1 files changed, 335 insertions, 169 deletions

diff --git a/drivers/net/can/usb/gs_usb.c b/drivers/net/can/usb/gs_usb.c
index d476c2884008..e29e85b67fd4 100644
--- a/drivers/net/can/usb/gs_usb.c
+++ b/drivers/net/can/usb/gs_usb.c
@@ -5,6 +5,7 @@
  * Copyright (C) 2013-2016 Geschwister Schneider Technologie-,
  * Entwicklungs- und Vertriebs UG (Haftungsbeschränkt).
  * Copyright (C) 2016 Hubert Denkmair
+ * Copyright (c) 2023 Pengutronix, Marc Kleine-Budde <kernel@pengutronix.de>
  *
  * Many thanks to all socketcan devs!
  */
@@ -24,6 +25,7 @@
 #include <linux/can.h>
 #include <linux/can/dev.h>
 #include <linux/can/error.h>
+#include <linux/can/rx-offload.h>
 
 /* Device specific constants */
 #define USB_GS_USB_1_VENDOR_ID 0x1d50
@@ -38,8 +40,11 @@
 #define USB_ABE_CANDEBUGGER_FD_VENDOR_ID 0x16d0
 #define USB_ABE_CANDEBUGGER_FD_PRODUCT_ID 0x10b8
 
-#define GS_USB_ENDPOINT_IN 1
-#define GS_USB_ENDPOINT_OUT 2
+#define USB_XYLANTA_SAINT3_VENDOR_ID 0x16d0
+#define USB_XYLANTA_SAINT3_PRODUCT_ID 0x0f30
+
+#define USB_CANNECTIVITY_VENDOR_ID 0x1209
+#define USB_CANNECTIVITY_PRODUCT_ID 0xca01
 
 /* Timestamp 32 bit timer runs at 1 MHz (1 µs tick). Worker accounts
  * for timer overflow (will be after ~71 minutes)
@@ -256,14 +261,21 @@ struct canfd_quirk {
 	u8 quirk;
 } __packed;
 
+/* struct gs_host_frame::echo_id == GS_HOST_FRAME_ECHO_ID_RX indicates
+ * a regular RX'ed CAN frame
+ */
+#define GS_HOST_FRAME_ECHO_ID_RX 0xffffffff
+
 struct gs_host_frame {
-	u32 echo_id;
-	__le32 can_id;
+	struct_group(header,
+		u32 echo_id;
+		__le32 can_id;
 
-	u8 can_dlc;
-	u8 channel;
-	u8 flags;
-	u8 reserved;
+		u8 can_dlc;
+		u8 channel;
+		u8 flags;
+		u8 reserved;
+	);
 
 	union {
 		DECLARE_FLEX_ARRAY(struct classic_can, classic_can);
@@ -282,10 +294,7 @@ struct gs_host_frame {
 #define GS_MAX_TX_URBS 10
 /* 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 3 interfaces. The future may vary.
- */
-#define GS_MAX_INTF 3
+#define GS_NAPI_WEIGHT 32
 
 struct gs_tx_context {
 	struct gs_can *dev;
@@ -295,6 +304,7 @@ struct gs_tx_context {
 struct gs_can {
 	struct can_priv can; /* must be the first member */
 
+	struct can_rx_offload offload;
 	struct gs_usb *parent;
 
 	struct net_device *netdev;
@@ -303,12 +313,6 @@ struct gs_can {
 	struct can_bittiming_const bt_const, data_bt_const;
 	unsigned int channel;	/* channel number */
 
-	/* time counter for hardware timestamps */
-	struct cyclecounter cc;
-	struct timecounter tc;
-	spinlock_t tc_lock; /* spinlock to guard access tc->cycle_last */
-	struct delayed_work timestamp;
-
 	u32 feature;
 	unsigned int hf_size_tx;
 
@@ -322,11 +326,22 @@ struct gs_can {
 
 /* usb interface struct */
 struct gs_usb {
-	struct gs_can *canch[GS_MAX_INTF];
 	struct usb_anchor rx_submitted;
 	struct usb_device *udev;
+
+	/* time counter for hardware timestamps */
+	struct cyclecounter cc;
+	struct timecounter tc;
+	spinlock_t tc_lock; /* spinlock to guard access tc->cycle_last */
+	struct delayed_work timestamp;
+
 	unsigned int hf_size_rx;
 	u8 active_channels;
+	u8 channel_cnt;
+
+	unsigned int pipe_in;
+	unsigned int pipe_out;
+	struct gs_can *canch[] __counted_by(channel_cnt);
 };
 
