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

Marc Kleine-Budde says:

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

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

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

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

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

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

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

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

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

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

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

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

16 files changed, 402 insertions, 70 deletions

diff --git a/drivers/net/can/at91_can.c b/drivers/net/can/at91_can.c
index b06af90a9964..3aea32c9b108 100644
--- a/drivers/net/can/at91_can.c
+++ b/drivers/net/can/at91_can.c
@@ -1170,9 +1170,9 @@ static ssize_t mb0_id_show(struct device *dev,
 	struct at91_priv *priv = netdev_priv(to_net_dev(dev));
 
 	if (priv->mb0_id & CAN_EFF_FLAG)
-		return snprintf(buf, PAGE_SIZE, "0x%08x\n", priv->mb0_id);
+		return sysfs_emit(buf, "0x%08x\n", priv->mb0_id);
 	else
-		return snprintf(buf, PAGE_SIZE, "0x%03x\n", priv->mb0_id);
+		return sysfs_emit(buf, "0x%03x\n", priv->mb0_id);
 }
 
 static ssize_t mb0_id_store(struct device *dev,
diff --git a/drivers/net/can/dev/bittiming.c b/drivers/net/can/dev/bittiming.c
index f49170eadd54..0509625c3082 100644
--- a/drivers/net/can/dev/bittiming.c
+++ b/drivers/net/can/dev/bittiming.c
@@ -175,27 +175,29 @@ int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt,
 	return 0;
 }
 
-void can_calc_tdco(struct net_device *dev)
-{
-	struct can_priv *priv = netdev_priv(dev);
-	const struct can_bittiming *dbt = &priv->data_bittiming;
-	struct can_tdc *tdc = &priv->tdc;
-	const struct can_tdc_const *tdc_const = priv->tdc_const;
+void can_calc_tdco(struct can_tdc *tdc, const struct can_tdc_const *tdc_const,
+		   const struct can_bittiming *dbt,
+		   u32 *ctrlmode, u32 ctrlmode_supported)
 
-	if (!tdc_const)
+{
+	if (!tdc_const || !(ctrlmode_supported & CAN_CTRLMODE_TDC_AUTO))
 		return;
 
+	*ctrlmode &= ~CAN_CTRLMODE_TDC_MASK;
+
 	/* As specified in ISO 11898-1 section 11.3.3 "Transmitter
 	 * delay compensation" (TDC) is only applicable if data BRP is
 	 * one or two.
 	 */
 	if (dbt->brp == 1 || dbt->brp == 2) {
-		/* Reuse "normal" sample point and convert it to time quanta */
-		u32 sample_point_in_tq = can_bit_time(dbt) * dbt->sample_point / 1000;
-
-		tdc->tdco = min(sample_point_in_tq, tdc_const->tdco_max);
-	} else {
-		tdc->tdco = 0;
+		/* Sample point in clock periods */
+		u32 sample_point_in_tc = (CAN_SYNC_SEG + dbt->prop_seg +
+					  dbt->phase_seg1) * dbt->brp;
+
+		if (sample_point_in_tc < tdc_const->tdco_min)
+			return;
+		tdc->tdco = min(sample_point_in_tc, tdc_const->tdco_max);
+		*ctrlmode |= CAN_CTRLMODE_TDC_AUTO;
 	}
 }
 #endif /* CONFIG_CAN_CALC_BITTIMING */
@@ -209,7 +211,7 @@ static int can_fixup_bittiming(struct net_device *dev, struct can_bittiming *bt,
 			       const struct can_bittiming_const *btc)
 {
 	struct can_priv *priv = netdev_priv(dev);
-	int tseg1, alltseg;
+	unsigned int tseg1, alltseg;
 	u64 brp64;
 
 	tseg1 = bt->prop_seg + bt->phase_seg1;
diff --git a/drivers/net/can/dev/netlink.c b/drivers/net/can/dev/netlink.c
index 80425636049d..95cca4e5251f 100644
--- a/drivers/net/can/dev/netlink.c
+++ b/drivers/net/can/dev/netlink.c
@@ -2,6 +2,7 @@
 /* Copyright (C) 2005 Marc Kleine-Budde, Pengutronix
  * Copyright (C) 2006 Andrey Volkov, Varma Electronics
  * Copyright (C) 2008-2009 Wolfgang Grandegger <wg@grandegger.com>
+ * Copyright (C) 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
  */
 
 #include <linux/can/dev.h>
@@ -19,6 +20,19 @@ static const struct nla_policy can_policy[IFLA_CAN_MAX + 1] = {
 	[IFLA_CAN_DATA_BITTIMING] = { .len = sizeof(struct can_bittiming) },
 	[IFLA_CAN_DATA_BITTIMING_CONST]	= { .len = sizeof(struct can_bittiming_const) },
 	[IFLA_CAN_TERMINATION] = { .type = NLA_U16 },
+	[IFLA_CAN_TDC] = { .type = NLA_NESTED },
+};
+
+static const struct nla_policy can_tdc_policy[IFLA_CAN_TDC_MAX + 1] = {
+	[IFLA_CAN_TDC_TDCV_MIN] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCV_MAX] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCO_MIN] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCO_MAX] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCF_MIN] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCF_MAX] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCV] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCO] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCF] = { .type = NLA_U32 },
 };
 
