1 files changed, 145 insertions, 164 deletions

diff --git a/drivers/net/can/rcar/rcar_canfd.c b/drivers/net/can/rcar/rcar_canfd.c
index 7f10213738e5..b3c8c592fb0e 100644
--- a/drivers/net/can/rcar/rcar_canfd.c
+++ b/drivers/net/can/rcar/rcar_canfd.c
@@ -191,9 +191,19 @@
 /* RSCFDnCFDCmFDCFG */
 #define RCANFD_GEN4_FDCFG_CLOE		BIT(30)
 #define RCANFD_GEN4_FDCFG_FDOE		BIT(28)
+#define RCANFD_FDCFG_TDCO		GENMASK(23, 16)
 #define RCANFD_FDCFG_TDCE		BIT(9)
 #define RCANFD_FDCFG_TDCOC		BIT(8)
-#define RCANFD_FDCFG_TDCO(x)		(((x) & 0x7f) >> 16)
+
+/* RSCFDnCFDCmFDSTS */
+#define RCANFD_FDSTS_SOC		GENMASK(31, 24)
+#define RCANFD_FDSTS_EOC		GENMASK(23, 16)
+#define RCANFD_GEN4_FDSTS_TDCVF		BIT(15)
+#define RCANFD_GEN4_FDSTS_PNSTS		GENMASK(13, 12)
+#define RCANFD_FDSTS_SOCO		BIT(9)
+#define RCANFD_FDSTS_EOCO		BIT(8)
+#define RCANFD_FDSTS_TDCVF		BIT(7)
+#define RCANFD_FDSTS_TDCR		GENMASK(7, 0)
 
 /* RSCFDnCFDRFCCx */
 #define RCANFD_RFCC_RFIM		BIT(12)
@@ -214,8 +224,6 @@
 
 /* RSCFDnCFDRFPTRx */
 #define RCANFD_RFPTR_RFDLC(x)		(((x) >> 28) & 0xf)
-#define RCANFD_RFPTR_RFPTR(x)		(((x) >> 16) & 0xfff)
-#define RCANFD_RFPTR_RFTS(x)		(((x) >> 0) & 0xffff)
 
 /* RSCFDnCFDRFFDSTSx */
 #define RCANFD_RFFDSTS_RFFDF		BIT(2)
@@ -247,12 +255,9 @@
 /* RSCFDnCFDCFIDk */
 #define RCANFD_CFID_CFIDE		BIT(31)
 #define RCANFD_CFID_CFRTR		BIT(30)
-#define RCANFD_CFID_CFID_MASK(x)	((x) & 0x1fffffff)
 
 /* RSCFDnCFDCFPTRk */
 #define RCANFD_CFPTR_CFDLC(x)		(((x) & 0xf) << 28)
-#define RCANFD_CFPTR_CFPTR(x)		(((x) & 0xfff) << 16)
-#define RCANFD_CFPTR_CFTS(x)		(((x) & 0xff) << 0)
 
 /* RSCFDnCFDCFFDCSTSk */
 #define RCANFD_CFFDCSTS_CFFDF		BIT(2)
@@ -318,59 +323,6 @@
 #define RCANFD_CFPCTR(gpriv, ch, idx) \
 	((gpriv)->info->regs->cfpctr + (0x0c * (ch)) + (0x04 * (idx)))
 