 /* 'allocate' a tx context.
@@ -379,7 +394,7 @@ static struct gs_tx_context *gs_get_tx_context(struct gs_can *dev,
 static int gs_cmd_reset(struct gs_can *dev)
 {
 	struct gs_device_mode dm = {
-		.mode = GS_CAN_MODE_RESET,
+		.mode = cpu_to_le32(GS_CAN_MODE_RESET),
 	};
 
 	return usb_control_msg_send(dev->udev, 0, GS_USB_BREQ_MODE,
@@ -388,15 +403,15 @@ static int gs_cmd_reset(struct gs_can *dev)
 				    GFP_KERNEL);
 }
 
-static inline int gs_usb_get_timestamp(const struct gs_can *dev,
+static inline int gs_usb_get_timestamp(const struct gs_usb *parent,
 				       u32 *timestamp_p)
 {
 	__le32 timestamp;
 	int rc;
 
-	rc = usb_control_msg_recv(dev->udev, 0, GS_USB_BREQ_TIMESTAMP,
+	rc = usb_control_msg_recv(parent->udev, 0, GS_USB_BREQ_TIMESTAMP,
 				  USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_INTERFACE,
-				  dev->channel, 0,
+				  0, 0,
 				  &timestamp, sizeof(timestamp),
 				  USB_CTRL_GET_TIMEOUT,
 				  GFP_KERNEL);
@@ -408,22 +423,22 @@ static inline int gs_usb_get_timestamp(const struct gs_can *dev,
 	return 0;
 }
 
-static u64 gs_usb_timestamp_read(const struct cyclecounter *cc) __must_hold(&dev->tc_lock)
+static u64 gs_usb_timestamp_read(struct cyclecounter *cc) __must_hold(&dev->tc_lock)
 {
-	struct gs_can *dev = container_of(cc, struct gs_can, cc);
+	struct gs_usb *parent = container_of(cc, struct gs_usb, cc);
 	u32 timestamp = 0;
 	int err;
 
-	lockdep_assert_held(&dev->tc_lock);
+	lockdep_assert_held(&parent->tc_lock);
 
 	/* drop lock for synchronous USB transfer */
-	spin_unlock_bh(&dev->tc_lock);
-	err = gs_usb_get_timestamp(dev, &timestamp);
-	spin_lock_bh(&dev->tc_lock);
+	spin_unlock_bh(&parent->tc_lock);
+	err = gs_usb_get_timestamp(parent, &timestamp);
+	spin_lock_bh(&parent->tc_lock);
 	if (err)
-		netdev_err(dev->netdev,
-			   "Error %d while reading timestamp. HW timestamps may be inaccurate.",
-			   err);
+		dev_err(&parent->udev->dev,
+			"Error %d while reading timestamp. HW timestamps may be inaccurate.",
+			err);
 
 	return timestamp;
 }
@@ -431,14 +446,14 @@ static u64 gs_usb_timestamp_read(const struct cyclecounter *cc) __must_hold(&dev
 static void gs_usb_timestamp_work(struct work_struct *work)
 {
 	struct delayed_work *delayed_work = to_delayed_work(work);
-	struct gs_can *dev;
+	struct gs_usb *parent;
 
-	dev = container_of(delayed_work, struct gs_can, timestamp);
-	spin_lock_bh(&dev->tc_lock);
-	timecounter_read(&dev->tc);
-	spin_unlock_bh(&dev->tc_lock);
+	parent = container_of(delayed_work, struct gs_usb, timestamp);
+	spin_lock_bh(&parent->tc_lock);
+	timecounter_read(&parent->tc);
+	spin_unlock_bh(&parent->tc_lock);
 
-	schedule_delayed_work(&dev->timestamp,
+	schedule_delayed_work(&parent->timestamp,
 			      GS_USB_TIMESTAMP_WORK_DELAY_SEC * HZ);
 }
 
@@ -446,37 +461,38 @@ static void gs_usb_skb_set_timestamp(struct gs_can *dev,
 				     struct sk_buff *skb, u32 timestamp)
 {
 	struct skb_shared_hwtstamps *hwtstamps = skb_hwtstamps(skb);
+	struct gs_usb *parent = dev->parent;
 	u64 ns;
 
-	spin_lock_bh(&dev->tc_lock);
-	ns = timecounter_cyc2time(&dev->tc, timestamp);
-	spin_unlock_bh(&dev->tc_lock);
+	spin_lock_bh(&parent->tc_lock);
+	ns = timecounter_cyc2time(&parent->tc, timestamp);
+	spin_unlock_bh(&parent->tc_lock);
 
 	hwtstamps->hwtstamp = ns_to_ktime(ns);
 }
 
-static void gs_usb_timestamp_init(struct gs_can *dev)
+static void gs_usb_timestamp_init(struct gs_usb *parent)
 {
-	struct cyclecounter *cc = &dev->cc;
+	struct cyclecounter *cc = &parent->cc;
 
 	cc->read = gs_usb_timestamp_read;
 	cc->mask = CYCLECOUNTER_MASK(32);
 	cc->shift = 32 - bits_per(NSEC_PER_SEC / GS_USB_TIMESTAMP_TIMER_HZ);
 	cc->mult = clocksource_hz2mult(GS_USB_TIMESTAMP_TIMER_HZ, cc->shift);
 