 static int can_validate(struct nlattr *tb[], struct nlattr *data[],
@@ -30,6 +44,7 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 	 * - nominal/arbitration bittiming
 	 * - data bittiming
 	 * - control mode with CAN_CTRLMODE_FD set
+	 * - TDC parameters are coherent (details below)
 	 */
 
 	if (!data)
@@ -37,8 +52,43 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 
 	if (data[IFLA_CAN_CTRLMODE]) {
 		struct can_ctrlmode *cm = nla_data(data[IFLA_CAN_CTRLMODE]);
+		u32 tdc_flags = cm->flags & CAN_CTRLMODE_TDC_MASK;
 
 		is_can_fd = cm->flags & cm->mask & CAN_CTRLMODE_FD;
+
+		/* CAN_CTRLMODE_TDC_{AUTO,MANUAL} are mutually exclusive */
+		if (tdc_flags == CAN_CTRLMODE_TDC_MASK)
+			return -EOPNOTSUPP;
+		/* If one of the CAN_CTRLMODE_TDC_* flag is set then
+		 * TDC must be set and vice-versa
+		 */
+		if (!!tdc_flags != !!data[IFLA_CAN_TDC])
+			return -EOPNOTSUPP;
+		/* If providing TDC parameters, at least TDCO is
+		 * needed. TDCV is needed if and only if
+		 * CAN_CTRLMODE_TDC_MANUAL is set
+		 */
+		if (data[IFLA_CAN_TDC]) {
+			struct nlattr *tb_tdc[IFLA_CAN_TDC_MAX + 1];
+			int err;
+
+			err = nla_parse_nested(tb_tdc, IFLA_CAN_TDC_MAX,
+					       data[IFLA_CAN_TDC],
+					       can_tdc_policy, extack);
+			if (err)
+				return err;
+
+			if (tb_tdc[IFLA_CAN_TDC_TDCV]) {
+				if (tdc_flags & CAN_CTRLMODE_TDC_AUTO)
+					return -EOPNOTSUPP;
+			} else {
+				if (tdc_flags & CAN_CTRLMODE_TDC_MANUAL)
+					return -EOPNOTSUPP;
+			}
+
+			if (!tb_tdc[IFLA_CAN_TDC_TDCO])
+				return -EOPNOTSUPP;
+		}
 	}
 
 	if (is_can_fd) {
@@ -46,7 +96,7 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 			return -EOPNOTSUPP;
 	}
 
-	if (data[IFLA_CAN_DATA_BITTIMING]) {
+	if (data[IFLA_CAN_DATA_BITTIMING] || data[IFLA_CAN_TDC]) {
 		if (!is_can_fd)
 			return -EOPNOTSUPP;
 	}
@@ -54,11 +104,60 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 	return 0;
 }
 
+static int can_tdc_changelink(struct can_priv *priv, const struct nlattr *nla,
+			      struct netlink_ext_ack *extack)
+{
+	struct nlattr *tb_tdc[IFLA_CAN_TDC_MAX + 1];
+	struct can_tdc tdc = { 0 };
+	const struct can_tdc_const *tdc_const = priv->tdc_const;
+	int err;
+
+	if (!tdc_const || !can_tdc_is_enabled(priv))
+		return -EOPNOTSUPP;
+
+	err = nla_parse_nested(tb_tdc, IFLA_CAN_TDC_MAX, nla,
+			       can_tdc_policy, extack);
+	if (err)
+		return err;
+
+	if (tb_tdc[IFLA_CAN_TDC_TDCV]) {
+		u32 tdcv = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCV]);
+
+		if (tdcv < tdc_const->tdcv_min || tdcv > tdc_const->tdcv_max)
+			return -EINVAL;
+
+		tdc.tdcv = tdcv;
+	}
+
+	if (tb_tdc[IFLA_CAN_TDC_TDCO]) {
+		u32 tdco = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCO]);
+
+		if (tdco < tdc_const->tdco_min || tdco > tdc_const->tdco_max)
+			return -EINVAL;
+
+		tdc.tdco = tdco;
+	}
+
+	if (tb_tdc[IFLA_CAN_TDC_TDCF]) {
+		u32 tdcf = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCF]);
+
+		if (tdcf < tdc_const->tdcf_min || tdcf > tdc_const->tdcf_max)
+			return -EINVAL;
+
+		tdc.tdcf = tdcf;
+	}
+
+	priv->tdc = tdc;
+
+	return 0;
+}
+
 static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 			  struct nlattr *data[],
 			  struct netlink_ext_ack *extack)
 {
 	struct can_priv *priv = netdev_priv(dev);
+	u32 tdc_mask = 0;
 	int err;
 