-/* RSCFDnCFDFESTS / RSCFDnFESTS */
-#define RCANFD_FESTS			(0x0238)
-/* RSCFDnCFDFFSTS / RSCFDnFFSTS */
-#define RCANFD_FFSTS			(0x023c)
-/* RSCFDnCFDFMSTS / RSCFDnFMSTS */
-#define RCANFD_FMSTS			(0x0240)
-/* RSCFDnCFDRFISTS / RSCFDnRFISTS */
-#define RCANFD_RFISTS			(0x0244)
-/* RSCFDnCFDCFRISTS / RSCFDnCFRISTS */
-#define RCANFD_CFRISTS			(0x0248)
-/* RSCFDnCFDCFTISTS / RSCFDnCFTISTS */
-#define RCANFD_CFTISTS			(0x024c)
-
-/* RSCFDnCFDTMCp / RSCFDnTMCp */
-#define RCANFD_TMC(p)			(0x0250 + (0x01 * (p)))
-/* RSCFDnCFDTMSTSp / RSCFDnTMSTSp */
-#define RCANFD_TMSTS(p)			(0x02d0 + (0x01 * (p)))
-
-/* RSCFDnCFDTMTRSTSp / RSCFDnTMTRSTSp */
-#define RCANFD_TMTRSTS(y)		(0x0350 + (0x04 * (y)))
-/* RSCFDnCFDTMTARSTSp / RSCFDnTMTARSTSp */
-#define RCANFD_TMTARSTS(y)		(0x0360 + (0x04 * (y)))
-/* RSCFDnCFDTMTCSTSp / RSCFDnTMTCSTSp */
-#define RCANFD_TMTCSTS(y)		(0x0370 + (0x04 * (y)))
-/* RSCFDnCFDTMTASTSp / RSCFDnTMTASTSp */
-#define RCANFD_TMTASTS(y)		(0x0380 + (0x04 * (y)))
-/* RSCFDnCFDTMIECy / RSCFDnTMIECy */
-#define RCANFD_TMIEC(y)			(0x0390 + (0x04 * (y)))
-
-/* RSCFDnCFDTXQCCm / RSCFDnTXQCCm */
-#define RCANFD_TXQCC(m)			(0x03a0 + (0x04 * (m)))
-/* RSCFDnCFDTXQSTSm / RSCFDnTXQSTSm */
-#define RCANFD_TXQSTS(m)		(0x03c0 + (0x04 * (m)))
-/* RSCFDnCFDTXQPCTRm / RSCFDnTXQPCTRm */
-#define RCANFD_TXQPCTR(m)		(0x03e0 + (0x04 * (m)))
-
-/* RSCFDnCFDTHLCCm / RSCFDnTHLCCm */
-#define RCANFD_THLCC(m)			(0x0400 + (0x04 * (m)))
-/* RSCFDnCFDTHLSTSm / RSCFDnTHLSTSm */
-#define RCANFD_THLSTS(m)		(0x0420 + (0x04 * (m)))
-/* RSCFDnCFDTHLPCTRm / RSCFDnTHLPCTRm */
-#define RCANFD_THLPCTR(m)		(0x0440 + (0x04 * (m)))
-
-/* RSCFDnCFDGTINTSTS0 / RSCFDnGTINTSTS0 */
-#define RCANFD_GTINTSTS0		(0x0460)
-/* RSCFDnCFDGTINTSTS1 / RSCFDnGTINTSTS1 */
-#define RCANFD_GTINTSTS1		(0x0464)
-/* RSCFDnCFDGTSTCFG / RSCFDnGTSTCFG */
-#define RCANFD_GTSTCFG			(0x0468)
-/* RSCFDnCFDGTSTCTR / RSCFDnGTSTCTR */
-#define RCANFD_GTSTCTR			(0x046c)
-/* RSCFDnCFDGLOCKK / RSCFDnGLOCKK */
-#define RCANFD_GLOCKK			(0x047c)
 /* RSCFDnCFDGRMCFG */
 #define RCANFD_GRMCFG			(0x04fc)
 
@@ -388,12 +340,6 @@
 /* RSCFDnGAFLXXXj offset */
 #define RCANFD_C_GAFL_OFFSET		(0x0500)
 