-	spin_lock_init(&dev->tc_lock);
-	spin_lock_bh(&dev->tc_lock);
-	timecounter_init(&dev->tc, &dev->cc, ktime_get_real_ns());
-	spin_unlock_bh(&dev->tc_lock);
+	spin_lock_init(&parent->tc_lock);
+	spin_lock_bh(&parent->tc_lock);
+	timecounter_init(&parent->tc, &parent->cc, ktime_get_real_ns());
+	spin_unlock_bh(&parent->tc_lock);
 
-	INIT_DELAYED_WORK(&dev->timestamp, gs_usb_timestamp_work);
-	schedule_delayed_work(&dev->timestamp,
+	INIT_DELAYED_WORK(&parent->timestamp, gs_usb_timestamp_work);
+	schedule_delayed_work(&parent->timestamp,
 			      GS_USB_TIMESTAMP_WORK_DELAY_SEC * HZ);
 }
 
-static void gs_usb_timestamp_stop(struct gs_can *dev)
+static void gs_usb_timestamp_stop(struct gs_usb *parent)
 {
-	cancel_delayed_work_sync(&dev->timestamp);
+	cancel_delayed_work_sync(&parent->timestamp);
 }
 
 static void gs_update_state(struct gs_can *dev, struct can_frame *cf)
@@ -504,38 +520,107 @@ static void gs_update_state(struct gs_can *dev, struct can_frame *cf)
 	}
 }
 
-static void gs_usb_set_timestamp(struct gs_can *dev, struct sk_buff *skb,
-				 const struct gs_host_frame *hf)
+static u32 gs_usb_set_timestamp(struct gs_can *dev, struct sk_buff *skb,
+				const struct gs_host_frame *hf)
 {
 	u32 timestamp;
 
-	if (!(dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP))
-		return;
-
 	if (hf->flags & GS_CAN_FLAG_FD)
 		timestamp = le32_to_cpu(hf->canfd_ts->timestamp_us);
 	else
 		timestamp = le32_to_cpu(hf->classic_can_ts->timestamp_us);
 
-	gs_usb_skb_set_timestamp(dev, skb, timestamp);
+	if (skb)
+		gs_usb_skb_set_timestamp(dev, skb, timestamp);
+
+	return timestamp;
+}
+
+static void gs_usb_rx_offload(struct gs_can *dev, struct sk_buff *skb,
+			      const struct gs_host_frame *hf)
+{
+	struct can_rx_offload *offload = &dev->offload;
+	int rc;
+
+	if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP) {
+		const u32 ts = gs_usb_set_timestamp(dev, skb, hf);
+
+		rc = can_rx_offload_queue_timestamp(offload, skb, ts);
+	} else {
+		rc = can_rx_offload_queue_tail(offload, skb);
+	}
 
-	return;
+	if (rc)
+		dev->netdev->stats.rx_fifo_errors++;
+}
+
+static unsigned int
+gs_usb_get_echo_skb(struct gs_can *dev, struct sk_buff *skb,
+		    const struct gs_host_frame *hf)
+{
+	struct can_rx_offload *offload = &dev->offload;
+	const u32 echo_id = hf->echo_id;
+	unsigned int len;
+
+	if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP) {
+		const u32 ts = gs_usb_set_timestamp(dev, skb, hf);
+
+		len = can_rx_offload_get_echo_skb_queue_timestamp(offload, echo_id,
+								  ts, NULL);
+	} else {
+		len = can_rx_offload_get_echo_skb_queue_tail(offload, echo_id,
+							     NULL);
+	}
+
+	return len;
+}
+
+static unsigned int
+gs_usb_get_minimum_rx_length(const struct gs_can *dev, const struct gs_host_frame *hf,
+			     unsigned int *data_length_p)
+{
+	unsigned int minimum_length, data_length = 0;
+
+	if (hf->flags & GS_CAN_FLAG_FD) {
+		if (hf->echo_id == GS_HOST_FRAME_ECHO_ID_RX)
+			data_length = can_fd_dlc2len(hf->can_dlc);
+
+		if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
+			/* timestamp follows data field of max size */
+			minimum_length = struct_size(hf, canfd_ts, 1);
+		else
+			minimum_length = sizeof(hf->header) + data_length;
+	} else {
+		if (hf->echo_id == GS_HOST_FRAME_ECHO_ID_RX &&
+		    !(hf->can_id & cpu_to_le32(CAN_RTR_FLAG)))
+			data_length = can_cc_dlc2len(hf->can_dlc);
+
+		if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
+			/* timestamp follows data field of max size */
+			minimum_length = struct_size(hf, classic_can_ts, 1);
+		else
+			minimum_length = sizeof(hf->header) + data_length;
+	}
+
+	*data_length_p = data_length;
+	return minimum_length;
 }
 
 static void gs_usb_receive_bulk_callback(struct urb *urb)
 {
-	struct gs_usb *usbcan = urb->context;
+	struct gs_usb *parent = urb->context;
 	struct gs_can *dev;
 	struct net_device *netdev;
 	int rc;
 	struct net_device_stats *stats;
 	struct gs_host_frame *hf = urb->transfer_buffer;
+	unsigned int minimum_length, data_length;
 	struct gs_tx_context *txc;
 	struct can_frame *cf;
 	struct canfd_frame *cfd;
 	struct sk_buff *skb;
 