 	/* We need synchronization with dev->stop() */
@@ -138,7 +237,16 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 			dev->mtu = CAN_MTU;
 			memset(&priv->data_bittiming, 0,
 			       sizeof(priv->data_bittiming));
+			priv->ctrlmode &= ~CAN_CTRLMODE_TDC_MASK;
+			memset(&priv->tdc, 0, sizeof(priv->tdc));
 		}
+
+		tdc_mask = cm->mask & CAN_CTRLMODE_TDC_MASK;
+		/* CAN_CTRLMODE_TDC_{AUTO,MANUAL} are mutually
+		 * exclusive: make sure to turn the other one off
+		 */
+		if (tdc_mask)
+			priv->ctrlmode &= cm->flags | ~CAN_CTRLMODE_TDC_MASK;
 	}
 
 	if (data[IFLA_CAN_RESTART_MS]) {
@@ -187,9 +295,26 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 			return -EINVAL;
 		}
 
-		memcpy(&priv->data_bittiming, &dbt, sizeof(dbt));
+		memset(&priv->tdc, 0, sizeof(priv->tdc));
+		if (data[IFLA_CAN_TDC]) {
+			/* TDC parameters are provided: use them */
+			err = can_tdc_changelink(priv, data[IFLA_CAN_TDC],
+						 extack);
+			if (err) {
+				priv->ctrlmode &= ~CAN_CTRLMODE_TDC_MASK;
+				return err;
+			}
+		} else if (!tdc_mask) {
+			/* Neither of TDC parameters nor TDC flags are
+			 * provided: do calculation
+			 */
+			can_calc_tdco(&priv->tdc, priv->tdc_const, &priv->data_bittiming,
+				      &priv->ctrlmode, priv->ctrlmode_supported);
+		} /* else: both CAN_CTRLMODE_TDC_{AUTO,MANUAL} are explicitly
+		   * turned off. TDC is disabled: do nothing
+		   */
 
-		can_calc_tdco(dev);
+		memcpy(&priv->data_bittiming, &dbt, sizeof(dbt));
 
 		if (priv->do_set_data_bittiming) {
 			/* Finally, set the bit-timing registers */
@@ -226,6 +351,38 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 	return 0;
 }
 
+static size_t can_tdc_get_size(const struct net_device *dev)
+{
+	struct can_priv *priv = netdev_priv(dev);
+	size_t size;
+
+	if (!priv->tdc_const)
+		return 0;
+
+	size = nla_total_size(0);			/* nest IFLA_CAN_TDC */
+	if (priv->ctrlmode_supported & CAN_CTRLMODE_TDC_MANUAL) {
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCV_MIN */
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCV_MAX */
+	}
+	size += nla_total_size(sizeof(u32));		/* IFLA_CAN_TDCO_MIN */
+	size += nla_total_size(sizeof(u32));		/* IFLA_CAN_TDCO_MAX */
+	if (priv->tdc_const->tdcf_max) {
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCF_MIN */
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCF_MAX */
+	}
+
+	if (can_tdc_is_enabled(priv)) {
+		if (priv->ctrlmode & CAN_CTRLMODE_TDC_MANUAL ||
+		    priv->do_get_auto_tdcv)
+			size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCV */
+		size += nla_total_size(sizeof(u32));		/* IFLA_CAN_TDCO */
+		if (priv->tdc_const->tdcf_max)
+			size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCF */
+	}
+
+	return size;
+}
+
 static size_t can_get_size(const struct net_device *dev)
 {
 	struct can_priv *priv = netdev_priv(dev);
@@ -257,10 +414,64 @@ static size_t can_get_size(const struct net_device *dev)
 		size += nla_total_size(sizeof(*priv->data_bitrate_const) *
 				       priv->data_bitrate_const_cnt);
 	size += sizeof(priv->bitrate_max);			/* IFLA_CAN_BITRATE_MAX */
+	size += can_tdc_get_size(dev);				/* IFLA_CAN_TDC */
 
 	return size;
 }
 
+static int can_tdc_fill_info(struct sk_buff *skb, const struct net_device *dev)
+{
+	struct nlattr *nest;
+	struct can_priv *priv = netdev_priv(dev);
+	struct can_tdc *tdc = &priv->tdc;
+	const struct can_tdc_const *tdc_const = priv->tdc_const;
+
+	if (!tdc_const)
+		return 0;
+
+	nest = nla_nest_start(skb, IFLA_CAN_TDC);
+	if (!nest)
+		return -EMSGSIZE;
+
+	if (priv->ctrlmode_supported & CAN_CTRLMODE_TDC_MANUAL &&
+	    (nla_put_u32(skb, IFLA_CAN_TDC_TDCV_MIN, tdc_const->tdcv_min) ||
+	     nla_put_u32(skb, IFLA_CAN_TDC_TDCV_MAX, tdc_const->tdcv_max)))
+		goto err_cancel;
+	if (nla_put_u32(skb, IFLA_CAN_TDC_TDCO_MIN, tdc_const->tdco_min) ||
+	    nla_put_u32(skb, IFLA_CAN_TDC_TDCO_MAX, tdc_const->tdco_max))
+		goto err_cancel;
+	if (tdc_const->tdcf_max &&
+	    (nla_put_u32(skb, IFLA_CAN_TDC_TDCF_MIN, tdc_const->tdcf_min) ||
+	     nla_put_u32(skb, IFLA_CAN_TDC_TDCF_MAX, tdc_const->tdcf_max)))
+		goto err_cancel;
+
+	if (can_tdc_is_enabled(priv)) {
+		u32 tdcv;
+		int err = -EINVAL;
+
+		if (priv->ctrlmode & CAN_CTRLMODE_TDC_MANUAL) {
+			tdcv = tdc->tdcv;
+			err = 0;
+		} else if (priv->do_get_auto_tdcv) {
+			err = priv->do_get_auto_tdcv(dev, &tdcv);
+		}
+		if (!err && nla_put_u32(skb, IFLA_CAN_TDC_TDCV, tdcv))
+			goto err_cancel;
+		if (nla_put_u32(skb, IFLA_CAN_TDC_TDCO, tdc->tdco))
+			goto err_cancel;
+		if (tdc_const->tdcf_max &&
+		    nla_put_u32(skb, IFLA_CAN_TDC_TDCF, tdc->tdcf))
+			goto err_cancel;
+	}
+
+	nla_nest_end(skb, nest);
+	return 0;
+
+err_cancel:
+	nla_nest_cancel(skb, nest);
+	return -EMSGSIZE;
+}
+
 static int can_fill_info(struct sk_buff *skb, const struct net_device *dev)
 {
 	struct can_priv *priv = netdev_priv(dev);
@@ -318,7 +529,9 @@ static int can_fill_info(struct sk_buff *skb, const struct net_device *dev)
 