-/* RSCFDnRMXXXq -> RCANFD_C_RMXXX(q) */
-#define RCANFD_C_RMID(q)		(0x0600 + (0x10 * (q)))
-#define RCANFD_C_RMPTR(q)		(0x0604 + (0x10 * (q)))
-#define RCANFD_C_RMDF0(q)		(0x0608 + (0x10 * (q)))
-#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)))
@@ -413,40 +359,24 @@
 #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)))
-#define RCANFD_C_TMPTR(p)		(0x1004 + (0x10 * (p)))
-#define RCANFD_C_TMDF0(p)		(0x1008 + (0x10 * (p)))
-#define RCANFD_C_TMDF1(p)		(0x100c + (0x10 * (p)))
-
-/* RSCFDnTHLACCm */
-#define RCANFD_C_THLACC(m)		(0x1800 + (0x04 * (m)))
-/* RSCFDnRPGACCr */
-#define RCANFD_C_RPGACC(r)		(0x1900 + (0x04 * (r)))
-
 /* R-Car Gen4 Classical and CAN FD mode specific register map */
-#define RCANFD_GEN4_FDCFG(m)		(0x1404 + (0x20 * (m)))
-
 #define RCANFD_GEN4_GAFL_OFFSET		(0x1800)
 
 /* CAN FD mode specific register map */
 
-/* RSCFDnCFDCmXXX -> RCANFD_F_XXX(m) */
-#define RCANFD_F_DCFG(gpriv, m)		((gpriv)->info->regs->f_dcfg + (0x20 * (m)))
-#define RCANFD_F_CFDCFG(m)		(0x0504 + (0x20 * (m)))
-#define RCANFD_F_CFDCTR(m)		(0x0508 + (0x20 * (m)))
-#define RCANFD_F_CFDSTS(m)		(0x050c + (0x20 * (m)))
-#define RCANFD_F_CFDCRC(m)		(0x0510 + (0x20 * (m)))
+/* RSCFDnCFDCmXXX -> gpriv->fcbase[m].xxx */
+struct rcar_canfd_f_c {
+	u32 dcfg;
+	u32 cfdcfg;
+	u32 cfdctr;
+	u32 cfdsts;
+	u32 cfdcrc;
+	u32 pad[3];
+};
 
 /* RSCFDnCFDGAFLXXXj offset */
 #define RCANFD_F_GAFL_OFFSET		(0x1000)
 
-/* RSCFDnCFDRMXXXq -> RCANFD_F_RMXXX(q) */
-#define RCANFD_F_RMID(q)		(0x2000 + (0x20 * (q)))
-#define RCANFD_F_RMPTR(q)		(0x2004 + (0x20 * (q)))
-#define RCANFD_F_RMFDSTS(q)		(0x2008 + (0x20 * (q)))
-#define RCANFD_F_RMDF(q, b)		(0x200c + (0x04 * (b)) + (0x20 * (q)))
-
 /* RSCFDnCFDRFXXx -> RCANFD_F_RFXX(x) */
 #define RCANFD_F_RFOFFSET(gpriv)	((gpriv)->info->regs->rfoffset)
 #define RCANFD_F_RFID(gpriv, x)		(RCANFD_F_RFOFFSET(gpriv) + (0x80 * (x)))
@@ -471,23 +401,11 @@
 	(RCANFD_F_CFOFFSET(gpriv) + 0x0c + (0x180 * (ch)) + (0x80 * (idx)) + \
 	 (0x04 * (df)))
 
-/* RSCFDnCFDTMXXp -> RCANFD_F_TMXX(p) */
-#define RCANFD_F_TMID(p)		(0x4000 + (0x20 * (p)))
-#define RCANFD_F_TMPTR(p)		(0x4004 + (0x20 * (p)))
-#define RCANFD_F_TMFDCTR(p)		(0x4008 + (0x20 * (p)))
-#define RCANFD_F_TMDF(p, b)		(0x400c + (0x20 * (p)) + (0x04 * (b)))
-
-/* RSCFDnCFDTHLACCm */
-#define RCANFD_F_THLACC(m)		(0x6000 + (0x04 * (m)))
-/* RSCFDnCFDRPGACCr */
-#define RCANFD_F_RPGACC(r)		(0x6400 + (0x04 * (r)))
-
 /* Constants */
 #define RCANFD_FIFO_DEPTH		8	/* Tx FIFO depth */
 #define RCANFD_NAPI_WEIGHT		8	/* Rx poll quota */
 
