4 files changed, 257 insertions, 181 deletions

diff --git a/drivers/net/can/usb/kvaser_usb/kvaser_usb.h b/drivers/net/can/usb/kvaser_usb/kvaser_usb.h
index ff10b3790d84..f6c77eca9f43 100644
--- a/drivers/net/can/usb/kvaser_usb/kvaser_usb.h
+++ b/drivers/net/can/usb/kvaser_usb/kvaser_usb.h
@@ -22,6 +22,8 @@
  */
 
 #include <linux/completion.h>
+#include <linux/ktime.h>
+#include <linux/math64.h>
 #include <linux/spinlock.h>
 #include <linux/types.h>
 #include <linux/usb.h>
@@ -39,7 +41,6 @@
 #define KVASER_USB_QUIRK_HAS_SILENT_MODE	BIT(0)
 #define KVASER_USB_QUIRK_HAS_TXRX_ERRORS	BIT(1)
 #define KVASER_USB_QUIRK_IGNORE_CLK_FREQ	BIT(2)
-#define KVASER_USB_QUIRK_HAS_HARDWARE_TIMESTAMP	BIT(3)
 
 /* Device capabilities */
 #define KVASER_USB_CAP_BERR_CAP			0x01
@@ -68,6 +69,7 @@ struct kvaser_usb_dev_card_data {
 	u32 ctrlmode_supported;
 	u32 capabilities;
 	struct kvaser_usb_dev_card_data_hydra hydra;
+	u32 usbcan_timestamp_msb;
 };
 
 /* Context for an outstanding, not yet ACKed, transmission */
@@ -135,7 +137,7 @@ struct kvaser_usb_net_priv {
  * @dev_set_mode:		used for can.do_set_mode
  * @dev_set_bittiming:		used for can.do_set_bittiming
  * @dev_get_busparams:		readback arbitration busparams
- * @dev_set_data_bittiming:	used for can.do_set_data_bittiming
+ * @dev_set_data_bittiming:	used for can.fd.do_set_data_bittiming
  * @dev_get_data_busparams:	readback data busparams
  * @dev_get_berr_counter:	used for can.do_get_berr_counter
  *
@@ -216,4 +218,26 @@ int kvaser_usb_can_rx_over_error(struct net_device *netdev);
 
 extern const struct can_bittiming_const kvaser_usb_flexc_bittiming_const;
 
+static inline ktime_t kvaser_usb_ticks_to_ktime(const struct kvaser_usb_dev_cfg *cfg,
+						u64 ticks)
+{
+	return ns_to_ktime(div_u64(ticks * 1000, cfg->timestamp_freq));
+}
+
+static inline ktime_t kvaser_usb_timestamp48_to_ktime(const struct kvaser_usb_dev_cfg *cfg,
+						      const __le16 *timestamp)
+{
+	u64 ticks = le16_to_cpu(timestamp[0]) |
+		    (u64)(le16_to_cpu(timestamp[1])) << 16 |
+		    (u64)(le16_to_cpu(timestamp[2])) << 32;
+
+	return kvaser_usb_ticks_to_ktime(cfg, ticks);
+}
+
+static inline ktime_t kvaser_usb_timestamp64_to_ktime(const struct kvaser_usb_dev_cfg *cfg,
+						      __le64 timestamp)
+{
+	return kvaser_usb_ticks_to_ktime(cfg, le64_to_cpu(timestamp));
+}
+
 #endif /* KVASER_USB_H */
diff --git a/drivers/net/can/usb/kvaser_usb/kvaser_usb_core.c b/drivers/net/can/usb/kvaser_usb/kvaser_usb_core.c
index 8faf8a462c05..daf42080f942 100644
--- a/drivers/net/can/usb/kvaser_usb/kvaser_usb_core.c
+++ b/drivers/net/can/usb/kvaser_usb/kvaser_usb_core.c
@@ -89,9 +89,12 @@
 #define USB_HYBRID_CANLIN_PRODUCT_ID 0x0115
 #define USB_HYBRID_PRO_CANLIN_PRODUCT_ID 0x0116
 #define USB_LEAF_V3_PRODUCT_ID 0x0117
+#define USB_VINING_800_PRODUCT_ID 0x0119
+#define USB_USBCAN_PRO_5XCAN_PRODUCT_ID 0x011A
+#define USB_MINI_PCIE_1XCAN_PRODUCT_ID 0x011B
 
 static const struct kvaser_usb_driver_info kvaser_usb_driver_info_hydra = {
-	.quirks = KVASER_USB_QUIRK_HAS_HARDWARE_TIMESTAMP,
+	.quirks = 0,
 	.ops = &kvaser_usb_hydra_dev_ops,
 };
 