-	BUG_ON(!usbcan);
+	BUG_ON(!parent);
 
 	switch (urb->status) {
 	case 0: /* success */
@@ -548,11 +633,20 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 		return;
 	}
 
+	minimum_length = sizeof(hf->header);
+	if (urb->actual_length < minimum_length) {
+		dev_err_ratelimited(&parent->udev->dev,
+				    "short read (actual_length=%u, minimum_length=%u)\n",
+				    urb->actual_length, minimum_length);
+
+		goto resubmit_urb;
+	}
+
 	/* device reports out of range channel id */
-	if (hf->channel >= GS_MAX_INTF)
+	if (hf->channel >= parent->channel_cnt)
 		goto device_detach;
 
-	dev = usbcan->canch[hf->channel];
+	dev = parent->canch[hf->channel];
 
 	netdev = dev->netdev;
 	stats = &netdev->stats;
@@ -560,41 +654,52 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 	if (!netif_device_present(netdev))
 		return;
 
-	if (hf->echo_id == -1) { /* normal rx */
+	if (!netif_running(netdev))
+		goto resubmit_urb;
+
+	minimum_length = gs_usb_get_minimum_rx_length(dev, hf, &data_length);
+	if (urb->actual_length < minimum_length) {
+		stats->rx_errors++;
+		stats->rx_length_errors++;
+
+		if (net_ratelimit())
+			netdev_err(netdev,
+				   "short read (actual_length=%u, minimum_length=%u)\n",
+				   urb->actual_length, minimum_length);
+
+		goto resubmit_urb;
+	}
+
+	if (hf->echo_id == GS_HOST_FRAME_ECHO_ID_RX) { /* normal rx */
 		if (hf->flags & GS_CAN_FLAG_FD) {
-			skb = alloc_canfd_skb(dev->netdev, &cfd);
+			skb = alloc_canfd_skb(netdev, &cfd);
 			if (!skb)
 				return;
 
 			cfd->can_id = le32_to_cpu(hf->can_id);
-			cfd->len = can_fd_dlc2len(hf->can_dlc);
+			cfd->len = data_length;
 			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);
+			memcpy(cfd->data, hf->canfd->data, data_length);
 		} else {
-			skb = alloc_can_skb(dev->netdev, &cf);
+			skb = alloc_can_skb(netdev, &cf);
 			if (!skb)
 				return;
 
 			cf->can_id = le32_to_cpu(hf->can_id);
 			can_frame_set_cc_len(cf, hf->can_dlc, dev->can.ctrlmode);
 
-			memcpy(cf->data, hf->classic_can->data, 8);
+			memcpy(cf->data, hf->classic_can->data, data_length);
 
 			/* ERROR frames tell us information about the controller */
 			if (le32_to_cpu(hf->can_id) & CAN_ERR_FLAG)
 				gs_update_state(dev, cf);
 		}
 
-		gs_usb_set_timestamp(dev, skb, hf);
-
-		netdev->stats.rx_packets++;
-		netdev->stats.rx_bytes += hf->can_dlc;
-
-		netif_rx(skb);
+		gs_usb_rx_offload(dev, skb, hf);
 	} else { /* echo_id == hf->echo_id */
 		if (hf->echo_id >= GS_MAX_TX_URBS) {
 			netdev_err(netdev,
@@ -614,12 +719,8 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 		}
 
 		skb = dev->can.echo_skb[hf->echo_id];
-		gs_usb_set_timestamp(dev, skb, hf);
-
-		netdev->stats.tx_packets++;
-		netdev->stats.tx_bytes += can_get_echo_skb(netdev, hf->echo_id,
-							   NULL);
-
+		stats->tx_packets++;
+		stats->tx_bytes += gs_usb_get_echo_skb(dev, skb, hf);
 		gs_free_tx_context(txc);
 
 		atomic_dec(&dev->active_tx_urbs);
@@ -628,6 +729,9 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 	}
 
 	if (hf->flags & GS_CAN_FLAG_OVERFLOW) {
+		stats->rx_over_errors++;
+		stats->rx_errors++;
+
 		skb = alloc_can_err_skb(netdev, &cf);
 		if (!skb)
 			goto resubmit_urb;
@@ -635,25 +739,26 @@ static void gs_usb_receive_bulk_callback(struct urb *urb)
 		cf->can_id |= CAN_ERR_CRTL;
 		cf->len = CAN_ERR_DLC;
 		cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
-		stats->rx_over_errors++;
-		stats->rx_errors++;
-		netif_rx(skb);
+
+		gs_usb_rx_offload(dev, skb, hf);
 	}
 