 	    (nla_put(skb, IFLA_CAN_BITRATE_MAX,
 		     sizeof(priv->bitrate_max),
-		     &priv->bitrate_max))
+		     &priv->bitrate_max)) ||
+
+	    (can_tdc_fill_info(skb, dev))
 	    )
 
 		return -EMSGSIZE;
diff --git a/drivers/net/can/janz-ican3.c b/drivers/net/can/janz-ican3.c
index c68ad56628bd..32006dbf5abd 100644
--- a/drivers/net/can/janz-ican3.c
+++ b/drivers/net/can/janz-ican3.c
@@ -1831,7 +1831,7 @@ static ssize_t termination_show(struct device *dev,
 		return -ETIMEDOUT;
 	}
 
-	return snprintf(buf, PAGE_SIZE, "%u\n", mod->termination_enabled);
+	return sysfs_emit(buf, "%u\n", mod->termination_enabled);
 }
 
 static ssize_t termination_store(struct device *dev,
diff --git a/drivers/net/can/mscan/mpc5xxx_can.c b/drivers/net/can/mscan/mpc5xxx_can.c
index 35892c1efef0..de4ddf79ba9b 100644
--- a/drivers/net/can/mscan/mpc5xxx_can.c
+++ b/drivers/net/can/mscan/mpc5xxx_can.c
@@ -293,10 +293,8 @@ static int mpc5xxx_can_probe(struct platform_device *ofdev)
 		return -EINVAL;
 
 	base = of_iomap(np, 0);
-	if (!base) {
-		dev_err(&ofdev->dev, "couldn't ioremap\n");
-		return err;
-	}
+	if (!base)
+		return dev_err_probe(&ofdev->dev, err, "couldn't ioremap\n");
 
 	irq = irq_of_parse_and_map(np, 0);
 	if (!irq) {
diff --git a/drivers/net/can/rcar/Kconfig b/drivers/net/can/rcar/Kconfig
index 56320a7f828b..c66762ef631b 100644
--- a/drivers/net/can/rcar/Kconfig
+++ b/drivers/net/can/rcar/Kconfig
@@ -1,7 +1,7 @@
 # SPDX-License-Identifier: GPL-2.0
 config CAN_RCAR
 	tristate "Renesas R-Car and RZ/G CAN controller"
-	depends on ARCH_RENESAS || ARM || COMPILE_TEST
+	depends on ARCH_RENESAS || COMPILE_TEST
 	help
 	  Say Y here if you want to use CAN controller found on Renesas R-Car
 	  or RZ/G SoCs.
@@ -11,7 +11,7 @@ config CAN_RCAR
 
 config CAN_RCAR_CANFD
 	tristate "Renesas R-Car CAN FD controller"
-	depends on ARCH_RENESAS || ARM || COMPILE_TEST
+	depends on ARCH_RENESAS || COMPILE_TEST
 	help
 	  Say Y here if you want to use CAN FD controller found on
 	  Renesas R-Car SoCs. The driver puts the controller in CAN FD only
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.c b/drivers/net/can/usb/etas_es58x/es58x_fd.c
index af042aa55f59..4f0cae29f4d8 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_fd.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c
@@ -428,7 +428,7 @@ static int es58x_fd_enable_channel(struct es58x_priv *priv)
 		es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming,
 					   &priv->can.data_bittiming);
 
-		if (priv->can.tdc.tdco) {
+		if (can_tdc_is_enabled(&priv->can)) {
 			tx_conf_msg.tdc_enabled = 1;
 			tx_conf_msg.tdco = cpu_to_le16(priv->can.tdc.tdco);
 			tx_conf_msg.tdcf = cpu_to_le16(priv->can.tdc.tdcf);
@@ -505,8 +505,11 @@ static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
  * Register" from Microchip.
  */
 static const struct can_tdc_const es58x_tdc_const = {
+	.tdcv_min = 0,
 	.tdcv_max = 0, /* Manual mode not supported. */
+	.tdco_min = 0,
 	.tdco_max = 127,
+	.tdcf_min = 0,
 	.tdcf_max = 127
 };
 
