rcar_canfd_global *gpriv,
 		start = 0; /* Channel 0 always starts from 0th rule */
 	} else {
 		/* Get number of Channel 0 rules and adjust */
-		cfg = rcar_canfd_read(gpriv->base, RCANFD_GAFLCFG0);
-		start = RCANFD_GAFLCFG_GETRNC(0, cfg);
+		cfg = rcar_canfd_read(gpriv->base, RCANFD_GAFLCFG(ch));
+		start = RCANFD_GAFLCFG_GETRNC(gpriv, 0, cfg);
 	}
 
 	/* Enable write access to entry */
 	page = RCANFD_GAFL_PAGENUM(start);
 	rcar_canfd_set_bit(gpriv->base, RCANFD_GAFLECTR,
-			   (RCANFD_GAFLECTR_AFLPN(page) |
+			   (RCANFD_GAFLECTR_AFLPN(gpriv, page) |
 			    RCANFD_GAFLECTR_AFLDAE));
 
 	/* Write number of rules for channel */
-	rcar_canfd_set_bit(gpriv->base, RCANFD_GAFLCFG0,
-			   RCANFD_GAFLCFG_SETRNC(ch, num_rules));
-	if (gpriv->fdmode)
+	rcar_canfd_set_bit(gpriv->base, RCANFD_GAFLCFG(ch),
+			   RCANFD_GAFLCFG_SETRNC(gpriv, ch, num_rules));
+	if (is_v3u(gpriv))
+		offset = RCANFD_V3U_GAFL_OFFSET;
+	else if (gpriv->fdmode)
 		offset = RCANFD_F_GAFL_OFFSET;
 	else
 		offset = RCANFD_C_GAFL_OFFSET;
@@ -754,8 +810,8 @@ static void rcar_canfd_configure_afl_rules(struct rcar_canfd_global *gpriv,
 	/* Any data length accepted */
 	rcar_canfd_write(gpriv->base, RCANFD_GAFLP0(offset, start), 0);
 	/* Place the msg in corresponding Rx FIFO entry */
-	rcar_canfd_write(gpriv->base, RCANFD_GAFLP1(offset, start),
-			 RCANFD_GAFLP1_GAFLFDP(ridx));
+	rcar_canfd_set_bit(gpriv->base, RCANFD_GAFLP1(offset, start),
+			   RCANFD_GAFLP1_GAFLFDP(ridx));
 
 	/* Disable write access to page */
 	rcar_canfd_clear_bit(gpriv->base,
@@ -779,7 +835,7 @@ static void rcar_canfd_configure_rx(struct rcar_canfd_global *gpriv, u32 ch)
 
 	cfg = (RCANFD_RFCC_RFIM | RCANFD_RFCC_RFDC(rfdc) |
 		RCANFD_RFCC_RFPLS(rfpls) | RCANFD_RFCC_RFIE);
-	rcar_canfd_write(gpriv->base, RCANFD_RFCC(ridx), cfg);
+	rcar_canfd_write(gpriv->base, RCANFD_RFCC(gpriv, ridx), cfg);
 }
 
 static void rcar_canfd_configure_tx(struct rcar_canfd_global *gpriv, u32 ch)
@@ -801,15 +857,15 @@ static void rcar_canfd_configure_tx(struct rcar_canfd_global *gpriv, u32 ch)
 	else
 		cfpls = 0;	/* b000 - Max 8 bytes payload */
 
-	cfg = (RCANFD_CFCC_CFTML(cftml) | RCANFD_CFCC_CFM(cfm) |
-		RCANFD_CFCC_CFIM | RCANFD_CFCC_CFDC(cfdc) |
+	cfg = (RCANFD_CFCC_CFTML(gpriv, cftml) | RCANFD_CFCC_CFM(gpriv, cfm) |
+		RCANFD_CFCC_CFIM | RCANFD_CFCC_CFDC(gpriv, cfdc) |
 		RCANFD_CFCC_CFPLS(cfpls) | RCANFD_CFCC_CFTXIE);
-	rcar_canfd_write(gpriv->base, RCANFD_CFCC(ch, RCANFD_CFFIFO_IDX), cfg);
+	rcar_canfd_write(gpriv->base, RCANFD_CFCC(gpriv, ch, RCANFD_CFFIFO_IDX), cfg);
 
 	if (gpriv->fdmode)
 		/* Clear FD mode specific control/status register */
 		rcar_canfd_write(gpriv->base,
-				 RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX), 0);
+				 RCANFD_F_CFFDCSTS(gpriv, ch, RCANFD_CFFIFO_IDX), 0);
 }
 
 static void rcar_canfd_enable_global_interrupts(struct rcar_canfd_global *gpriv)
@@ -890,20 +946,20 @@ static void rcar_canfd_global_error(struct net_device *ndev)
 	}
 	if (gerfl & RCANFD_GERFL_MES) {
 		sts = rcar_canfd_read(priv->base,
-				      RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX));
+				      RCANFD_CFSTS(gpriv, ch, RCANFD_CFFIFO_IDX));
 		if (sts & RCANFD_CFSTS_CFMLT) {
 			netdev_dbg(ndev, "Tx Message Lost flag\n");
 			stats->tx_dropped++;
 			rcar_canfd_write(priv->base,
-					 RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX),
+					 RCANFD_CFSTS(gpriv, ch, RCANFD_CFFIFO_IDX),
 					 sts & ~RCANFD_CFSTS_CFMLT);
 		}
 
-		sts = rcar_canfd_read(priv->base, RCANFD_RFSTS(ridx));
+		sts = rcar_canfd_read(priv->base, RCANFD_RFSTS(gpriv, ridx));
 		if (sts & RCANFD_RFSTS_RFMLT) {
 			netdev_dbg(ndev, "Rx Message Lost flag\n");
 			stats->rx_dropped++;
-			rcar_canfd_write(priv->base, RCANFD_RFSTS(ridx),
+			rcar_canfd_write(priv->base, RCANFD_RFSTS(gpriv, ridx),
 					 sts & ~RCANFD_RFSTS_RFMLT);
 		}
 	}
@@ -1038,6 +1094,7 @@ static void rcar_canfd_error(struct net_device *ndev, u32 cerfl,
 static void rcar_canfd_tx_done(struct net_device *ndev)
 {
 	struct rcar_canfd_channel *priv = netdev_priv(ndev);
+	struct rcar_canfd_global *gpriv = priv->gpriv;
 	struct net_device_stats *stats = &ndev->stats;
 	u32 sts;
 	unsigned long flags;
@@ -1053,7 +1110,7 @@ static void rcar_canfd_tx_done(struct net_device *ndev)
 		spin_lock_irqsave(&priv->tx_lock, flags);
 		priv->tx_tail++;
 		sts = rcar_canfd_read(priv->base,
-				      RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX));
+				      RCANFD_CFSTS(gpriv, ch, RCANFD_CFFIFO_IDX));
 		unsent = RCANFD_CFSTS_CFMC(sts);
 
 		/* Wake producer only when there is room */
@@ -1069,7 +1126,7 @@ static void rcar_canfd_tx_done(struct net_device *ndev)
 	} while (1);
 
 	/* Clear interrupt */
-	rcar_canfd_write(priv->base, RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX),
+	rcar_canfd_write(priv->base, RCANFD_CFSTS(gpriv, ch, RCANFD_CFFIFO_IDX),
 			 sts & ~RCANFD_CFSTS_CFTXIF);
 	can_led_event(ndev, CAN_LED_EVENT_TX);
 }
@@ -1091,7 +1148,7 @@ static irqreturn_t rcar_canfd_global_err_interrupt(int irq, void *dev_id)
 	struct rcar_canfd_global *gpriv = dev_id;
 	u32 ch;
 
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS)
+	for_each_set_bit(ch, &gpriv->channels_mask, gpriv->max_channels)
 		rcar_canfd_handle_global_err(gpriv, ch);
 
 	return IRQ_HANDLED;
@@ -1104,12 +1161,12 @@ static void rcar_canfd_handle_global_receive(struct rcar_canfd_global *gpriv, u3
 	u32 sts;
 
 	/* Handle Rx interrupts */
-	sts = rcar_canfd_read(priv->base, RCANFD_RFSTS(ridx));
+	sts = rcar_canfd_read(priv->base, RCANFD_RFSTS(gpriv, ridx));
 	if (likely(sts & RCANFD_RFSTS_RFIF)) {
 		if (napi_schedule_prep(&priv->napi)) {
 			/* Disable Rx FIFO interrupts */
 			rcar_canfd_clear_bit(priv->base,
-					     RCANFD_RFCC(ridx),
+					     RCANFD_RFCC(gpriv, ridx),
 					     RCANFD_RFCC_RFIE);
 			__napi_schedule(&priv->napi);
 		}
@@ -1121,7 +1178,7 @@ static irqreturn_t rcar_canfd_global_receive_fifo_interrupt(int irq, void *dev_i
 	struct rcar_canfd_global *gpriv = dev_id;
 	u32 ch;
 