- resubmit_urb:
-	usb_fill_bulk_urb(urb, usbcan->udev,
-			  usb_rcvbulkpipe(usbcan->udev, GS_USB_ENDPOINT_IN),
-			  hf, dev->parent->hf_size_rx,
-			  gs_usb_receive_bulk_callback, usbcan);
+	can_rx_offload_irq_finish(&dev->offload);
+
+resubmit_urb:
+	usb_fill_bulk_urb(urb, parent->udev,
+			  parent->pipe_in,
+			  hf, parent->hf_size_rx,
+			  gs_usb_receive_bulk_callback, parent);
 
 	rc = usb_submit_urb(urb, GFP_ATOMIC);
 
 	/* USB failure take down all interfaces */
 	if (rc == -ENODEV) {
- device_detach:
-		for (rc = 0; rc < GS_MAX_INTF; rc++) {
-			if (usbcan->canch[rc])
-				netif_device_detach(usbcan->canch[rc]->netdev);
+device_detach:
+		for (rc = 0; rc < parent->channel_cnt; rc++) {
+			if (parent->canch[rc])
+				netif_device_detach(parent->canch[rc]->netdev);
 		}
 	}
 }
@@ -680,7 +785,7 @@ static int gs_usb_set_bittiming(struct net_device *netdev)
 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 can_bittiming *bt = &dev->can.fd.data_bittiming;
 	struct gs_device_bittiming dbt = {
 		.prop_seg = cpu_to_le32(bt->prop_seg),
 		.phase_seg1 = cpu_to_le32(bt->phase_seg1),
@@ -706,8 +811,21 @@ static void gs_usb_xmit_callback(struct urb *urb)
 	struct gs_can *dev = txc->dev;
 	struct net_device *netdev = dev->netdev;
 
-	if (urb->status)
-		netdev_info(netdev, "usb xmit fail %u\n", txc->echo_id);
+	if (!urb->status)
+		return;
+
+	if (urb->status != -ESHUTDOWN && net_ratelimit())
+		netdev_info(netdev, "failed to xmit URB %u: %pe\n",
+			    txc->echo_id, ERR_PTR(urb->status));
+
+	netdev->stats.tx_dropped++;
+	netdev->stats.tx_errors++;
+
+	can_free_echo_skb(netdev, txc->echo_id, NULL);
+	gs_free_tx_context(txc);
+	atomic_dec(&dev->active_tx_urbs);
+
+	netif_wake_queue(netdev);
 }
 
 static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
@@ -737,10 +855,8 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
 		goto nomem_urb;
 
 	hf = kmalloc(dev->hf_size_tx, GFP_ATOMIC);
-	if (!hf) {
-		netdev_err(netdev, "No memory left for USB buffer\n");
+	if (!hf)
 		goto nomem_hf;
-	}
 
 	idx = txc->echo_id;
 
@@ -776,7 +892,7 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
 	}
 
 	usb_fill_bulk_urb(urb, dev->udev,
-			  usb_sndbulkpipe(dev->udev, GS_USB_ENDPOINT_OUT),
+			  dev->parent->pipe_out,
 			  hf, dev->hf_size_tx,
 			  gs_usb_xmit_callback, txc);
 
@@ -813,12 +929,12 @@ static netdev_tx_t gs_can_start_xmit(struct sk_buff *skb,
 
 	return NETDEV_TX_OK;
 
- badidx:
+badidx:
 	kfree(hf);
- nomem_hf:
+nomem_hf:
 	usb_free_urb(urb);
 
- nomem_urb:
+nomem_urb:
 	gs_free_tx_context(txc);
 	dev_kfree_skb(skb);
 	stats->tx_dropped++;
@@ -833,6 +949,7 @@ static int gs_can_open(struct net_device *netdev)
 		.mode = cpu_to_le32(GS_CAN_MODE_START),
 	};
 	struct gs_host_frame *hf;
+	struct urb *urb = NULL;
 	u32 ctrlmode;
 	u32 flags = 0;
 	int rc, i;
@@ -854,31 +971,34 @@ static int gs_can_open(struct net_device *netdev)
 			dev->hf_size_tx = struct_size(hf, classic_can, 1);
 	}
 
+	can_rx_offload_enable(&dev->offload);
+
 	if (!parent->active_channels) {
+		if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
+			gs_usb_timestamp_init(parent);
+
 		for (i = 0; i < GS_MAX_RX_URBS; i++) {
-			struct urb *urb;
 			u8 *buf;
 
 			/* alloc rx urb */
 			urb = usb_alloc_urb(0, GFP_KERNEL);
-			if (!urb)
-				return -ENOMEM;
+			if (!urb) {
+				rc = -ENOMEM;
+				goto out_usb_kill_anchored_urbs;
+			}
 