@@ -523,7 +526,7 @@ const struct es58x_parameters es58x_fd_param = {
 	.clock = {.freq = 80 * CAN_MHZ},
 	.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
 	    CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO |
-	    CAN_CTRLMODE_CC_LEN8_DLC,
+	    CAN_CTRLMODE_CC_LEN8_DLC | CAN_CTRLMODE_TDC_AUTO,
 	.tx_start_of_frame = 0xCEFA,	/* FACE in little endian */
 	.rx_start_of_frame = 0xFECA,	/* CAFE in little endian */
 	.tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
diff --git a/drivers/net/can/usb/gs_usb.c b/drivers/net/can/usb/gs_usb.c
index 5e892bef46b0..1b400de00f51 100644
--- a/drivers/net/can/usb/gs_usb.c
+++ b/drivers/net/can/usb/gs_usb.c
@@ -352,7 +352,7 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 	} else { /* echo_id == hf->echo_id */
 		if (hf->echo_id >= GS_MAX_TX_URBS) {
 			netdev_err(netdev,
-				   "Unexpected out of range echo id %d\n",
+				   "Unexpected out of range echo id %u\n",
 				   hf->echo_id);
 			goto resubmit_urb;
 		}
@@ -365,7 +365,7 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 		/* bad devices send bad echo_ids. */
 		if (!txc) {
 			netdev_err(netdev,
-				   "Unexpected unused echo id %d\n",
+				   "Unexpected unused echo id %u\n",
 				   hf->echo_id);
 			goto resubmit_urb;
 		}
@@ -458,7 +458,7 @@ static void gs_usb_xmit_callback(struct urb *urb)
 	struct net_device *netdev = dev->netdev;
 
 	if (urb->status)
-		netdev_info(netdev, "usb xmit fail %d\n", txc->echo_id);
+		netdev_info(netdev, "usb xmit fail %u\n", txc->echo_id);
 
 	usb_free_coherent(urb->dev,
 			  urb->transfer_buffer_length,
@@ -501,7 +501,7 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
 	idx = txc->echo_id;
 
 	if (idx >= GS_MAX_TX_URBS) {
-		netdev_err(netdev, "Invalid tx context %d\n", idx);
+		netdev_err(netdev, "Invalid tx context %u\n", idx);
 		goto badidx;
 	}
 
@@ -964,11 +964,11 @@ static int gs_usb_probe(struct usb_interface *intf,
 	}
 
 	icount = dconf->icount + 1;
-	dev_info(&intf->dev, "Configuring for %d interfaces\n", icount);
+	dev_info(&intf->dev, "Configuring for %u interfaces\n", icount);
 
 	if (icount > GS_MAX_INTF) {
 		dev_err(&intf->dev,
-			"Driver cannot handle more that %d CAN interfaces\n",
+			"Driver cannot handle more that %u CAN interfaces\n",
 			GS_MAX_INTF);
 		kfree(dconf);
 		return -EINVAL;
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_core.c b/drivers/net/can/usb/peak_usb/pcan_usb_core.c
index e8f43ed90b72..6107fef9f4a0 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_core.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_core.c
@@ -205,6 +205,19 @@ int peak_usb_netif_rx(struct sk_buff *skb,
 	return netif_rx(skb);
 }
 
+/* post received skb with native 64-bit hw timestamp */
+int peak_usb_netif_rx_64(struct sk_buff *skb, u32 ts_low, u32 ts_high)
+{
+	struct skb_shared_hwtstamps *hwts = skb_hwtstamps(skb);
+	u64 ns_ts;
+
+	ns_ts = (u64)ts_high << 32 | ts_low;
+	ns_ts *= NSEC_PER_USEC;
+	hwts->hwtstamp = ns_to_ktime(ns_ts);
+
+	return netif_rx(skb);
+}
+
 /*
  * callback for bulk Rx urb
  */
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_core.h b/drivers/net/can/usb/peak_usb/pcan_usb_core.h
index b00a4811bf61..daa19f57e742 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_core.h
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_core.h
@@ -143,6 +143,7 @@ void peak_usb_set_ts_now(struct peak_time_ref *time_ref, u32 ts_now);
 void peak_usb_get_ts_time(struct peak_time_ref *time_ref, u32 ts, ktime_t *tv);
 int peak_usb_netif_rx(struct sk_buff *skb,
 		      struct peak_time_ref *time_ref, u32 ts_low);
+int peak_usb_netif_rx_64(struct sk_buff *skb, u32 ts_low, u32 ts_high);
 void peak_usb_async_complete(struct urb *urb);
 void peak_usb_restart_complete(struct peak_usb_device *dev);
 
diff --git a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
index 09029a3bad1a..6bd12549f101 100644
--- a/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
+++ b/drivers/net/can/usb/peak_usb/pcan_usb_fd.c
@@ -515,7 +515,8 @@ static int pcan_usb_fd_decode_canmsg(struct pcan_usb_fd_if *usb_if,
 	netdev->stats.rx_packets++;
 	netdev->stats.rx_bytes += cfd->len;
 