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS)
+	for_each_set_bit(ch, &gpriv->channels_mask, gpriv->max_channels)
 		rcar_canfd_handle_global_receive(gpriv, ch);
 
 	return IRQ_HANDLED;
@@ -1135,7 +1192,7 @@ static irqreturn_t rcar_canfd_global_interrupt(int irq, void *dev_id)
 	/* Global error interrupts still indicate a condition specific
 	 * to a channel. RxFIFO interrupt is a global interrupt.
 	 */
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+	for_each_set_bit(ch, &gpriv->channels_mask, gpriv->max_channels) {
 		rcar_canfd_handle_global_err(gpriv, ch);
 		rcar_canfd_handle_global_receive(gpriv, ch);
 	}
@@ -1181,7 +1238,7 @@ static void rcar_canfd_handle_channel_tx(struct rcar_canfd_global *gpriv, u32 ch
 
 	/* Handle Tx interrupts */
 	sts = rcar_canfd_read(priv->base,
-			      RCANFD_CFSTS(ch, RCANFD_CFFIFO_IDX));
+			      RCANFD_CFSTS(gpriv, ch, RCANFD_CFFIFO_IDX));
 	if (likely(sts & RCANFD_CFSTS_CFTXIF))
 		rcar_canfd_tx_done(ndev);
 }
@@ -1191,7 +1248,7 @@ static irqreturn_t rcar_canfd_channel_tx_interrupt(int irq, void *dev_id)
 	struct rcar_canfd_global *gpriv = dev_id;
 	u32 ch;
 
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS)
+	for_each_set_bit(ch, &gpriv->channels_mask, gpriv->max_channels)
 		rcar_canfd_handle_channel_tx(gpriv, ch);
 
 	return IRQ_HANDLED;
@@ -1223,7 +1280,7 @@ static irqreturn_t rcar_canfd_channel_err_interrupt(int irq, void *dev_id)
 	struct rcar_canfd_global *gpriv = dev_id;
 	u32 ch;
 
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS)
+	for_each_set_bit(ch, &gpriv->channels_mask, gpriv->max_channels)
 		rcar_canfd_handle_channel_err(gpriv, ch);
 
 	return IRQ_HANDLED;
@@ -1235,7 +1292,7 @@ static irqreturn_t rcar_canfd_channel_interrupt(int irq, void *dev_id)
 	u32 ch;
 
 	/* Common FIFO is a per channel resource */
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+	for_each_set_bit(ch, &gpriv->channels_mask, gpriv->max_channels) {
 		rcar_canfd_handle_channel_err(gpriv, ch);
 		rcar_canfd_handle_channel_tx(gpriv, ch);
 	}
@@ -1246,6 +1303,7 @@ static irqreturn_t rcar_canfd_channel_interrupt(int irq, void *dev_id)
 static void rcar_canfd_set_bittiming(struct net_device *dev)
 {
 	struct rcar_canfd_channel *priv = netdev_priv(dev);
+	struct rcar_canfd_global *gpriv = priv->gpriv;
 	const struct can_bittiming *bt = &priv->can.bittiming;
 	const struct can_bittiming *dbt = &priv->can.data_bittiming;
 	u16 brp, sjw, tseg1, tseg2;
@@ -1260,8 +1318,8 @@ static void rcar_canfd_set_bittiming(struct net_device *dev)
 
 	if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
 		/* CAN FD only mode */
-		cfg = (RCANFD_NCFG_NTSEG1(tseg1) | RCANFD_NCFG_NBRP(brp) |
-		       RCANFD_NCFG_NSJW(sjw) | RCANFD_NCFG_NTSEG2(tseg2));
+		cfg = (RCANFD_NCFG_NTSEG1(gpriv, tseg1) | RCANFD_NCFG_NBRP(brp) |
+		       RCANFD_NCFG_NSJW(gpriv, sjw) | RCANFD_NCFG_NTSEG2(gpriv, tseg2));
 
 		rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg);
 		netdev_dbg(priv->ndev, "nrate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n",
@@ -1273,16 +1331,25 @@ static void rcar_canfd_set_bittiming(struct net_device *dev)
 		tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1;
 		tseg2 = dbt->phase_seg2 - 1;
 
-		cfg = (RCANFD_DCFG_DTSEG1(tseg1) | RCANFD_DCFG_DBRP(brp) |
-		       RCANFD_DCFG_DSJW(sjw) | RCANFD_DCFG_DTSEG2(tseg2));
+		cfg = (RCANFD_DCFG_DTSEG1(gpriv, tseg1) | RCANFD_DCFG_DBRP(brp) |
+		       RCANFD_DCFG_DSJW(sjw) | RCANFD_DCFG_DTSEG2(gpriv, tseg2));
 
 		rcar_canfd_write(priv->base, RCANFD_F_DCFG(ch), cfg);
 		netdev_dbg(priv->ndev, "drate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n",
 			   brp, sjw, tseg1, tseg2);
 	} else {
 		/* Classical CAN only mode */
-		cfg = (RCANFD_CFG_TSEG1(tseg1) | RCANFD_CFG_BRP(brp) |
-			RCANFD_CFG_SJW(sjw) | RCANFD_CFG_TSEG2(tseg2));
+		if (is_v3u(gpriv)) {
+			cfg = (RCANFD_NCFG_NTSEG1(gpriv, tseg1) |
+			       RCANFD_NCFG_NBRP(brp) |
+			       RCANFD_NCFG_NSJW(gpriv, sjw) |
+			       RCANFD_NCFG_NTSEG2(gpriv, tseg2));
+		} else {
+			cfg = (RCANFD_CFG_TSEG1(tseg1) |
+			       RCANFD_CFG_BRP(brp) |
+			       RCANFD_CFG_SJW(sjw) |
+			       RCANFD_CFG_TSEG2(tseg2));
+		}
 
 		rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg);
 		netdev_dbg(priv->ndev,
@@ -1294,6 +1361,7 @@ static void rcar_canfd_set_bittiming(struct net_device *dev)
 static int rcar_canfd_start(struct net_device *ndev)
 {
 	struct rcar_canfd_channel *priv = netdev_priv(ndev);
+	struct rcar_canfd_global *gpriv = priv->gpriv;
 	int err = -EOPNOTSUPP;
 	u32 sts, ch = priv->channel;
 	u32 ridx = ch + RCANFD_RFFIFO_IDX;
@@ -1315,9 +1383,9 @@ static int rcar_canfd_start(struct net_device *ndev)
 	}
 
 	/* Enable Common & Rx FIFO */
-	rcar_canfd_set_bit(priv->base, RCANFD_CFCC(ch, RCANFD_CFFIFO_IDX),
+	rcar_canfd_set_bit(priv->base, RCANFD_CFCC(gpriv, ch, RCANFD_CFFIFO_IDX),
 			   RCANFD_CFCC_CFE);
-	rcar_canfd_set_bit(priv->base, RCANFD_RFCC(ridx), RCANFD_RFCC_RFE);
+	rcar_canfd_set_bit(priv->base, RCANFD_RFCC(gpriv, ridx), RCANFD_RFCC_RFE);
 
 	priv->can.state = CAN_STATE_ERROR_ACTIVE;
 	return 0;
@@ -1365,6 +1433,7 @@ out_clock:
 static void rcar_canfd_stop(struct net_device *ndev)
 {
 	struct rcar_canfd_channel *priv = netdev_priv(ndev);
+	struct rcar_canfd_global *gpriv = priv->gpriv;
 	int err;
 	u32 sts, ch = priv->channel;
 	u32 ridx = ch + RCANFD_RFFIFO_IDX;
@@ -1382,9 +1451,9 @@ static void rcar_canfd_stop(struct net_device *ndev)
 	rcar_canfd_disable_channel_interrupts(priv);
 
 	/* Disable Common & Rx FIFO */
-	rcar_canfd_clear_bit(priv->base, RCANFD_CFCC(ch, RCANFD_CFFIFO_IDX),
+	rcar_canfd_clear_bit(priv->base, RCANFD_CFCC(gpriv, ch, RCANFD_CFFIFO_IDX),
 			     RCANFD_CFCC_CFE);
-	rcar_canfd_clear_bit(priv->base, RCANFD_RFCC(ridx), RCANFD_RFCC_RFE);
+	rcar_canfd_clear_bit(priv->base, RCANFD_RFCC(gpriv, ridx), RCANFD_RFCC_RFE);
 