@@ -125,6 +128,7 @@ static const struct kvaser_usb_driver_info kvaser_usb_driver_info_leaf_err_liste
 
 static const struct kvaser_usb_driver_info kvaser_usb_driver_info_leafimx = {
 	.quirks = 0,
+	.family = KVASER_LEAF,
 	.ops = &kvaser_usb_leaf_dev_ops,
 };
 
@@ -238,6 +242,12 @@ static const struct usb_device_id kvaser_usb_table[] = {
 		.driver_info = (kernel_ulong_t)&kvaser_usb_driver_info_hydra },
 	{ USB_DEVICE(KVASER_VENDOR_ID, USB_LEAF_V3_PRODUCT_ID),
 		.driver_info = (kernel_ulong_t)&kvaser_usb_driver_info_hydra },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_VINING_800_PRODUCT_ID),
+		.driver_info = (kernel_ulong_t)&kvaser_usb_driver_info_hydra },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_USBCAN_PRO_5XCAN_PRODUCT_ID),
+		.driver_info = (kernel_ulong_t)&kvaser_usb_driver_info_hydra },
+	{ USB_DEVICE(KVASER_VENDOR_ID, USB_MINI_PCIE_1XCAN_PRODUCT_ID),
+		.driver_info = (kernel_ulong_t)&kvaser_usb_driver_info_hydra },
 	{ }
 };
 MODULE_DEVICE_TABLE(usb, kvaser_usb_table);
@@ -294,7 +304,7 @@ int kvaser_usb_send_cmd_async(struct kvaser_usb_net_priv *priv, void *cmd,
 	}
 	usb_free_urb(urb);
 
-	return 0;
+	return err;
 }
 
 int kvaser_usb_can_rx_over_error(struct net_device *netdev)
@@ -582,7 +592,7 @@ static int kvaser_usb_set_data_bittiming(struct net_device *netdev)
 	struct kvaser_usb_net_priv *priv = netdev_priv(netdev);
 	struct kvaser_usb *dev = priv->dev;
 	const struct kvaser_usb_dev_ops *ops = dev->driver_info->ops;
-	struct can_bittiming *dbt = &priv->can.data_bittiming;
+	struct can_bittiming *dbt = &priv->can.fd.data_bittiming;
 	struct kvaser_usb_busparams busparams;
 	int tseg1 = dbt->prop_seg + dbt->phase_seg1;
 	int tseg2 = dbt->phase_seg2;
@@ -746,23 +756,12 @@ freeurb:
 static const struct net_device_ops kvaser_usb_netdev_ops = {
 	.ndo_open = kvaser_usb_open,
 	.ndo_stop = kvaser_usb_close,
-	.ndo_start_xmit = kvaser_usb_start_xmit,
-	.ndo_change_mtu = can_change_mtu,
-};
-
-static const struct net_device_ops kvaser_usb_netdev_ops_hwts = {
-	.ndo_open = kvaser_usb_open,
-	.ndo_stop = kvaser_usb_close,
 	.ndo_eth_ioctl = can_eth_ioctl_hwts,
 	.ndo_start_xmit = kvaser_usb_start_xmit,
 	.ndo_change_mtu = can_change_mtu,
 };
 
 static const struct ethtool_ops kvaser_usb_ethtool_ops = {
-	.get_ts_info = ethtool_op_get_ts_info,
-};
-
-static const struct ethtool_ops kvaser_usb_ethtool_ops_hwts = {
 	.get_ts_info = can_ethtool_op_get_ts_info_hwts,
 };
 
@@ -819,7 +818,8 @@ static int kvaser_usb_init_one(struct kvaser_usb *dev, int channel)
 	init_completion(&priv->stop_comp);
 	init_completion(&priv->flush_comp);
 	init_completion(&priv->get_busparams_comp);
-	priv->can.ctrlmode_supported = CAN_CTRLMODE_CC_LEN8_DLC;
+	priv->can.ctrlmode_supported = CAN_CTRLMODE_CC_LEN8_DLC |
+				       CAN_CTRLMODE_BERR_REPORTING;
 
 	priv->dev = dev;
 	priv->netdev = netdev;
@@ -842,20 +842,14 @@ static int kvaser_usb_init_one(struct kvaser_usb *dev, int channel)
 	priv->can.ctrlmode_supported |= dev->card_data.ctrlmode_supported;
 