-	peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(rm->ts_low));
+	peak_usb_netif_rx_64(skb, le32_to_cpu(rm->ts_low),
+			     le32_to_cpu(rm->ts_high));
 
 	return 0;
 }
@@ -579,7 +580,8 @@ static int pcan_usb_fd_decode_status(struct pcan_usb_fd_if *usb_if,
 	netdev->stats.rx_packets++;
 	netdev->stats.rx_bytes += cf->len;
 
-	peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(sm->ts_low));
+	peak_usb_netif_rx_64(skb, le32_to_cpu(sm->ts_low),
+			     le32_to_cpu(sm->ts_high));
 
 	return 0;
 }
@@ -629,7 +631,8 @@ static int pcan_usb_fd_decode_overrun(struct pcan_usb_fd_if *usb_if,
 	cf->can_id |= CAN_ERR_CRTL;
 	cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
 
-	peak_usb_netif_rx(skb, &usb_if->time_ref, le32_to_cpu(ov->ts_low));
+	peak_usb_netif_rx_64(skb, le32_to_cpu(ov->ts_low),
+			     le32_to_cpu(ov->ts_high));
 
 	netdev->stats.rx_over_errors++;
 	netdev->stats.rx_errors++;
diff --git a/drivers/net/can/xilinx_can.c b/drivers/net/can/xilinx_can.c
index 3b883e607d8b..e2b15d29d15e 100644
--- a/drivers/net/can/xilinx_can.c
+++ b/drivers/net/can/xilinx_can.c
@@ -516,8 +516,7 @@ static int xcan_chip_start(struct net_device *ndev)
  * @ndev:	Pointer to net_device structure
  * @mode:	Tells the mode of the driver
  *
- * This check the drivers state and calls the
- * the corresponding modes to set.
+ * This check the drivers state and calls the corresponding modes to set.
  *
  * Return: 0 on success and failure value on error
  */
@@ -982,7 +981,7 @@ static void xcan_update_error_state_after_rxtx(struct net_device *ndev)
  * @isr:	interrupt status register value
  *
  * This is the CAN error interrupt and it will
- * check the the type of error and forward the error
+ * check the type of error and forward the error
  * frame to upper layers.
  */
 static void xcan_err_interrupt(struct net_device *ndev, u32 isr)
@@ -1844,11 +1843,9 @@ err:
 static int xcan_remove(struct platform_device *pdev)
 {
 	struct net_device *ndev = platform_get_drvdata(pdev);
-	struct xcan_priv *priv = netdev_priv(ndev);
 
 	unregister_candev(ndev);
 	pm_runtime_disable(&pdev->dev);
-	netif_napi_del(&priv->napi);
 	free_candev(ndev);
 
 	return 0;
diff --git a/include/linux/can/bittiming.h b/include/linux/can/bittiming.h
index 9de6e9053e34..20b50baf3a02 100644
--- a/include/linux/can/bittiming.h
+++ b/include/linux/can/bittiming.h
@@ -19,6 +19,9 @@
 /* Megahertz */
 #define CAN_MHZ 1000000UL
 