 	/* Set the state as STOPPED */
 	priv->can.state = CAN_STATE_STOPPED;
@@ -1408,6 +1477,7 @@ static netdev_tx_t rcar_canfd_start_xmit(struct sk_buff *skb,
 					 struct net_device *ndev)
 {
 	struct rcar_canfd_channel *priv = netdev_priv(ndev);
+	struct rcar_canfd_global *gpriv = priv->gpriv;
 	struct canfd_frame *cf = (struct canfd_frame *)skb->data;
 	u32 sts = 0, id, dlc;
 	unsigned long flags;
@@ -1428,11 +1498,11 @@ static netdev_tx_t rcar_canfd_start_xmit(struct sk_buff *skb,
 
 	dlc = RCANFD_CFPTR_CFDLC(can_fd_len2dlc(cf->len));
 
-	if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
+	if ((priv->can.ctrlmode & CAN_CTRLMODE_FD) || is_v3u(gpriv)) {
 		rcar_canfd_write(priv->base,
-				 RCANFD_F_CFID(ch, RCANFD_CFFIFO_IDX), id);
+				 RCANFD_F_CFID(gpriv, ch, RCANFD_CFFIFO_IDX), id);
 		rcar_canfd_write(priv->base,
-				 RCANFD_F_CFPTR(ch, RCANFD_CFFIFO_IDX), dlc);
+				 RCANFD_F_CFPTR(gpriv, ch, RCANFD_CFFIFO_IDX), dlc);
 
 		if (can_is_canfd_skb(skb)) {
 			/* CAN FD frame format */
@@ -1445,10 +1515,10 @@ static netdev_tx_t rcar_canfd_start_xmit(struct sk_buff *skb,
 		}
 
 		rcar_canfd_write(priv->base,
-				 RCANFD_F_CFFDCSTS(ch, RCANFD_CFFIFO_IDX), sts);
+				 RCANFD_F_CFFDCSTS(gpriv, ch, RCANFD_CFFIFO_IDX), sts);
 
 		rcar_canfd_put_data(priv, cf,
-				    RCANFD_F_CFDF(ch, RCANFD_CFFIFO_IDX, 0));
+				    RCANFD_F_CFDF(gpriv, ch, RCANFD_CFFIFO_IDX, 0));
 	} else {
 		rcar_canfd_write(priv->base,
 				 RCANFD_C_CFID(ch, RCANFD_CFFIFO_IDX), id);
@@ -1471,7 +1541,7 @@ static netdev_tx_t rcar_canfd_start_xmit(struct sk_buff *skb,
 	 * pointer for the Common FIFO
 	 */
 	rcar_canfd_write(priv->base,
-			 RCANFD_CFPCTR(ch, RCANFD_CFFIFO_IDX), 0xff);
+			 RCANFD_CFPCTR(gpriv, ch, RCANFD_CFFIFO_IDX), 0xff);
 
 	spin_unlock_irqrestore(&priv->tx_lock, flags);
 	return NETDEV_TX_OK;
@@ -1480,18 +1550,21 @@ static netdev_tx_t rcar_canfd_start_xmit(struct sk_buff *skb,
 static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv)
 {
 	struct net_device_stats *stats = &priv->ndev->stats;
+	struct rcar_canfd_global *gpriv = priv->gpriv;
 	struct canfd_frame *cf;
 	struct sk_buff *skb;
 	u32 sts = 0, id, dlc;
 	u32 ch = priv->channel;
 	u32 ridx = ch + RCANFD_RFFIFO_IDX;
 
-	if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
-		id = rcar_canfd_read(priv->base, RCANFD_F_RFID(ridx));
-		dlc = rcar_canfd_read(priv->base, RCANFD_F_RFPTR(ridx));
+	if ((priv->can.ctrlmode & CAN_CTRLMODE_FD) || is_v3u(gpriv)) {
+		id = rcar_canfd_read(priv->base, RCANFD_F_RFID(gpriv, ridx));
+		dlc = rcar_canfd_read(priv->base, RCANFD_F_RFPTR(gpriv, ridx));
 
-		sts = rcar_canfd_read(priv->base, RCANFD_F_RFFDSTS(ridx));
-		if (sts & RCANFD_RFFDSTS_RFFDF)
+		sts = rcar_canfd_read(priv->base, RCANFD_F_RFFDSTS(gpriv, ridx));
+
+		if ((priv->can.ctrlmode & CAN_CTRLMODE_FD) &&
+		    sts & RCANFD_RFFDSTS_RFFDF)
 			skb = alloc_canfd_skb(priv->ndev, &cf);
 		else
 			skb = alloc_can_skb(priv->ndev,
@@ -1529,12 +1602,14 @@ static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv)
 			if (sts & RCANFD_RFFDSTS_RFBRS)
 				cf->flags |= CANFD_BRS;
 
-			rcar_canfd_get_data(priv, cf, RCANFD_F_RFDF(ridx, 0));
+			rcar_canfd_get_data(priv, cf, RCANFD_F_RFDF(gpriv, ridx, 0));
 		}
 	} else {
 		cf->len = can_cc_dlc2len(RCANFD_RFPTR_RFDLC(dlc));
 		if (id & RCANFD_RFID_RFRTR)
 			cf->can_id |= CAN_RTR_FLAG;
+		else if (is_v3u(gpriv))
+			rcar_canfd_get_data(priv, cf, RCANFD_F_RFDF(gpriv, ridx, 0));
 		else
 			rcar_canfd_get_data(priv, cf, RCANFD_C_RFDF(ridx, 0));
 	}
@@ -1542,7 +1617,7 @@ static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv)
 	/* Write 0xff to RFPC to increment the CPU-side
 	 * pointer of the Rx FIFO
 	 */
-	rcar_canfd_write(priv->base, RCANFD_RFPCTR(ridx), 0xff);
+	rcar_canfd_write(priv->base, RCANFD_RFPCTR(gpriv, ridx), 0xff);
 
 	can_led_event(priv->ndev, CAN_LED_EVENT_RX);
 
@@ -1556,13 +1631,14 @@ static int rcar_canfd_rx_poll(struct napi_struct *napi, int quota)
 {
 	struct rcar_canfd_channel *priv =
 		container_of(napi, struct rcar_canfd_channel, napi);
+	struct rcar_canfd_global *gpriv = priv->gpriv;
 	int num_pkts;
 	u32 sts;
 	u32 ch = priv->channel;
 	u32 ridx = ch + RCANFD_RFFIFO_IDX;
 
 	for (num_pkts = 0; num_pkts < quota; num_pkts++) {
-		sts = rcar_canfd_read(priv->base, RCANFD_RFSTS(ridx));
+		sts = rcar_canfd_read(priv->base, RCANFD_RFSTS(gpriv, ridx));
 		/* Check FIFO empty condition */
 		if (sts & RCANFD_RFSTS_RFEMP)
 			break;
@@ -1571,7 +1647,7 @@ static int rcar_canfd_rx_poll(struct napi_struct *napi, int quota)
 
 		/* Clear interrupt bit */
 		if (sts & RCANFD_RFSTS_RFIF)
-			rcar_canfd_write(priv->base, RCANFD_RFSTS(ridx),
+			rcar_canfd_write(priv->base, RCANFD_RFSTS(gpriv, ridx),
 					 sts & ~RCANFD_RFSTS_RFIF);
 	}
 
@@ -1579,7 +1655,7 @@ static int rcar_canfd_rx_poll(struct napi_struct *napi, int quota)
 	if (num_pkts < quota) {
 		if (napi_complete_done(napi, num_pkts)) {
 			/* Enable Rx FIFO interrupts */
-			rcar_canfd_set_bit(priv->base, RCANFD_RFCC(ridx),
+			rcar_canfd_set_bit(priv->base, RCANFD_RFCC(gpriv, ridx),
 					   RCANFD_RFCC_RFIE);
 		}
 	}
@@ -1756,21 +1832,24 @@ static int rcar_canfd_probe(struct platform_device *pdev)
 	int g_err_irq, g_recc_irq;
 	bool fdmode = true;			/* CAN FD only mode - default */
 	enum rcanfd_chip_id chip_id;
+	int max_channels;
+	char name[9] = "channelX";
+	int i;
 
 	chip_id = (uintptr_t)of_device_get_match_data(&pdev->dev);
+	max_channels = chip_id == RENESAS_R8A779A0 ? 8 : 2;
 
 	if (of_property_read_bool(pdev->dev.of_node, "renesas,no-can-fd"))
 		fdmode = false;			/* Classical CAN only mode */
 