 			/* alloc rx buffer */
 			buf = kmalloc(dev->parent->hf_size_rx,
 				      GFP_KERNEL);
 			if (!buf) {
-				netdev_err(netdev,
-					   "No memory left for USB buffer\n");
-				usb_free_urb(urb);
-				return -ENOMEM;
+				rc = -ENOMEM;
+				goto out_usb_free_urb;
 			}
 
 			/* fill, anchor, and submit rx urb */
 			usb_fill_bulk_urb(urb,
 					  dev->udev,
-					  usb_rcvbulkpipe(dev->udev,
-							  GS_USB_ENDPOINT_IN),
+					  dev->parent->pipe_in,
 					  buf,
 					  dev->parent->hf_size_rx,
 					  gs_usb_receive_bulk_callback, parent);
@@ -892,11 +1012,10 @@ 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_urb() failed, error %pe\n",
+					   ERR_PTR(rc));
 
-				usb_unanchor_urb(urb);
-				usb_free_urb(urb);
-				break;
+				goto out_usb_unanchor_urb;
 			}
 
 			/* Drop reference,
@@ -926,13 +1045,9 @@ static int gs_can_open(struct net_device *netdev)
 		flags |= GS_CAN_MODE_FD;
 
 	/* if hardware supports timestamps, enable it */
-	if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP) {
+	if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
 		flags |= GS_CAN_MODE_HW_TIMESTAMP;
 
-		/* start polling timestamp */
-		gs_usb_timestamp_init(dev);
-	}
-
 	/* finally start device */
 	dev->can.state = CAN_STATE_ERROR_ACTIVE;
 	dm.flags = cpu_to_le32(flags);
@@ -942,10 +1057,9 @@ static int gs_can_open(struct net_device *netdev)
 				  GFP_KERNEL);
 	if (rc) {
 		netdev_err(netdev, "Couldn't start device (err=%d)\n", rc);
-		if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
-			gs_usb_timestamp_stop(dev);
 		dev->can.state = CAN_STATE_STOPPED;
-		return rc;
+
+		goto out_usb_kill_anchored_urbs;
 	}
 
 	parent->active_channels++;
@@ -953,6 +1067,23 @@ static int gs_can_open(struct net_device *netdev)
 		netif_start_queue(netdev);
 
 	return 0;
+
+out_usb_unanchor_urb:
+	usb_unanchor_urb(urb);
+out_usb_free_urb:
+	usb_free_urb(urb);
+out_usb_kill_anchored_urbs:
+	if (!parent->active_channels) {
+		usb_kill_anchored_urbs(&dev->tx_submitted);
+
+		if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
+			gs_usb_timestamp_stop(parent);
+	}
+
+	can_rx_offload_disable(&dev->offload);
+	close_candev(netdev);
+
+	return rc;
 }
 
 static int gs_usb_get_state(const struct net_device *netdev,
@@ -998,24 +1129,23 @@ static int gs_can_close(struct net_device *netdev)
 
 	netif_stop_queue(netdev);
 
-	/* stop polling timestamp */
-	if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
-		gs_usb_timestamp_stop(dev);
-
 	/* Stop polling */
 	parent->active_channels--;
 	if (!parent->active_channels) {
 		usb_kill_anchored_urbs(&parent->rx_submitted);
+
+		if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
+			gs_usb_timestamp_stop(parent);
 	}
 
 	/* Stop sending URBs */
 	usb_kill_anchored_urbs(&dev->tx_submitted);
 	atomic_set(&dev->active_tx_urbs, 0);
 
+	dev->can.state = CAN_STATE_STOPPED;
+
 	/* reset the device */
-	rc = gs_cmd_reset(dev);
-	if (rc < 0)
-		netdev_warn(netdev, "Couldn't shutdown device (err=%d)", rc);
+	gs_cmd_reset(dev);
 
 	/* reset tx contexts */
 	for (rc = 0; rc < GS_MAX_TX_URBS; rc++) {
@@ -1023,18 +1153,33 @@ static int gs_can_close(struct net_device *netdev)
 		dev->tx_context[rc].echo_id = GS_MAX_TX_URBS;
 	}
 