+#define CAN_CTRLMODE_TDC_MASK					\
+	(CAN_CTRLMODE_TDC_AUTO | CAN_CTRLMODE_TDC_MANUAL)
+
 /*
  * struct can_tdc - CAN FD Transmission Delay Compensation parameters
  *
@@ -28,34 +31,54 @@
  *
  * To solve this issue, ISO 11898-1 introduces in section 11.3.3
  * "Transmitter delay compensation" a SSP (Secondary Sample Point)
- * equal to the distance, in time quanta, from the start of the bit
- * time on the TX pin to the actual measurement on the RX pin.
+ * equal to the distance from the start of the bit time on the TX pin
+ * to the actual measurement on the RX pin.
  *
  * This structure contains the parameters to calculate that SSP.
  *
- * @tdcv: Transmitter Delay Compensation Value. Distance, in time
- *	quanta, from when the bit is sent on the TX pin to when it is
- *	received on the RX pin of the transmitter. Possible options:
+ * -+----------- one bit ----------+-- TX pin
+ *  |<--- Sample Point --->|
  *
- *	  0: automatic mode. The controller dynamically measures @tdcv
- *	  for each transmitted CAN FD frame.
+ *                         --+----------- one bit ----------+-- RX pin
+ *  |<-------- TDCV -------->|
+ *                           |<------- TDCO ------->|
+ *  |<----------- Secondary Sample Point ---------->|
  *
- *	  Other values: manual mode. Use the fixed provided value.
+ * To increase precision, contrary to the other bittiming parameters
+ * which are measured in time quanta, the TDC parameters are measured
+ * in clock periods (also referred as "minimum time quantum" in ISO
+ * 11898-1).
  *
- * @tdco: Transmitter Delay Compensation Offset. Offset value, in time
- *	quanta, defining the distance between the start of the bit
- *	reception on the RX pin of the transceiver and the SSP
- *	position such that SSP = @tdcv + @tdco.
+ * @tdcv: Transmitter Delay Compensation Value. The time needed for
+ *	the signal to propagate, i.e. the distance, in clock periods,
+ *	from the start of the bit on the TX pin to when it is received
+ *	on the RX pin. @tdcv depends on the controller modes:
+ *
+ *	  CAN_CTRLMODE_TDC_AUTO is set: The transceiver dynamically
+ *	  measures @tdcv for each transmitted CAN FD frame and the
+ *	  value provided here should be ignored.
+ *
+ *	  CAN_CTRLMODE_TDC_MANUAL is set: use the fixed provided @tdcv
+ *	  value.
  *
- *	If @tdco is zero, then TDC is disabled and both @tdcv and
- *	@tdcf should be ignored.
+ *	N.B. CAN_CTRLMODE_TDC_AUTO and CAN_CTRLMODE_TDC_MANUAL are
+ *	mutually exclusive. Only one can be set at a time. If both
+ *	CAN_TDC_CTRLMODE_AUTO and CAN_TDC_CTRLMODE_MANUAL are unset,
+ *	TDC is disabled and all the values of this structure should be
+ *	ignored.
+ *
+ * @tdco: Transmitter Delay Compensation Offset. Offset value, in
+ *	clock periods, defining the distance between the start of the
+ *	bit reception on the RX pin of the transceiver and the SSP
+ *	position such that SSP = @tdcv + @tdco.
  *
  * @tdcf: Transmitter Delay Compensation Filter window. Defines the
- *	minimum value for the SSP position in time quanta. If SSP is
- *	less than @tdcf, then no delay compensations occur and the
- *	normal sampling point is used instead. The feature is enabled
- *	if and only if @tdcv is set to zero (automatic mode) and @tdcf
- *	is configured to a value greater than @tdco.
+ *	minimum value for the SSP position in clock periods. If the
+ *	SSP position is less than @tdcf, then no delay compensations
+ *	occur and the normal sampling point is used instead. The
+ *	feature is enabled if and only if @tdcv is set to zero
+ *	(automatic mode) and @tdcf is configured to a value greater
+ *	than @tdco.
  */
 struct can_tdc {
 	u32 tdcv;
@@ -67,19 +90,32 @@ struct can_tdc {
  * struct can_tdc_const - CAN hardware-dependent constant for
  *	Transmission Delay Compensation
  *
- * @tdcv_max: Transmitter Delay Compensation Value maximum value.
- *	Should be set to zero if the controller does not support
- *	manual mode for tdcv.
+ * @tdcv_min: Transmitter Delay Compensation Value minimum value. If
+ *	the controller does not support manual mode for tdcv
+ *	(c.f. flag CAN_CTRLMODE_TDC_MANUAL) then this value is
+ *	ignored.
+ * @tdcv_max: Transmitter Delay Compensation Value maximum value. If
+ *	the controller does not support manual mode for tdcv
+ *	(c.f. flag CAN_CTRLMODE_TDC_MANUAL) then this value is
+ *	ignored.
+ *
+ * @tdco_min: Transmitter Delay Compensation Offset minimum value.
  * @tdco_max: Transmitter Delay Compensation Offset maximum value.
  *	Should not be zero. If the controller does not support TDC,
  *	then the pointer to this structure should be NULL.
+ *
+ * @tdcf_min: Transmitter Delay Compensation Filter window minimum
+ *	value. If @tdcf_max is zero, this value is ignored.
  * @tdcf_max: Transmitter Delay Compensation Filter window maximum
  *	value. Should be set to zero if the controller does not
  *	support this feature.
  */
 struct can_tdc_const {
+	u32 tdcv_min;
 	u32 tdcv_max;
+	u32 tdco_min;
 	u32 tdco_max;
+	u32 tdcf_min;
 	u32 tdcf_max;
 };
 
@@ -87,7 +123,9 @@ struct can_tdc_const {
 int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt,
 		       const struct can_bittiming_const *btc);
 
-void can_calc_tdco(struct net_device *dev);
+void can_calc_tdco(struct can_tdc *tdc, const struct can_tdc_const *tdc_const,
+		   const struct can_bittiming *dbt,
+		   u32 *ctrlmode, u32 ctrlmode_supported);
 #else /* !CONFIG_CAN_CALC_BITTIMING */
 static inline int
 can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt,
@@ -97,7 +135,10 @@ can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt,
 	return -EINVAL;
 }
 
-static inline void can_calc_tdco(struct net_device *dev)
+static inline void
+can_calc_tdco(struct can_tdc *tdc, const struct can_tdc_const *tdc_const,
+	      const struct can_bittiming *dbt,
+	      u32 *ctrlmode, u32 ctrlmode_supported)
 {
 }
 #endif /* CONFIG_CAN_CALC_BITTIMING */
diff --git a/include/linux/can/dev.h b/include/linux/can/dev.h
index 2413253e54c7..45f19d9db5ca 100644
--- a/include/linux/can/dev.h
+++ b/include/linux/can/dev.h
@@ -82,6 +82,7 @@ struct can_priv {
 			    enum can_state *state);
 	int (*do_get_berr_counter)(const struct net_device *dev,
 				   struct can_berr_counter *bec);
+	int (*do_get_auto_tdcv)(const struct net_device *dev, u32 *tdcv);
 
 	unsigned int echo_skb_max;
 	struct sk_buff **echo_skb;
@@ -96,6 +97,39 @@ struct can_priv {
 #endif
 };
 