-	of_child = of_get_child_by_name(pdev->dev.of_node, "channel0");
-	if (of_child && of_device_is_available(of_child))
-		channels_mask |= BIT(0);	/* Channel 0 */
-
-	of_child = of_get_child_by_name(pdev->dev.of_node, "channel1");
-	if (of_child && of_device_is_available(of_child))
-		channels_mask |= BIT(1);	/* Channel 1 */
+	for (i = 0; i < max_channels; ++i) {
+		name[7] = '0' + i;
+		of_child = of_get_child_by_name(pdev->dev.of_node, name);
+		if (of_child && of_device_is_available(of_child))
+			channels_mask |= BIT(i);
+	}
 
-	if (chip_id == RENESAS_RCAR_GEN3) {
+	if (chip_id != RENESAS_RZG2L) {
 		ch_irq = platform_get_irq_byname_optional(pdev, "ch_int");
 		if (ch_irq < 0) {
 			/* For backward compatibility get irq by index */
@@ -1806,6 +1885,7 @@ static int rcar_canfd_probe(struct platform_device *pdev)
 	gpriv->channels_mask = channels_mask;
 	gpriv->fdmode = fdmode;
 	gpriv->chip_id = chip_id;
+	gpriv->max_channels = max_channels;
 
 	if (gpriv->chip_id == RENESAS_RZG2L) {
 		gpriv->rstc1 = devm_reset_control_get_exclusive(&pdev->dev, "rstp_n");
@@ -1847,7 +1927,7 @@ static int rcar_canfd_probe(struct platform_device *pdev)
 	}
 	fcan_freq = clk_get_rate(gpriv->can_clk);
 
-	if (gpriv->fcan == RCANFD_CANFDCLK && gpriv->chip_id == RENESAS_RCAR_GEN3)
+	if (gpriv->fcan == RCANFD_CANFDCLK && gpriv->chip_id != RENESAS_RZG2L)
 		/* CANFD clock is further divided by (1/2) within the IP */
 		fcan_freq /= 2;
 
@@ -1859,7 +1939,7 @@ static int rcar_canfd_probe(struct platform_device *pdev)
 	gpriv->base = addr;
 
 	/* Request IRQ that's common for both channels */
-	if (gpriv->chip_id == RENESAS_RCAR_GEN3) {
+	if (gpriv->chip_id != RENESAS_RZG2L) {
 		err = devm_request_irq(&pdev->dev, ch_irq,
 				       rcar_canfd_channel_interrupt, 0,
 				       "canfd.ch_int", gpriv);
@@ -1925,7 +2005,7 @@ static int rcar_canfd_probe(struct platform_device *pdev)
 	rcar_canfd_configure_controller(gpriv);
 
 	/* Configure per channel attributes */
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+	for_each_set_bit(ch, &gpriv->channels_mask, max_channels) {
 		/* Configure Channel's Rx fifo */
 		rcar_canfd_configure_rx(gpriv, ch);
 
@@ -1951,7 +2031,7 @@ static int rcar_canfd_probe(struct platform_device *pdev)
 		goto fail_mode;
 	}
 
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+	for_each_set_bit(ch, &gpriv->channels_mask, max_channels) {
 		err = rcar_canfd_channel_probe(gpriv, ch, fcan_freq);
 		if (err)
 			goto fail_channel;
@@ -1963,7 +2043,7 @@ static int rcar_canfd_probe(struct platform_device *pdev)
 	return 0;
 
 fail_channel:
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS)
+	for_each_set_bit(ch, &gpriv->channels_mask, max_channels)
 		rcar_canfd_channel_remove(gpriv, ch);
 fail_mode:
 	rcar_canfd_disable_global_interrupts(gpriv);
@@ -1984,7 +2064,7 @@ static int rcar_canfd_remove(struct platform_device *pdev)
 	rcar_canfd_reset_controller(gpriv);
 	rcar_canfd_disable_global_interrupts(gpriv);
 
-	for_each_set_bit(ch, &gpriv->channels_mask, RCANFD_NUM_CHANNELS) {
+	for_each_set_bit(ch, &gpriv->channels_mask, gpriv->max_channels) {
 		rcar_canfd_disable_channel_interrupts(gpriv->ch[ch]);
 		rcar_canfd_channel_remove(gpriv, ch);
 	}
@@ -2014,6 +2094,7 @@ static SIMPLE_DEV_PM_OPS(rcar_canfd_pm_ops, rcar_canfd_suspend,
 static const __maybe_unused struct of_device_id rcar_canfd_of_table[] = {
 	{ .compatible = "renesas,rcar-gen3-canfd", .data = (void *)RENESAS_RCAR_GEN3 },
 	{ .compatible = "renesas,rzg2l-canfd", .data = (void *)RENESAS_RZG2L },
+	{ .compatible = "renesas,r8a779a0-canfd", .data = (void *)RENESAS_R8A779A0 },
 	{ }
 };
 
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.c b/drivers/net/can/usb/etas_es58x/es58x_fd.c
index 88d2540abbbe..c97ffa71fd75 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_fd.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c
@@ -173,12 +173,11 @@ static int es58x_fd_rx_event_msg(struct net_device *netdev,
 	const struct es58x_fd_rx_event_msg *rx_event_msg;
 	int ret;
 
+	rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
 	ret = es58x_check_msg_len(es58x_dev->dev, *rx_event_msg, msg_len);
 	if (ret)
 		return ret;
 
-	rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
-
 	return es58x_rx_err_msg(netdev, rx_event_msg->error_code,
 				rx_event_msg->event_code,
 				get_unaligned_le64(&rx_event_msg->timestamp));
diff --git a/drivers/net/can/usb/gs_usb.c b/drivers/net/can/usb/gs_usb.c
index d35749fad1ef..67408e316062 100644
--- a/drivers/net/can/usb/gs_usb.c
+++ b/drivers/net/can/usb/gs_usb.c
@@ -9,11 +9,12 @@
  * Many thanks to all socketcan devs!
  */
 
+#include <linux/bitfield.h>
 #include <linux/ethtool.h>
 #include <linux/init.h>
-#include <linux/signal.h>
 #include <linux/module.h>
 #include <linux/netdevice.h>
+#include <linux/signal.h>
 #include <linux/usb.h>
 
 #include <linux/can.h>
@@ -21,14 +22,20 @@
 #include <linux/can/error.h>
 
 /* Device specific constants */
-#define USB_GSUSB_1_VENDOR_ID      0x1d50
-#define USB_GSUSB_1_PRODUCT_ID     0x606f
+#define USB_GSUSB_1_VENDOR_ID 0x1d50
+#define USB_GSUSB_1_PRODUCT_ID 0x606f
 
-#define USB_CANDLELIGHT_VENDOR_ID  0x1209
+#define USB_CANDLELIGHT_VENDOR_ID 0x1209
 #define USB_CANDLELIGHT_PRODUCT_ID 0x2323
 
-#define GSUSB_ENDPOINT_IN          1
-#define GSUSB_ENDPOINT_OUT         2
+#define USB_CES_CANEXT_FD_VENDOR_ID 0x1cd2
+#define USB_CES_CANEXT_FD_PRODUCT_ID 0x606f
+
+#define USB_ABE_CANDEBUGGER_FD_VENDOR_ID 0x16d0
+#define USB_ABE_CANDEBUGGER_FD_PRODUCT_ID 0x10b8
+
+#define GSUSB_ENDPOINT_IN 1
+#define GSUSB_ENDPOINT_OUT 2
 
 /* Device specific constants */
 enum gs_usb_breq {
@@ -40,6 +47,11 @@ enum gs_usb_breq {
 	GS_USB_BREQ_DEVICE_CONFIG,
 	GS_USB_BREQ_TIMESTAMP,
 	GS_USB_BREQ_IDENTIFY,
+	GS_USB_BREQ_GET_USER_ID,
+	GS_USB_BREQ_QUIRK_CANTACT_PRO_DATA_BITTIMING = GS_USB_BREQ_GET_USER_ID,
+	GS_USB_BREQ_SET_USER_ID,
+	GS_USB_BREQ_DATA_BITTIMING,
+	GS_USB_BREQ_BT_CONST_EXT,
 };
 
 enum gs_can_mode {
@@ -87,11 +99,18 @@ struct gs_device_config {
 	__le32 hw_version;
 } __packed;
 
