1 files changed, 326 insertions, 120 deletions

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);