+static inline bool can_tdc_is_enabled(const struct can_priv *priv)
+{
+	return !!(priv->ctrlmode & CAN_CTRLMODE_TDC_MASK);
+}
+
+/*
+ * can_get_relative_tdco() - TDCO relative to the sample point
+ *
+ * struct can_tdc::tdco represents the absolute offset from TDCV. Some
+ * controllers use instead an offset relative to the Sample Point (SP)
+ * such that:
+ *
+ * SSP = TDCV + absolute TDCO
+ *     = TDCV + SP + relative TDCO
+ *
+ * -+----------- one bit ----------+-- TX pin
+ *  |<--- Sample Point --->|
+ *
+ *                         --+----------- one bit ----------+-- RX pin
+ *  |<-------- TDCV -------->|
+ *                           |<------------------------>| absolute TDCO
+ *                           |<--- Sample Point --->|
+ *                           |                      |<->| relative TDCO
+ *  |<------------- Secondary Sample Point ------------>|
+ */
+static inline s32 can_get_relative_tdco(const struct can_priv *priv)
+{
+	const struct can_bittiming *dbt = &priv->data_bittiming;
+	s32 sample_point_in_tc = (CAN_SYNC_SEG + dbt->prop_seg +
+				  dbt->phase_seg1) * dbt->brp;
+
+	return (s32)priv->tdc.tdco - sample_point_in_tc;
+}
 
 /* helper to define static CAN controller features at device creation time */
 static inline void can_set_static_ctrlmode(struct net_device *dev,
diff --git a/include/uapi/linux/can/netlink.h b/include/uapi/linux/can/netlink.h
index f730d443b918..75b85c60efb2 100644
--- a/include/uapi/linux/can/netlink.h
+++ b/include/uapi/linux/can/netlink.h
@@ -101,6 +101,8 @@ struct can_ctrlmode {
 #define CAN_CTRLMODE_PRESUME_ACK	0x40	/* Ignore missing CAN ACKs */
 #define CAN_CTRLMODE_FD_NON_ISO		0x80	/* CAN FD in non-ISO mode */
 #define CAN_CTRLMODE_CC_LEN8_DLC	0x100	/* Classic CAN DLC option */
+#define CAN_CTRLMODE_TDC_AUTO		0x200	/* CAN transiver automatically calculates TDCV */
+#define CAN_CTRLMODE_TDC_MANUAL		0x400	/* TDCV is manually set up by user */
 
 /*
  * CAN device statistics
@@ -134,10 +136,35 @@ enum {
 	IFLA_CAN_BITRATE_CONST,
 	IFLA_CAN_DATA_BITRATE_CONST,
 	IFLA_CAN_BITRATE_MAX,
-	__IFLA_CAN_MAX
+	IFLA_CAN_TDC,
+
+	/* add new constants above here */
+	__IFLA_CAN_MAX,
+	IFLA_CAN_MAX = __IFLA_CAN_MAX - 1
 };
 
-#define IFLA_CAN_MAX	(__IFLA_CAN_MAX - 1)
+/*
+ * CAN FD Transmitter Delay Compensation (TDC)
+ *
+ * Please refer to struct can_tdc_const and can_tdc in
+ * include/linux/can/bittiming.h for further details.
+ */
+enum {
+	IFLA_CAN_TDC_UNSPEC,
+	IFLA_CAN_TDC_TDCV_MIN,	/* u32 */
+	IFLA_CAN_TDC_TDCV_MAX,	/* u32 */
+	IFLA_CAN_TDC_TDCO_MIN,	/* u32 */
+	IFLA_CAN_TDC_TDCO_MAX,	/* u32 */
+	IFLA_CAN_TDC_TDCF_MIN,	/* u32 */
+	IFLA_CAN_TDC_TDCF_MAX,	/* u32 */
+	IFLA_CAN_TDC_TDCV,	/* u32 */
+	IFLA_CAN_TDC_TDCO,	/* u32 */
+	IFLA_CAN_TDC_TDCF,	/* u32 */
+
+	/* add new constants above here */
+	__IFLA_CAN_TDC,
+	IFLA_CAN_TDC_MAX = __IFLA_CAN_TDC - 1
+};
 
 /* u16 termination range: 1..65535 Ohms */
 #define CAN_TERMINATION_DISABLED 0
diff --git a/net/can/bcm.c b/net/can/bcm.c
index 508f67de0b80..bc88d901a1c0 100644
--- a/net/can/bcm.c
+++ b/net/can/bcm.c
@@ -625,7 +625,7 @@ static enum hrtimer_restart bcm_rx_thr_handler(struct hrtimer *hrtimer)
 	struct bcm_op *op = container_of(hrtimer, struct bcm_op, thrtimer);
 
 	if (bcm_rx_thr_flush(op)) {
-		hrtimer_forward(hrtimer, ktime_get(), op->kt_ival2);
+		hrtimer_forward_now(hrtimer, op->kt_ival2);
 		return HRTIMER_RESTART;
 	} else {
 		/* rearm throttle handling */