 #define RCANFD_NUM_CHANNELS		8	/* Eight channels max */
-#define RCANFD_CHANNELS_MASK		BIT((RCANFD_NUM_CHANNELS) - 1)
 
 #define RCANFD_GAFL_PAGENUM(entry)	((entry) / 16)
 #define RCANFD_CHANNEL_NUMRULES		1	/* only one rule per channel */
@@ -510,7 +428,7 @@ struct rcar_canfd_regs {
 	u16 cfcc;	/* Common FIFO Configuration/Control Register */
 	u16 cfsts;	/* Common FIFO Status Register */
 	u16 cfpctr;	/* Common FIFO Pointer Control Register */
-	u16 f_dcfg;	/* Global FD Configuration Register */
+	u16 coffset;	/* Channel Data Bitrate Configuration Register */
 	u16 rfoffset;	/* Receive FIFO buffer access ID register */
 	u16 cfoffset;	/* Transmit/receive FIFO buffer access ID register */
 };
@@ -529,6 +447,7 @@ struct rcar_canfd_shift_data {
 struct rcar_canfd_hw_info {
 	const struct can_bittiming_const *nom_bittiming;
 	const struct can_bittiming_const *data_bittiming;
+	const struct can_tdc_const *tdc_const;
 	const struct rcar_canfd_regs *regs;
 	const struct rcar_canfd_shift_data *sh;
 	u8 rnc_field_width;
@@ -562,6 +481,7 @@ struct rcar_canfd_channel {
 struct rcar_canfd_global {
 	struct rcar_canfd_channel *ch[RCANFD_NUM_CHANNELS];
 	void __iomem *base;		/* Register base address */
+	struct rcar_canfd_f_c __iomem *fcbase;
 	struct platform_device *pdev;	/* Respective platform device */
 	struct clk *clkp;		/* Peripheral clock */
 	struct clk *can_clk;		/* fCAN clock */
@@ -636,12 +556,31 @@ static const struct can_bittiming_const rcar_canfd_bittiming_const = {
 	.brp_inc = 1,
 };
 