-#define GS_CAN_MODE_NORMAL               0
-#define GS_CAN_MODE_LISTEN_ONLY          BIT(0)
-#define GS_CAN_MODE_LOOP_BACK            BIT(1)
-#define GS_CAN_MODE_TRIPLE_SAMPLE        BIT(2)
-#define GS_CAN_MODE_ONE_SHOT             BIT(3)
+#define GS_CAN_MODE_NORMAL 0
+#define GS_CAN_MODE_LISTEN_ONLY BIT(0)
+#define GS_CAN_MODE_LOOP_BACK BIT(1)
+#define GS_CAN_MODE_TRIPLE_SAMPLE BIT(2)
+#define GS_CAN_MODE_ONE_SHOT BIT(3)
+#define GS_CAN_MODE_HW_TIMESTAMP BIT(4)
+/* GS_CAN_FEATURE_IDENTIFY BIT(5) */
+/* GS_CAN_FEATURE_USER_ID BIT(6) */
+#define GS_CAN_MODE_PAD_PKTS_TO_MAX_PKT_SIZE BIT(7)
+#define GS_CAN_MODE_FD BIT(8)
+/* GS_CAN_FEATURE_REQ_USB_QUIRK_LPC546XX BIT(9) */
+/* GS_CAN_FEATURE_BT_CONST_EXT BIT(10) */
 
 struct gs_device_mode {
 	__le32 mode;
@@ -116,12 +135,25 @@ struct gs_identify_mode {
 	__le32 mode;
 } __packed;
 
-#define GS_CAN_FEATURE_LISTEN_ONLY      BIT(0)
-#define GS_CAN_FEATURE_LOOP_BACK        BIT(1)
-#define GS_CAN_FEATURE_TRIPLE_SAMPLE    BIT(2)
-#define GS_CAN_FEATURE_ONE_SHOT         BIT(3)
-#define GS_CAN_FEATURE_HW_TIMESTAMP     BIT(4)
-#define GS_CAN_FEATURE_IDENTIFY         BIT(5)
+#define GS_CAN_FEATURE_LISTEN_ONLY BIT(0)
+#define GS_CAN_FEATURE_LOOP_BACK BIT(1)
+#define GS_CAN_FEATURE_TRIPLE_SAMPLE BIT(2)
+#define GS_CAN_FEATURE_ONE_SHOT BIT(3)
+#define GS_CAN_FEATURE_HW_TIMESTAMP BIT(4)
+#define GS_CAN_FEATURE_IDENTIFY BIT(5)
+#define GS_CAN_FEATURE_USER_ID BIT(6)
+#define GS_CAN_FEATURE_PAD_PKTS_TO_MAX_PKT_SIZE BIT(7)
+#define GS_CAN_FEATURE_FD BIT(8)
+#define GS_CAN_FEATURE_REQ_USB_QUIRK_LPC546XX BIT(9)
+#define GS_CAN_FEATURE_BT_CONST_EXT BIT(10)
+#define GS_CAN_FEATURE_MASK GENMASK(10, 0)
+
+/* internal quirks - keep in GS_CAN_FEATURE space for now */
+
+/* CANtact Pro original firmware:
+ * BREQ DATA_BITTIMING overlaps with GET_USER_ID
+ */
+#define GS_CAN_FEATURE_QUIRK_BREQ_CANTACT_PRO BIT(31)
 
 struct gs_device_bt_const {
 	__le32 feature;
@@ -136,7 +168,50 @@ struct gs_device_bt_const {
 	__le32 brp_inc;
 } __packed;
 
-#define GS_CAN_FLAG_OVERFLOW 1
+struct gs_device_bt_const_extended {
+	__le32 feature;
+	__le32 fclk_can;
+	__le32 tseg1_min;
+	__le32 tseg1_max;
+	__le32 tseg2_min;
+	__le32 tseg2_max;
+	__le32 sjw_max;
+	__le32 brp_min;
+	__le32 brp_max;
+	__le32 brp_inc;
+
+	__le32 dtseg1_min;
+	__le32 dtseg1_max;
+	__le32 dtseg2_min;
+	__le32 dtseg2_max;
+	__le32 dsjw_max;
+	__le32 dbrp_min;
+	__le32 dbrp_max;
+	__le32 dbrp_inc;
+} __packed;
+
+#define GS_CAN_FLAG_OVERFLOW BIT(0)
+#define GS_CAN_FLAG_FD BIT(1)
+#define GS_CAN_FLAG_BRS BIT(2)
+#define GS_CAN_FLAG_ESI BIT(3)
+
+struct classic_can {
+	u8 data[8];
+} __packed;
+
+struct classic_can_quirk {
+	u8 data[8];
+	u8 quirk;
+} __packed;
+
+struct canfd {
+	u8 data[64];
+} __packed;
+
+struct canfd_quirk {
+	u8 data[64];
+	u8 quirk;
+} __packed;
 
 struct gs_host_frame {
 	u32 echo_id;
@@ -147,7 +222,12 @@ struct gs_host_frame {
 	u8 flags;
 	u8 reserved;
 
-	u8 data[8];
+	union {
+		DECLARE_FLEX_ARRAY(struct classic_can, classic_can);
+		DECLARE_FLEX_ARRAY(struct classic_can_quirk, classic_can_quirk);
+		DECLARE_FLEX_ARRAY(struct canfd, canfd);
+		DECLARE_FLEX_ARRAY(struct canfd_quirk, canfd_quirk);
+	};
 } __packed;
 /* The GS USB devices make use of the same flags and masks as in
  * linux/can.h and linux/can/error.h, and no additional mapping is necessary.
@@ -158,9 +238,9 @@ struct gs_host_frame {
 /* Only launch a max of GS_MAX_RX_URBS usb requests at a time. */
 #define GS_MAX_RX_URBS 30
 /* Maximum number of interfaces the driver supports per device.
- * Current hardware only supports 2 interfaces. The future may vary.
+ * Current hardware only supports 3 interfaces. The future may vary.
  */
-#define GS_MAX_INTF 2
+#define GS_MAX_INTF 3
 
 struct gs_tx_context {
 	struct gs_can *dev;
@@ -176,9 +256,12 @@ struct gs_can {
 	struct usb_device *udev;
 	struct usb_interface *iface;
 
-	struct can_bittiming_const bt_const;
+	struct can_bittiming_const bt_const, data_bt_const;
 	unsigned int channel;	/* channel number */
 
+	u32 feature;
+	unsigned int hf_size_tx;
+
 	/* This lock prevents a race condition between xmit and receive. */
 	spinlock_t tx_ctx_lock;
 	struct gs_tx_context tx_context[GS_MAX_TX_URBS];
@@ -192,6 +275,7 @@ struct gs_usb {
 	struct gs_can *canch[GS_MAX_INTF];
 	struct usb_anchor rx_submitted;
 	struct usb_device *udev;
+	unsigned int hf_size_rx;
 	u8 active_channels;
 };
 
@@ -258,11 +342,7 @@ static int gs_cmd_reset(struct gs_can *gsdev)
 			     usb_sndctrlpipe(interface_to_usbdev(intf), 0),
 			     GS_USB_BREQ_MODE,
 			     USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
-			     gsdev->channel,
-			     0,
-			     dm,
-			     sizeof(*dm),
-			     1000);
+			     gsdev->channel, 0, dm, sizeof(*dm), 1000);
 
 	kfree(dm);
 
@@ -304,6 +384,7 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 	struct gs_host_frame *hf = urb->transfer_buffer;
 	struct gs_tx_context *txc;
 	struct can_frame *cf;
+	struct canfd_frame *cfd;
 	struct sk_buff *skb;
 
 	BUG_ON(!usbcan);
@@ -332,18 +413,33 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 		return;
 
 	if (hf->echo_id == -1) { /* normal rx */
-		skb = alloc_can_skb(dev->netdev, &cf);
-		if (!skb)
-			return;
+		if (hf->flags & GS_CAN_FLAG_FD) {
+			skb = alloc_canfd_skb(dev->netdev, &cfd);
+			if (!skb)
+				return;
+
+			cfd->can_id = le32_to_cpu(hf->can_id);
+			cfd->len = can_fd_dlc2len(hf->can_dlc);
+			if (hf->flags & GS_CAN_FLAG_BRS)
+				cfd->flags |= CANFD_BRS;
+			if (hf->flags & GS_CAN_FLAG_ESI)
+				cfd->flags |= CANFD_ESI;
+
+			memcpy(cfd->data, hf->canfd->data, cfd->len);
+		} else {
+			skb = alloc_can_skb(dev->netdev, &cf);
+			if (!skb)
+				return;
 
-		cf->can_id = le32_to_cpu(hf->can_id);
+			cf->can_id = le32_to_cpu(hf->can_id);
+			can_frame_set_cc_len(cf, hf->can_dlc, dev->can.ctrlmode);
 