+	can_rx_offload_disable(&dev->offload);
+
 	/* close the netdev */
 	close_candev(netdev);
 
 	return 0;
 }
 
-static int gs_can_eth_ioctl(struct net_device *netdev, struct ifreq *ifr, int cmd)
+static int gs_can_hwtstamp_get(struct net_device *netdev,
+			       struct kernel_hwtstamp_config *cfg)
 {
 	const struct gs_can *dev = netdev_priv(netdev);
 
 	if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
-		return can_eth_ioctl_hwts(netdev, ifr, cmd);
+		return can_hwtstamp_get(netdev, cfg);
+
+	return -EOPNOTSUPP;
+}
+
+static int gs_can_hwtstamp_set(struct net_device *netdev,
+			       struct kernel_hwtstamp_config *cfg,
+			       struct netlink_ext_ack *extack)
+{
+	const struct gs_can *dev = netdev_priv(netdev);
+
+	if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
+		return can_hwtstamp_set(netdev, cfg, extack);
 
 	return -EOPNOTSUPP;
 }
@@ -1043,8 +1188,8 @@ static const struct net_device_ops gs_usb_netdev_ops = {
 	.ndo_open = gs_can_open,
 	.ndo_stop = gs_can_close,
 	.ndo_start_xmit = gs_can_start_xmit,
-	.ndo_change_mtu = can_change_mtu,
-	.ndo_eth_ioctl = gs_can_eth_ioctl,
+	.ndo_hwtstamp_get = gs_can_hwtstamp_get,
+	.ndo_hwtstamp_set = gs_can_hwtstamp_set,
 };
 
 static int gs_usb_set_identify(struct net_device *netdev, bool do_identify)
@@ -1088,7 +1233,7 @@ static int gs_usb_set_phys_id(struct net_device *netdev,
 }
 
 static int gs_usb_get_ts_info(struct net_device *netdev,
-			      struct ethtool_ts_info *info)
+			      struct kernel_ethtool_ts_info *info)
 {
 	struct gs_can *dev = netdev_priv(netdev);
 
@@ -1187,6 +1332,7 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 
 	netdev->flags |= IFF_ECHO; /* we support full roundtrip echo */
 	netdev->dev_id = channel;
+	netdev->dev_port = channel;
 
 	/* dev setup */
 	strcpy(dev->bt_const.name, KBUILD_MODNAME);
@@ -1238,8 +1384,8 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 		/* 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;
+		dev->can.fd.data_bittiming_const = &dev->bt_const;
+		dev->can.fd.do_set_data_bittiming = gs_usb_set_data_bittiming;
 	}
 
 	if (feature & GS_CAN_FEATURE_TERMINATION) {
@@ -1319,9 +1465,10 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 		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;
+		dev->can.fd.data_bittiming_const = &dev->data_bt_const;
 	}
 
+	can_rx_offload_add_manual(netdev, &dev->offload, GS_NAPI_WEIGHT);
 	SET_NETDEV_DEV(netdev, &intf->dev);
 
 	rc = register_candev(dev->netdev);
@@ -1329,12 +1476,14 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 		dev_err(&intf->dev,
 			"Couldn't register candev for channel %d (%pe)\n",
 			channel, ERR_PTR(rc));
-		goto out_free_candev;
+		goto out_can_rx_offload_del;
 	}
 
 	return dev;
 
- out_free_candev:
+out_can_rx_offload_del:
+	can_rx_offload_del(&dev->offload);
+out_free_candev:
 	free_candev(dev->netdev);
 	return ERR_PTR(rc);
 }
@@ -1342,7 +1491,7 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 static void gs_destroy_candev(struct gs_can *dev)
 {
 	unregister_candev(dev->netdev);
-	usb_kill_anchored_urbs(&dev->tx_submitted);
+	can_rx_offload_del(&dev->offload);
 	free_candev(dev->netdev);
 }
 
@@ -1350,8 +1499,9 @@ static int gs_usb_probe(struct usb_interface *intf,
 			const struct usb_device_id *id)
 {
 	struct usb_device *udev = interface_to_usbdev(intf);
+	struct usb_endpoint_descriptor *ep_in, *ep_out;
 	struct gs_host_frame *hf;
-	struct gs_usb *dev;
+	struct gs_usb *parent;
 	struct gs_host_config hconf = {
 		.byte_order = cpu_to_le32(0x0000beef),
 	};
@@ -1359,6 +1509,13 @@ static int gs_usb_probe(struct usb_interface *intf,
 	unsigned int icount, i;
 	int rc;
 
+	rc = usb_find_common_endpoints(intf->cur_altsetting,
+				       &ep_in, &ep_out, NULL, NULL);
+	if (rc) {
+		dev_err(&intf->dev, "Required endpoints not found\n");
+		return rc;
+	}
+
 	/* send host config */
 	rc = usb_control_msg_send(udev, 0,
 				  GS_USB_BREQ_HOST_FORMAT,
@@ -1387,56 +1544,62 @@ static int gs_usb_probe(struct usb_interface *intf,
 	icount = dconf.icount + 1;
 	dev_info(&intf->dev, "Configuring for %u interfaces\n", icount);
 
-	if (icount > GS_MAX_INTF) {
+	if (icount > type_max(parent->channel_cnt)) {
 		dev_err(&intf->dev,
 			"Driver cannot handle more that %u CAN interfaces\n",
-			GS_MAX_INTF);
+			type_max(parent->channel_cnt));
 		return -EINVAL;
 	}
 