+/* CAN FD Transmission Delay Compensation constants */
+static const struct can_tdc_const rcar_canfd_gen3_tdc_const = {
+	.tdcv_min = 1,
+	.tdcv_max = 128,
+	.tdco_min = 1,
+	.tdco_max = 128,
+	.tdcf_min = 0,	/* Filter window not supported */
+	.tdcf_max = 0,
+};
+
+static const struct can_tdc_const rcar_canfd_gen4_tdc_const = {
+	.tdcv_min = 1,
+	.tdcv_max = 256,
+	.tdco_min = 1,
+	.tdco_max = 256,
+	.tdcf_min = 0,	/* Filter window not supported */
+	.tdcf_max = 0,
+};
+
 static const struct rcar_canfd_regs rcar_gen3_regs = {
 	.rfcc = 0x00b8,
 	.cfcc = 0x0118,
 	.cfsts = 0x0178,
 	.cfpctr = 0x01d8,
-	.f_dcfg = 0x0500,
+	.coffset = 0x0500,
 	.rfoffset = 0x3000,
 	.cfoffset = 0x3400,
 };
@@ -651,7 +590,7 @@ static const struct rcar_canfd_regs rcar_gen4_regs = {
 	.cfcc = 0x0120,
 	.cfsts = 0x01e0,
 	.cfpctr = 0x0240,
-	.f_dcfg = 0x1400,
+	.coffset = 0x1400,
 	.rfoffset = 0x6000,
 	.cfoffset = 0x6400,
 };
@@ -681,6 +620,7 @@ static const struct rcar_canfd_shift_data rcar_gen4_shift_data = {
 static const struct rcar_canfd_hw_info rcar_gen3_hw_info = {
 	.nom_bittiming = &rcar_canfd_gen3_nom_bittiming_const,
 	.data_bittiming = &rcar_canfd_gen3_data_bittiming_const,
+	.tdc_const = &rcar_canfd_gen3_tdc_const,
 	.regs = &rcar_gen3_regs,
 	.sh = &rcar_gen3_shift_data,
 	.rnc_field_width = 8,
@@ -697,6 +637,7 @@ static const struct rcar_canfd_hw_info rcar_gen3_hw_info = {
 static const struct rcar_canfd_hw_info rcar_gen4_hw_info = {
 	.nom_bittiming = &rcar_canfd_gen4_nom_bittiming_const,
 	.data_bittiming = &rcar_canfd_gen4_data_bittiming_const,
+	.tdc_const = &rcar_canfd_gen4_tdc_const,
 	.regs = &rcar_gen4_regs,
 	.sh = &rcar_gen4_shift_data,
 	.rnc_field_width = 16,
@@ -713,6 +654,7 @@ static const struct rcar_canfd_hw_info rcar_gen4_hw_info = {
 static const struct rcar_canfd_hw_info rzg2l_hw_info = {
 	.nom_bittiming = &rcar_canfd_gen3_nom_bittiming_const,
 	.data_bittiming = &rcar_canfd_gen3_data_bittiming_const,
+	.tdc_const = &rcar_canfd_gen3_tdc_const,
 	.regs = &rcar_gen3_regs,
 	.sh = &rcar_gen3_shift_data,
 	.rnc_field_width = 8,
@@ -729,6 +671,7 @@ static const struct rcar_canfd_hw_info rzg2l_hw_info = {
 static const struct rcar_canfd_hw_info r9a09g047_hw_info = {
 	.nom_bittiming = &rcar_canfd_gen4_nom_bittiming_const,
 	.data_bittiming = &rcar_canfd_gen4_data_bittiming_const,
+	.tdc_const = &rcar_canfd_gen4_tdc_const,
 	.regs = &rcar_gen4_regs,
 	.sh = &rcar_gen4_shift_data,
 	.rnc_field_width = 16,
@@ -778,26 +721,36 @@ static void rcar_canfd_update_bit(void __iomem *base, u32 reg,
 	rcar_canfd_update(mask, val, base + reg);
 }
 
+static void rcar_canfd_set_bit_reg(void __iomem *addr, u32 val)
+{
+	rcar_canfd_update(val, val, addr);
+}
+
+static void rcar_canfd_update_bit_reg(void __iomem *addr, u32 mask, u32 val)
+{
+	rcar_canfd_update(mask, val, addr);
+}
+
 static void rcar_canfd_get_data(struct rcar_canfd_channel *priv,
 				struct canfd_frame *cf, u32 off)
 {
+	u32 *data = (u32 *)cf->data;
 	u32 i, lwords;
 
 	lwords = DIV_ROUND_UP(cf->len, sizeof(u32));
 	for (i = 0; i < lwords; i++)
-		*((u32 *)cf->data + i) =
-			rcar_canfd_read(priv->base, off + i * sizeof(u32));
+		data[i] = rcar_canfd_read(priv->base, off + i * sizeof(u32));
 }
 
 static void rcar_canfd_put_data(struct rcar_canfd_channel *priv,
 				struct canfd_frame *cf, u32 off)
 {
+	const u32 *data = (u32 *)cf->data;
 	u32 i, lwords;
 
 	lwords = DIV_ROUND_UP(cf->len, sizeof(u32));
 	for (i = 0; i < lwords; i++)
-		rcar_canfd_write(priv->base, off + i * sizeof(u32),
-				 *((u32 *)cf->data + i));
+		rcar_canfd_write(priv->base, off + i * sizeof(u32), data[i]);
 }
 
 static void rcar_canfd_tx_failure_cleanup(struct net_device *ndev)
@@ -808,8 +761,8 @@ static void rcar_canfd_tx_failure_cleanup(struct net_device *ndev)
 		can_free_echo_skb(ndev, i, NULL);
 }
 