-		can_frame_set_cc_len(cf, hf->can_dlc, dev->can.ctrlmode);
-		memcpy(cf->data, hf->data, 8);
+			memcpy(cf->data, hf->classic_can->data, 8);
 
-		/* ERROR frames tell us information about the controller */
-		if (le32_to_cpu(hf->can_id) & CAN_ERR_FLAG)
-			gs_update_state(dev, cf);
+			/* ERROR frames tell us information about the controller */
+			if (le32_to_cpu(hf->can_id) & CAN_ERR_FLAG)
+				gs_update_state(dev, cf);
+		}
 
 		netdev->stats.rx_packets++;
 		netdev->stats.rx_bytes += hf->can_dlc;
@@ -392,14 +488,10 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 	}
 
  resubmit_urb:
-	usb_fill_bulk_urb(urb,
-			  usbcan->udev,
+	usb_fill_bulk_urb(urb, usbcan->udev,
 			  usb_rcvbulkpipe(usbcan->udev, GSUSB_ENDPOINT_IN),
-			  hf,
-			  sizeof(struct gs_host_frame),
-			  gs_usb_receive_bulk_callback,
-			  usbcan
-			  );
+			  hf, dev->parent->hf_size_rx,
+			  gs_usb_receive_bulk_callback, usbcan);
 
 	rc = usb_submit_urb(urb, GFP_ATOMIC);
 
@@ -436,11 +528,7 @@ static int gs_usb_set_bittiming(struct net_device *netdev)
 			     usb_sndctrlpipe(interface_to_usbdev(intf), 0),
 			     GS_USB_BREQ_BITTIMING,
 			     USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
-			     dev->channel,
-			     0,
-			     dbt,
-			     sizeof(*dbt),
-			     1000);
+			     dev->channel, 0, dbt, sizeof(*dbt), 1000);
 
 	kfree(dbt);
 
@@ -451,6 +539,44 @@ static int gs_usb_set_bittiming(struct net_device *netdev)
 	return (rc > 0) ? 0 : rc;
 }
 
+static int gs_usb_set_data_bittiming(struct net_device *netdev)
+{
+	struct gs_can *dev = netdev_priv(netdev);
+	struct can_bittiming *bt = &dev->can.data_bittiming;
+	struct usb_interface *intf = dev->iface;
+	struct gs_device_bittiming *dbt;
+	u8 request = GS_USB_BREQ_DATA_BITTIMING;
+	int rc;
+
+	dbt = kmalloc(sizeof(*dbt), GFP_KERNEL);
+	if (!dbt)
+		return -ENOMEM;
+
+	dbt->prop_seg = cpu_to_le32(bt->prop_seg);
+	dbt->phase_seg1 = cpu_to_le32(bt->phase_seg1);
+	dbt->phase_seg2 = cpu_to_le32(bt->phase_seg2);
+	dbt->sjw = cpu_to_le32(bt->sjw);
+	dbt->brp = cpu_to_le32(bt->brp);
+
+	if (dev->feature & GS_CAN_FEATURE_QUIRK_BREQ_CANTACT_PRO)
+		request = GS_USB_BREQ_QUIRK_CANTACT_PRO_DATA_BITTIMING;
+
+	/* request bit timings */
+	rc = usb_control_msg(interface_to_usbdev(intf),
+			     usb_sndctrlpipe(interface_to_usbdev(intf), 0),
+			     request,
+			     USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
+			     dev->channel, 0, dbt, sizeof(*dbt), 1000);
+
+	kfree(dbt);
+
+	if (rc < 0)
+		dev_err(netdev->dev.parent,
+			"Couldn't set data bittimings (err=%d)", rc);
+
+	return (rc > 0) ? 0 : rc;
+}
+
 static void gs_usb_xmit_callback(struct urb *urb)
 {
 	struct gs_tx_context *txc = urb->context;
@@ -460,10 +586,8 @@ static void gs_usb_xmit_callback(struct urb *urb)
 	if (urb->status)
 		netdev_info(netdev, "usb xmit fail %u\n", txc->echo_id);
 
-	usb_free_coherent(urb->dev,
-			  urb->transfer_buffer_length,
-			  urb->transfer_buffer,
-			  urb->transfer_dma);
+	usb_free_coherent(urb->dev, urb->transfer_buffer_length,
+			  urb->transfer_buffer, urb->transfer_dma);
 }
 
 static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
@@ -474,6 +598,7 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
 	struct urb *urb;
 	struct gs_host_frame *hf;
 	struct can_frame *cf;
+	struct canfd_frame *cfd;
 	int rc;
 	unsigned int idx;
 	struct gs_tx_context *txc;
@@ -491,7 +616,7 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
 	if (!urb)
 		goto nomem_urb;
 
-	hf = usb_alloc_coherent(dev->udev, sizeof(*hf), GFP_ATOMIC,
+	hf = usb_alloc_coherent(dev->udev, dev->hf_size_tx, GFP_ATOMIC,
 				&urb->transfer_dma);
 	if (!hf) {
 		netdev_err(netdev, "No memory left for USB buffer\n");
@@ -510,19 +635,31 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
 	hf->flags = 0;
 	hf->reserved = 0;
 
-	cf = (struct can_frame *)skb->data;
+	if (can_is_canfd_skb(skb)) {
+		cfd = (struct canfd_frame *)skb->data;
 
-	hf->can_id = cpu_to_le32(cf->can_id);
-	hf->can_dlc = can_get_cc_dlc(cf, dev->can.ctrlmode);
+		hf->can_id = cpu_to_le32(cfd->can_id);
+		hf->can_dlc = can_fd_len2dlc(cfd->len);
+		hf->flags |= GS_CAN_FLAG_FD;
+		if (cfd->flags & CANFD_BRS)
+			hf->flags |= GS_CAN_FLAG_BRS;
+		if (cfd->flags & CANFD_ESI)
+			hf->flags |= GS_CAN_FLAG_ESI;
 
-	memcpy(hf->data, cf->data, cf->len);
+		memcpy(hf->canfd->data, cfd->data, cfd->len);
+	} else {
+		cf = (struct can_frame *)skb->data;
+
+		hf->can_id = cpu_to_le32(cf->can_id);
+		hf->can_dlc = can_get_cc_dlc(cf, dev->can.ctrlmode);
+
+		memcpy(hf->classic_can->data, cf->data, cf->len);
+	}
 
 	usb_fill_bulk_urb(urb, dev->udev,
 			  usb_sndbulkpipe(dev->udev, GSUSB_ENDPOINT_OUT),
-			  hf,
-			  sizeof(*hf),
-			  gs_usb_xmit_callback,
-			  txc);
+			  hf, dev->hf_size_tx,
+			  gs_usb_xmit_callback, txc);
 
 	urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
 	usb_anchor_urb(urb, &dev->tx_submitted);
@@ -539,10 +676,8 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
 		gs_free_tx_context(txc);
 
 		usb_unanchor_urb(urb);
-		usb_free_coherent(dev->udev,
-				  sizeof(*hf),
-				  hf,
-				  urb->transfer_dma);
+		usb_free_coherent(dev->udev, urb->transfer_buffer_length,
+				  urb->transfer_buffer, urb->transfer_dma);
 
 		if (rc == -ENODEV) {
 			netif_device_detach(netdev);
@@ -562,10 +697,8 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
 	return NETDEV_TX_OK;
 
  badidx:
-	usb_free_coherent(dev->udev,
-			  sizeof(*hf),
-			  hf,
-			  urb->transfer_dma);
+	usb_free_coherent(dev->udev, urb->transfer_buffer_length,
+			  urb->transfer_buffer, urb->transfer_dma);
  nomem_hf:
 	usb_free_urb(urb);
 
@@ -582,6 +715,7 @@ static int gs_can_open(struct net_device *netdev)
 	struct gs_usb *parent = dev->parent;
 	int rc, i;
 	struct gs_device_mode *dm;
+	struct gs_host_frame *hf;
 	u32 ctrlmode;
 	u32 flags = 0;
 
@@ -589,6 +723,21 @@ static int gs_can_open(struct net_device *netdev)
 	if (rc)
 		return rc;
 