-	dev = kzalloc(sizeof(*dev), GFP_KERNEL);
-	if (!dev)
+	parent = kzalloc(struct_size(parent, canch, icount), GFP_KERNEL);
+	if (!parent)
 		return -ENOMEM;
 
-	init_usb_anchor(&dev->rx_submitted);
+	parent->channel_cnt = icount;
+
+	init_usb_anchor(&parent->rx_submitted);
 
-	usb_set_intfdata(intf, dev);
-	dev->udev = udev;
+	usb_set_intfdata(intf, parent);
+	parent->udev = udev;
+
+	/* store the detected endpoints */
+	parent->pipe_in = usb_rcvbulkpipe(parent->udev, ep_in->bEndpointAddress);
+	parent->pipe_out = usb_sndbulkpipe(parent->udev, ep_out->bEndpointAddress);
 
 	for (i = 0; i < icount; i++) {
 		unsigned int hf_size_rx = 0;
 
-		dev->canch[i] = gs_make_candev(i, intf, &dconf);
-		if (IS_ERR_OR_NULL(dev->canch[i])) {
+		parent->canch[i] = gs_make_candev(i, intf, &dconf);
+		if (IS_ERR_OR_NULL(parent->canch[i])) {
 			/* save error code to return later */
-			rc = PTR_ERR(dev->canch[i]);
+			rc = PTR_ERR(parent->canch[i]);
 
 			/* on failure destroy previously created candevs */
 			icount = i;
 			for (i = 0; i < icount; i++)
-				gs_destroy_candev(dev->canch[i]);
+				gs_destroy_candev(parent->canch[i]);
 
-			usb_kill_anchored_urbs(&dev->rx_submitted);
-			kfree(dev);
+			usb_kill_anchored_urbs(&parent->rx_submitted);
+			kfree(parent);
 			return rc;
 		}
-		dev->canch[i]->parent = dev;
+		parent->canch[i]->parent = parent;
 
 		/* set RX packet size based on FD and if hardware
-                * timestamps are supported.
-		*/
-		if (dev->canch[i]->can.ctrlmode_supported & CAN_CTRLMODE_FD) {
-			if (dev->canch[i]->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
+		 * timestamps are supported.
+		 */
+		if (parent->canch[i]->can.ctrlmode_supported & CAN_CTRLMODE_FD) {
+			if (parent->canch[i]->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
 				hf_size_rx = struct_size(hf, canfd_ts, 1);
 			else
 				hf_size_rx = struct_size(hf, canfd, 1);
 		} else {
-			if (dev->canch[i]->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
+			if (parent->canch[i]->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
 				hf_size_rx = struct_size(hf, classic_can_ts, 1);
 			else
 				hf_size_rx = struct_size(hf, classic_can, 1);
 		}
-		dev->hf_size_rx = max(dev->hf_size_rx, hf_size_rx);
+		parent->hf_size_rx = max(parent->hf_size_rx, hf_size_rx);
 	}
 
 	return 0;
@@ -1444,22 +1607,21 @@ static int gs_usb_probe(struct usb_interface *intf,
 
 static void gs_usb_disconnect(struct usb_interface *intf)
 {
-	struct gs_usb *dev = usb_get_intfdata(intf);
+	struct gs_usb *parent = usb_get_intfdata(intf);
 	unsigned int i;
 
 	usb_set_intfdata(intf, NULL);
 
-	if (!dev) {
+	if (!parent) {
 		dev_err(&intf->dev, "Disconnect (nodata)\n");
 		return;
 	}
 
-	for (i = 0; i < GS_MAX_INTF; i++)
-		if (dev->canch[i])
-			gs_destroy_candev(dev->canch[i]);
+	for (i = 0; i < parent->channel_cnt; i++)
+		if (parent->canch[i])
+			gs_destroy_candev(parent->canch[i]);
 
-	usb_kill_anchored_urbs(&dev->rx_submitted);
-	kfree(dev);
+	kfree(parent);
 }
 
 static const struct usb_device_id gs_usb_table[] = {
@@ -1471,6 +1633,10 @@ static const struct usb_device_id gs_usb_table[] = {
 				      USB_CES_CANEXT_FD_PRODUCT_ID, 0) },
 	{ USB_DEVICE_INTERFACE_NUMBER(USB_ABE_CANDEBUGGER_FD_VENDOR_ID,
 				      USB_ABE_CANDEBUGGER_FD_PRODUCT_ID, 0) },
+	{ USB_DEVICE_INTERFACE_NUMBER(USB_XYLANTA_SAINT3_VENDOR_ID,
+				      USB_XYLANTA_SAINT3_PRODUCT_ID, 0) },
+	{ USB_DEVICE_INTERFACE_NUMBER(USB_CANNECTIVITY_VENDOR_ID,
+				      USB_CANNECTIVITY_PRODUCT_ID, 0) },
 	{} /* Terminating entry */
 };