-static void rcar_canfd_setrnc(struct rcar_canfd_global *gpriv, unsigned int ch,
-			      unsigned int num_rules)
+static void rcar_canfd_set_rnc(struct rcar_canfd_global *gpriv, unsigned int ch,
+			       unsigned int num_rules)
 {
 	unsigned int rnc_stride = 32 / gpriv->info->rnc_field_width;
 	unsigned int shift = 32 - (ch % rnc_stride + 1) * gpriv->info->rnc_field_width;
@@ -827,8 +780,7 @@ static void rcar_canfd_set_mode(struct rcar_canfd_global *gpriv)
 
 		for_each_set_bit(ch, &gpriv->channels_mask,
 				 gpriv->info->max_channels)
-			rcar_canfd_set_bit(gpriv->base, RCANFD_GEN4_FDCFG(ch),
-					   val);
+			rcar_canfd_set_bit_reg(&gpriv->fcbase[ch].cfdcfg, val);
 	} else {
 		if (gpriv->fdmode)
 			rcar_canfd_set_bit(gpriv->base, RCANFD_GRMCFG,
@@ -841,6 +793,7 @@ static void rcar_canfd_set_mode(struct rcar_canfd_global *gpriv)
 
 static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
 {
+	struct device *dev = &gpriv->pdev->dev;
 	u32 sts, ch;
 	int err;
 
@@ -850,7 +803,7 @@ static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
 	err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts,
 				 !(sts & RCANFD_GSTS_GRAMINIT), 2, 500000);
 	if (err) {
-		dev_dbg(&gpriv->pdev->dev, "global raminit failed\n");
+		dev_dbg(dev, "global raminit failed\n");
 		return err;
 	}
 
@@ -863,7 +816,7 @@ static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
 	err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts,
 				 (sts & RCANFD_GSTS_GRSTSTS), 2, 500000);
 	if (err) {
-		dev_dbg(&gpriv->pdev->dev, "global reset failed\n");
+		dev_dbg(dev, "global reset failed\n");
 		return err;
 	}
 
@@ -887,8 +840,7 @@ static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
 					 (sts & RCANFD_CSTS_CRSTSTS),
 					 2, 500000);
 		if (err) {
-			dev_dbg(&gpriv->pdev->dev,
-				"channel %u reset failed\n", ch);
+			dev_dbg(dev, "channel %u reset failed\n", ch);
 			return err;
 		}
 	}
@@ -938,7 +890,7 @@ static void rcar_canfd_configure_afl_rules(struct rcar_canfd_global *gpriv,
 			    RCANFD_GAFLECTR_AFLDAE));
 
 	/* Write number of rules for channel */
-	rcar_canfd_setrnc(gpriv, ch, num_rules);
+	rcar_canfd_set_rnc(gpriv, ch, num_rules);
 	if (gpriv->info->shared_can_regs)
 		offset = RCANFD_GEN4_GAFL_OFFSET;
 	else if (gpriv->fdmode)
@@ -1436,14 +1388,17 @@ static irqreturn_t rcar_canfd_channel_interrupt(int irq, void *dev_id)
 	return IRQ_HANDLED;
 }
 
-static void rcar_canfd_set_bittiming(struct net_device *dev)
+static void rcar_canfd_set_bittiming(struct net_device *ndev)
 {
-	struct rcar_canfd_channel *priv = netdev_priv(dev);
+	u32 mask = RCANFD_FDCFG_TDCO | RCANFD_FDCFG_TDCE | RCANFD_FDCFG_TDCOC;
+	struct rcar_canfd_channel *priv = netdev_priv(ndev);
 	struct rcar_canfd_global *gpriv = priv->gpriv;
 	const struct can_bittiming *bt = &priv->can.bittiming;
 	const struct can_bittiming *dbt = &priv->can.fd.data_bittiming;
+	const struct can_tdc_const *tdc_const = priv->can.fd.tdc_const;
+	const struct can_tdc *tdc = &priv->can.fd.tdc;
+	u32 cfg, tdcmode = 0, tdco = 0;
 	u16 brp, sjw, tseg1, tseg2;
-	u32 cfg;
 	u32 ch = priv->channel;
 