+	ctrlmode = dev->can.ctrlmode;
+	if (ctrlmode & CAN_CTRLMODE_FD) {
+		flags |= GS_CAN_MODE_FD;
+
+		if (dev->feature & GS_CAN_FEATURE_REQ_USB_QUIRK_LPC546XX)
+			dev->hf_size_tx = struct_size(hf, canfd_quirk, 1);
+		else
+			dev->hf_size_tx = struct_size(hf, canfd, 1);
+	} else {
+		if (dev->feature & GS_CAN_FEATURE_REQ_USB_QUIRK_LPC546XX)
+			dev->hf_size_tx = struct_size(hf, classic_can_quirk, 1);
+		else
+			dev->hf_size_tx = struct_size(hf, classic_can, 1);
+	}
+
 	if (!parent->active_channels) {
 		for (i = 0; i < GS_MAX_RX_URBS; i++) {
 			struct urb *urb;
@@ -601,7 +750,7 @@ static int gs_can_open(struct net_device *netdev)
 
 			/* alloc rx buffer */
 			buf = usb_alloc_coherent(dev->udev,
-						 sizeof(struct gs_host_frame),
+						 dev->parent->hf_size_rx,
 						 GFP_KERNEL,
 						 &urb->transfer_dma);
 			if (!buf) {
@@ -617,9 +766,8 @@ static int gs_can_open(struct net_device *netdev)
 					  usb_rcvbulkpipe(dev->udev,
 							  GSUSB_ENDPOINT_IN),
 					  buf,
-					  sizeof(struct gs_host_frame),
-					  gs_usb_receive_bulk_callback,
-					  parent);
+					  dev->parent->hf_size_rx,
+					  gs_usb_receive_bulk_callback, parent);
 			urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
 
 			usb_anchor_urb(urb, &parent->rx_submitted);
@@ -630,8 +778,7 @@ static int gs_can_open(struct net_device *netdev)
 					netif_device_detach(dev->netdev);
 
 				netdev_err(netdev,
-					   "usb_submit failed (err=%d)\n",
-					   rc);
+					   "usb_submit failed (err=%d)\n", rc);
 
 				usb_unanchor_urb(urb);
 				usb_free_urb(urb);
@@ -650,8 +797,6 @@ static int gs_can_open(struct net_device *netdev)
 		return -ENOMEM;
 
 	/* flags */
-	ctrlmode = dev->can.ctrlmode;
-
 	if (ctrlmode & CAN_CTRLMODE_LOOPBACK)
 		flags |= GS_CAN_MODE_LOOP_BACK;
 	else if (ctrlmode & CAN_CTRLMODE_LISTENONLY)
@@ -672,13 +817,8 @@ static int gs_can_open(struct net_device *netdev)
 	rc = usb_control_msg(interface_to_usbdev(dev->iface),
 			     usb_sndctrlpipe(interface_to_usbdev(dev->iface), 0),
 			     GS_USB_BREQ_MODE,
-			     USB_DIR_OUT | USB_TYPE_VENDOR |
-			     USB_RECIP_INTERFACE,
-			     dev->channel,
-			     0,
-			     dm,
-			     sizeof(*dm),
-			     1000);
+			     USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
+			     dev->channel, 0, dm, sizeof(*dm), 1000);
 
 	if (rc < 0) {
 		netdev_err(netdev, "Couldn't start device (err=%d)\n", rc);
@@ -755,16 +895,10 @@ static int gs_usb_set_identify(struct net_device *netdev, bool do_identify)
 		imode->mode = cpu_to_le32(GS_CAN_IDENTIFY_OFF);
 
 	rc = usb_control_msg(interface_to_usbdev(dev->iface),
-			     usb_sndctrlpipe(interface_to_usbdev(dev->iface),
-					     0),
+			     usb_sndctrlpipe(interface_to_usbdev(dev->iface), 0),
 			     GS_USB_BREQ_IDENTIFY,
-			     USB_DIR_OUT | USB_TYPE_VENDOR |
-			     USB_RECIP_INTERFACE,
-			     dev->channel,
-			     0,
-			     imode,
-			     sizeof(*imode),
-			     100);
+			     USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
+			     dev->channel, 0, imode, sizeof(*imode), 100);
 
 	kfree(imode);
 
@@ -803,6 +937,7 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 	struct net_device *netdev;
 	int rc;
 	struct gs_device_bt_const *bt_const;
+	struct gs_device_bt_const_extended *bt_const_extended;
 	u32 feature;
 
 	bt_const = kmalloc(sizeof(*bt_const), GFP_KERNEL);
@@ -814,11 +949,7 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 			     usb_rcvctrlpipe(interface_to_usbdev(intf), 0),
 			     GS_USB_BREQ_BT_CONST,
 			     USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
-			     channel,
-			     0,
-			     bt_const,
-			     sizeof(*bt_const),
-			     1000);
+			     channel, 0, bt_const, sizeof(*bt_const), 1000);
 
 	if (rc < 0) {
 		dev_err(&intf->dev,
@@ -875,6 +1006,7 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 	dev->can.ctrlmode_supported = CAN_CTRLMODE_CC_LEN8_DLC;
 
 	feature = le32_to_cpu(bt_const->feature);
+	dev->feature = FIELD_GET(GS_CAN_FEATURE_MASK, feature);
 	if (feature & GS_CAN_FEATURE_LISTEN_ONLY)
 		dev->can.ctrlmode_supported |= CAN_CTRLMODE_LISTENONLY;
 
@@ -887,7 +1019,37 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 	if (feature & GS_CAN_FEATURE_ONE_SHOT)
 		dev->can.ctrlmode_supported |= CAN_CTRLMODE_ONE_SHOT;
 
-	SET_NETDEV_DEV(netdev, &intf->dev);
+	if (feature & GS_CAN_FEATURE_FD) {
+		dev->can.ctrlmode_supported |= CAN_CTRLMODE_FD;
+		/* The data bit timing will be overwritten, if
+		 * GS_CAN_FEATURE_BT_CONST_EXT is set.
+		 */
+		dev->can.data_bittiming_const = &dev->bt_const;
+		dev->can.do_set_data_bittiming = gs_usb_set_data_bittiming;
+	}
+
+	/* The CANtact Pro from LinkLayer Labs is based on the
+	 * LPC54616 µC, which is affected by the NXP LPC USB transfer
+	 * erratum. However, the current firmware (version 2) doesn't
+	 * set the GS_CAN_FEATURE_REQ_USB_QUIRK_LPC546XX bit. Set the
+	 * feature GS_CAN_FEATURE_REQ_USB_QUIRK_LPC546XX to workaround
+	 * this issue.
+	 *
+	 * For the GS_USB_BREQ_DATA_BITTIMING USB control message the
+	 * CANtact Pro firmware uses a request value, which is already
+	 * used by the candleLight firmware for a different purpose
+	 * (GS_USB_BREQ_GET_USER_ID). Set the feature
+	 * GS_CAN_FEATURE_QUIRK_BREQ_CANTACT_PRO to workaround this
+	 * issue.
+	 */
+	if (dev->udev->descriptor.idVendor == cpu_to_le16(USB_GSUSB_1_VENDOR_ID) &&
+	    dev->udev->descriptor.idProduct == cpu_to_le16(USB_GSUSB_1_PRODUCT_ID) &&
+	    dev->udev->manufacturer && dev->udev->product &&
+	    !strcmp(dev->udev->manufacturer, "LinkLayer Labs") &&
+	    !strcmp(dev->udev->product, "CANtact Pro") &&
+	    (le32_to_cpu(dconf->sw_version) <= 2))
+		dev->feature |= GS_CAN_FEATURE_REQ_USB_QUIRK_LPC546XX |
+			GS_CAN_FEATURE_QUIRK_BREQ_CANTACT_PRO;
 
 	if (le32_to_cpu(dconf->sw_version) > 1)
 		if (feature & GS_CAN_FEATURE_IDENTIFY)
@@ -895,6 +1057,45 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 
 	kfree(bt_const);
 