 	/* Nominal bit timing settings */
@@ -1452,46 +1407,43 @@ static void rcar_canfd_set_bittiming(struct net_device *dev)
 	tseg1 = bt->prop_seg + bt->phase_seg1 - 1;
 	tseg2 = bt->phase_seg2 - 1;
 
-	if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
-		/* CAN FD only mode */
+	if ((priv->can.ctrlmode & CAN_CTRLMODE_FD) || gpriv->info->shared_can_regs) {
 		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, "nrate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n",
-			   brp, sjw, tseg1, tseg2);
-
-		/* Data bit timing settings */
-		brp = dbt->brp - 1;
-		sjw = dbt->sjw - 1;
-		tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1;
-		tseg2 = dbt->phase_seg2 - 1;
-
-		cfg = (RCANFD_DCFG_DTSEG1(gpriv, tseg1) | RCANFD_DCFG_DBRP(brp) |
-		       RCANFD_DCFG_DSJW(gpriv, sjw) | RCANFD_DCFG_DTSEG2(gpriv, tseg2));
+	rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg);
 
-		rcar_canfd_write(priv->base, RCANFD_F_DCFG(gpriv, 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 */
-		if (gpriv->info->shared_can_regs) {
-			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));
-		}
+	if (!(priv->can.ctrlmode & CAN_CTRLMODE_FD))
+		return;
 
-		rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg);
-		netdev_dbg(priv->ndev,
-			   "rate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n",
-			   brp, sjw, tseg1, tseg2);
+	/* Data bit timing settings */
+	brp = dbt->brp - 1;
+	sjw = dbt->sjw - 1;
+	tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1;
+	tseg2 = dbt->phase_seg2 - 1;
+
+	cfg = (RCANFD_DCFG_DTSEG1(gpriv, tseg1) | RCANFD_DCFG_DBRP(brp) |
+	       RCANFD_DCFG_DSJW(gpriv, sjw) | RCANFD_DCFG_DTSEG2(gpriv, tseg2));
+
+	writel(cfg, &gpriv->fcbase[ch].dcfg);
+
+	/* Transceiver Delay Compensation */
+	if (priv->can.ctrlmode & CAN_CTRLMODE_TDC_AUTO) {
+		/* TDC enabled, measured + offset */
+		tdcmode = RCANFD_FDCFG_TDCE;
+		tdco = tdc->tdco - 1;
+	} else if (priv->can.ctrlmode & CAN_CTRLMODE_TDC_MANUAL) {
+		/* TDC enabled, offset only */
+		tdcmode = RCANFD_FDCFG_TDCE | RCANFD_FDCFG_TDCOC;
+		tdco = min(tdc->tdcv + tdc->tdco, tdc_const->tdco_max) - 1;
 	}
+
+	rcar_canfd_update_bit_reg(&gpriv->fcbase[ch].cfdcfg, mask,
+				  tdcmode | FIELD_PREP(RCANFD_FDCFG_TDCO, tdco));
 }
 
 static int rcar_canfd_start(struct net_device *ndev)
@@ -1691,7 +1643,8 @@ 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 net_device *ndev = priv->ndev;
+	struct net_device_stats *stats = &ndev->stats;
 	struct rcar_canfd_global *gpriv = priv->gpriv;
 	struct canfd_frame *cf;
 	struct sk_buff *skb;
@@ -1707,14 +1660,13 @@ static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv)
 
 		if ((priv->can.ctrlmode & CAN_CTRLMODE_FD) &&
 		    sts & RCANFD_RFFDSTS_RFFDF)
-			skb = alloc_canfd_skb(priv->ndev, &cf);
+			skb = alloc_canfd_skb(ndev, &cf);
 		else
-			skb = alloc_can_skb(priv->ndev,
-					    (struct can_frame **)&cf);
+			skb = alloc_can_skb(ndev, (struct can_frame **)&cf);
 	} else {
 		id = rcar_canfd_read(priv->base, RCANFD_C_RFID(ridx));
 		dlc = rcar_canfd_read(priv->base, RCANFD_C_RFPTR(ridx));
-		skb = alloc_can_skb(priv->ndev, (struct can_frame **)&cf);
+		skb = alloc_can_skb(ndev, (struct can_frame **)&cf);
 	}
 
 	if (!skb) {
@@ -1735,7 +1687,7 @@ static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv)
 
 		if (sts & RCANFD_RFFDSTS_RFESI) {
 			cf->flags |= CANFD_ESI;
-			netdev_dbg(priv->ndev, "ESI Error\n");
+			netdev_dbg(ndev, "ESI Error\n");
 		}
 
 		if (!(sts & RCANFD_RFFDSTS_RFFDF) && (id & RCANFD_RFID_RFRTR)) {
@@ -1802,6 +1754,29 @@ static int rcar_canfd_rx_poll(struct napi_struct *napi, int quota)
 	return num_pkts;
 }
 
+static unsigned int rcar_canfd_get_tdcr(struct rcar_canfd_global *gpriv,
+					unsigned int ch)
+{
+	u32 sts = readl(&gpriv->fcbase[ch].cfdsts);
+	u32 tdcr = FIELD_GET(RCANFD_FDSTS_TDCR, sts);
+
+	return tdcr & (gpriv->info->tdc_const->tdcv_max - 1);
+}
+
+static int rcar_canfd_get_auto_tdcv(const struct net_device *ndev, u32 *tdcv)
+{
+	struct rcar_canfd_channel *priv = netdev_priv(ndev);
+	u32 tdco = priv->can.fd.tdc.tdco;
+	u32 tdcr;
+
+	/* Transceiver Delay Compensation Result */
+	tdcr = rcar_canfd_get_tdcr(priv->gpriv, priv->channel) + 1;
+
+	*tdcv = tdcr < tdco ? 0 : tdcr - tdco;
+
+	return 0;
+}
+
 static int rcar_canfd_do_set_mode(struct net_device *ndev, enum can_mode mode)
 {
 	int err;
@@ -1818,10 +1793,10 @@ static int rcar_canfd_do_set_mode(struct net_device *ndev, enum can_mode mode)
 	}
 }
 
-static int rcar_canfd_get_berr_counter(const struct net_device *dev,
+static int rcar_canfd_get_berr_counter(const struct net_device *ndev,
 				       struct can_berr_counter *bec)
 {
-	struct rcar_canfd_channel *priv = netdev_priv(dev);
+	struct rcar_canfd_channel *priv = netdev_priv(ndev);
 	u32 val, ch = priv->channel;
 
 	/* Peripheral clock is already enabled in probe */
@@ -1924,12 +1899,17 @@ static int rcar_canfd_channel_probe(struct rcar_canfd_global *gpriv, u32 ch,
 	if (gpriv->fdmode) {
 		priv->can.bittiming_const = gpriv->info->nom_bittiming;
 		priv->can.fd.data_bittiming_const = gpriv->info->data_bittiming;
+		priv->can.fd.tdc_const = gpriv->info->tdc_const;
 
 		/* Controller starts in CAN FD only mode */
 		err = can_set_static_ctrlmode(ndev, CAN_CTRLMODE_FD);
 		if (err)
 			goto fail;
-		priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING;
+
+		priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING |
+					       CAN_CTRLMODE_TDC_AUTO |
+					       CAN_CTRLMODE_TDC_MANUAL;
+		priv->can.fd.do_get_auto_tdcv = rcar_canfd_get_auto_tdcv;
 	} else {
 		/* Controller starts in Classical CAN only mode */
 		priv->can.bittiming_const = &rcar_canfd_bittiming_const;
@@ -2086,6 +2066,7 @@ static int rcar_canfd_probe(struct platform_device *pdev)
 		goto fail_dev;
 	}
 	gpriv->base = addr;
+	gpriv->fcbase = addr + gpriv->info->regs->coffset;
 
 	/* Request IRQ that's common for both channels */
 	if (info->shared_global_irqs) {