+	/* fetch extended bit timing constants if device has feature
+	 * GS_CAN_FEATURE_FD and GS_CAN_FEATURE_BT_CONST_EXT
+	 */
+	if (feature & GS_CAN_FEATURE_FD &&
+	    feature & GS_CAN_FEATURE_BT_CONST_EXT) {
+		bt_const_extended = kmalloc(sizeof(*bt_const_extended), GFP_KERNEL);
+		if (!bt_const_extended)
+			return ERR_PTR(-ENOMEM);
+
+		rc = usb_control_msg(interface_to_usbdev(intf),
+				     usb_rcvctrlpipe(interface_to_usbdev(intf), 0),
+				     GS_USB_BREQ_BT_CONST_EXT,
+				     USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
+				     channel, 0, bt_const_extended,
+				     sizeof(*bt_const_extended),
+				     1000);
+		if (rc < 0) {
+			dev_err(&intf->dev,
+				"Couldn't get extended bit timing const for channel (err=%d)\n",
+				rc);
+			kfree(bt_const_extended);
+			return ERR_PTR(rc);
+		}
+
+		strcpy(dev->data_bt_const.name, "gs_usb");
+		dev->data_bt_const.tseg1_min = le32_to_cpu(bt_const_extended->dtseg1_min);
+		dev->data_bt_const.tseg1_max = le32_to_cpu(bt_const_extended->dtseg1_max);
+		dev->data_bt_const.tseg2_min = le32_to_cpu(bt_const_extended->dtseg2_min);
+		dev->data_bt_const.tseg2_max = le32_to_cpu(bt_const_extended->dtseg2_max);
+		dev->data_bt_const.sjw_max = le32_to_cpu(bt_const_extended->dsjw_max);
+		dev->data_bt_const.brp_min = le32_to_cpu(bt_const_extended->dbrp_min);
+		dev->data_bt_const.brp_max = le32_to_cpu(bt_const_extended->dbrp_max);
+		dev->data_bt_const.brp_inc = le32_to_cpu(bt_const_extended->dbrp_inc);
+
+		dev->can.data_bittiming_const = &dev->data_bt_const;
+	}
+
+	SET_NETDEV_DEV(netdev, &intf->dev);
+
 	rc = register_candev(dev->netdev);
 	if (rc) {
 		free_candev(dev->netdev);
@@ -915,6 +1116,8 @@ static void gs_destroy_candev(struct gs_can *dev)
 static int gs_usb_probe(struct usb_interface *intf,
 			const struct usb_device_id *id)
 {
+	struct usb_device *udev = interface_to_usbdev(intf);
+	struct gs_host_frame *hf;
 	struct gs_usb *dev;
 	int rc = -ENOMEM;
 	unsigned int icount, i;
@@ -928,21 +1131,16 @@ static int gs_usb_probe(struct usb_interface *intf,
 	hconf->byte_order = cpu_to_le32(0x0000beef);
 
 	/* send host config */
-	rc = usb_control_msg(interface_to_usbdev(intf),
-			     usb_sndctrlpipe(interface_to_usbdev(intf), 0),
+	rc = usb_control_msg(udev, usb_sndctrlpipe(udev, 0),
 			     GS_USB_BREQ_HOST_FORMAT,
 			     USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
-			     1,
-			     intf->cur_altsetting->desc.bInterfaceNumber,
-			     hconf,
-			     sizeof(*hconf),
-			     1000);
+			     1, intf->cur_altsetting->desc.bInterfaceNumber,
+			     hconf, sizeof(*hconf), 1000);
 
 	kfree(hconf);
 
 	if (rc < 0) {
-		dev_err(&intf->dev, "Couldn't send data format (err=%d)\n",
-			rc);
+		dev_err(&intf->dev, "Couldn't send data format (err=%d)\n", rc);
 		return rc;
 	}
 
@@ -951,15 +1149,11 @@ static int gs_usb_probe(struct usb_interface *intf,
 		return -ENOMEM;
 
 	/* read device config */
-	rc = usb_control_msg(interface_to_usbdev(intf),
-			     usb_rcvctrlpipe(interface_to_usbdev(intf), 0),
+	rc = usb_control_msg(udev, usb_rcvctrlpipe(udev, 0),
 			     GS_USB_BREQ_DEVICE_CONFIG,
 			     USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
-			     1,
-			     intf->cur_altsetting->desc.bInterfaceNumber,
-			     dconf,
-			     sizeof(*dconf),
-			     1000);
+			     1, intf->cur_altsetting->desc.bInterfaceNumber,
+			     dconf, sizeof(*dconf), 1000);
 	if (rc < 0) {
 		dev_err(&intf->dev, "Couldn't get device config: (err=%d)\n",
 			rc);
@@ -985,9 +1179,13 @@ static int gs_usb_probe(struct usb_interface *intf,
 	}
 
 	init_usb_anchor(&dev->rx_submitted);
+	/* default to classic CAN, switch to CAN-FD if at least one of
+	 * our channels support CAN-FD.
+	 */
+	dev->hf_size_rx = struct_size(hf, classic_can, 1);
 
 	usb_set_intfdata(intf, dev);
-	dev->udev = interface_to_usbdev(intf);
+	dev->udev = udev;
 
 	for (i = 0; i < icount; i++) {
 		dev->canch[i] = gs_make_candev(i, intf, dconf);
@@ -1006,6 +1204,9 @@ static int gs_usb_probe(struct usb_interface *intf,
 			return rc;
 		}
 		dev->canch[i]->parent = dev;
+
+		if (dev->canch[i]->can.ctrlmode_supported & CAN_CTRLMODE_FD)
+			dev->hf_size_rx = struct_size(hf, canfd, 1);
 	}
 
 	kfree(dconf);
@@ -1015,8 +1216,9 @@ static int gs_usb_probe(struct usb_interface *intf,
 
 static void gs_usb_disconnect(struct usb_interface *intf)
 {
-	unsigned i;
 	struct gs_usb *dev = usb_get_intfdata(intf);
+	unsigned int i;
+
 	usb_set_intfdata(intf, NULL);
 
 	if (!dev) {
@@ -1037,16 +1239,20 @@ static const struct usb_device_id gs_usb_table[] = {
 				      USB_GSUSB_1_PRODUCT_ID, 0) },
 	{ USB_DEVICE_INTERFACE_NUMBER(USB_CANDLELIGHT_VENDOR_ID,
 				      USB_CANDLELIGHT_PRODUCT_ID, 0) },
+	{ USB_DEVICE_INTERFACE_NUMBER(USB_CES_CANEXT_FD_VENDOR_ID,
+				      USB_CES_CANEXT_FD_PRODUCT_ID, 0) },
+	{ USB_DEVICE_INTERFACE_NUMBER(USB_ABE_CANDEBUGGER_FD_VENDOR_ID,
+				      USB_ABE_CANDEBUGGER_FD_PRODUCT_ID, 0) },
 	{} /* Terminating entry */
 };
 
 MODULE_DEVICE_TABLE(usb, gs_usb_table);
 
 static struct usb_driver gs_usb_driver = {
-	.name       = "gs_usb",
-	.probe      = gs_usb_probe,
+	.name = "gs_usb",
+	.probe = gs_usb_probe,
 	.disconnect = gs_usb_disconnect,
-	.id_table   = gs_usb_table,
+	.id_table = gs_usb_table,
 };
 
 module_usb_driver(gs_usb_driver);
diff --git a/drivers/net/can/vxcan.c b/drivers/net/can/vxcan.c
index 556f1a12ec9a..94a0c9c6a509 100644
--- a/drivers/net/can/vxcan.c
+++ b/drivers/net/can/vxcan.c
@@ -33,28 +33,33 @@ struct vxcan_priv {
 	struct net_device __rcu	*peer;
 };
 
-static netdev_tx_t vxcan_xmit(struct sk_buff *skb, struct net_device *dev)
+static netdev_tx_t vxcan_xmit(struct sk_buff *oskb, struct net_device *dev)
 {
 	struct vxcan_priv *priv = netdev_priv(dev);
 	struct net_device *peer;
-	struct canfd_frame *cfd = (struct canfd_frame *)skb->data;
+	struct canfd_frame *cfd = (struct canfd_frame *)oskb->data;
 	struct net_device_stats *peerstats, *srcstats = &dev->stats;
+	struct sk_buff *skb;
 	u8 len;
 
-	if (can_dropped_invalid_skb(dev, skb))
+	if (can_dropped_invalid_skb(dev, oskb))
 		return NETDEV_TX_OK;
 
 	rcu_read_lock();
 	peer = rcu_dereference(priv->peer);
 	if (unlikely(!peer)) {
-		kfree_skb(skb);
+		kfree_skb(oskb);
 		dev->stats.tx_dropped++;
 		goto out_unlock;
 	}
 
-	skb = can_create_echo_skb(skb);
-	if (!skb)
+	skb = skb_clone(oskb, GFP_ATOMIC);
+	if (skb) {
+		consume_skb(oskb);
+	} else {
+		kfree(oskb);
 		goto out_unlock;
+	}
 
 	/* reset CAN GW hop counter */
 	skb->csum_start = 0;
@@ -148,7 +153,7 @@ static void vxcan_setup(struct net_device *dev)
 	dev->hard_header_len	= 0;
 	dev->addr_len		= 0;
 	dev->tx_queue_len	= 0;
-	dev->flags		= (IFF_NOARP|IFF_ECHO);
+	dev->flags		= IFF_NOARP;
 	dev->netdev_ops		= &vxcan_netdev_ops;
 	dev->needs_free_netdev	= true;