 	if (priv->can.ctrlmode_supported & CAN_CTRLMODE_FD) {
-		priv->can.data_bittiming_const = dev->cfg->data_bittiming_const;
-		priv->can.do_set_data_bittiming = kvaser_usb_set_data_bittiming;
+		priv->can.fd.data_bittiming_const = dev->cfg->data_bittiming_const;
+		priv->can.fd.do_set_data_bittiming = kvaser_usb_set_data_bittiming;
 	}
 
 	netdev->flags |= IFF_ECHO;
 
 	netdev->netdev_ops = &kvaser_usb_netdev_ops;
-	if (driver_info->quirks & KVASER_USB_QUIRK_HAS_HARDWARE_TIMESTAMP) {
-		netdev->netdev_ops = &kvaser_usb_netdev_ops_hwts;
-		netdev->ethtool_ops = &kvaser_usb_ethtool_ops_hwts;
-	} else {
-		netdev->netdev_ops = &kvaser_usb_netdev_ops;
-		netdev->ethtool_ops = &kvaser_usb_ethtool_ops;
-	}
+	netdev->ethtool_ops = &kvaser_usb_ethtool_ops;
 	SET_NETDEV_DEV(netdev, &dev->intf->dev);
 	netdev->dev_id = channel;
 
@@ -905,10 +899,8 @@ static int kvaser_usb_probe(struct usb_interface *intf,
 	ops = driver_info->ops;
 
 	err = ops->dev_setup_endpoints(dev);
-	if (err) {
-		dev_err(&intf->dev, "Cannot get usb endpoint(s)");
-		return err;
-	}
+	if (err)
+		return dev_err_probe(&intf->dev, err, "Cannot get usb endpoint(s)");
 
 	dev->udev = interface_to_usbdev(intf);
 
@@ -919,26 +911,20 @@ static int kvaser_usb_probe(struct usb_interface *intf,
 	dev->card_data.ctrlmode_supported = 0;
 	dev->card_data.capabilities = 0;
 	err = ops->dev_init_card(dev);
-	if (err) {
-		dev_err(&intf->dev,
-			"Failed to initialize card, error %d\n", err);
-		return err;
-	}
+	if (err)
+		return dev_err_probe(&intf->dev, err,
+				     "Failed to initialize card\n");
 
 	err = ops->dev_get_software_info(dev);
-	if (err) {
-		dev_err(&intf->dev,
-			"Cannot get software info, error %d\n", err);
-		return err;
-	}
+	if (err)
+		return dev_err_probe(&intf->dev, err,
+				     "Cannot get software info\n");
 
 	if (ops->dev_get_software_details) {
 		err = ops->dev_get_software_details(dev);
-		if (err) {
-			dev_err(&intf->dev,
-				"Cannot get software details, error %d\n", err);
-			return err;
-		}
+		if (err)
+			return dev_err_probe(&intf->dev, err,
+					     "Cannot get software details\n");
 	}
 
 	if (WARN_ON(!dev->cfg))
@@ -952,18 +938,16 @@ static int kvaser_usb_probe(struct usb_interface *intf,
 	dev_dbg(&intf->dev, "Max outstanding tx = %d URBs\n", dev->max_tx_urbs);
 
 	err = ops->dev_get_card_info(dev);
-	if (err) {
-		dev_err(&intf->dev, "Cannot get card info, error %d\n", err);
-		return err;
-	}
+	if (err)
+		return dev_err_probe(&intf->dev, err,
+				     "Cannot get card info\n");
 
 	if (ops->dev_get_capabilities) {
 		err = ops->dev_get_capabilities(dev);
 		if (err) {
-			dev_err(&intf->dev,
-				"Cannot get capabilities, error %d\n", err);
 			kvaser_usb_remove_interfaces(dev);
-			return err;
+			return dev_err_probe(&intf->dev, err,
+					     "Cannot get capabilities\n");
 		}
 	}
 
diff --git a/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c b/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
index c7ba768dfe17..8e88b5917796 100644
--- a/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
+++ b/drivers/net/can/usb/kvaser_usb/kvaser_usb_hydra.c
@@ -10,7 +10,6 @@
  *  - Transition from CAN_STATE_ERROR_WARNING to CAN_STATE_ERROR_ACTIVE is only
  *    reported after a call to do_get_berr_counter(), since firmware does not
  *    distinguish between ERROR_WARNING and ERROR_ACTIVE.
- *  - Hardware timestamps are not set for CAN Tx frames.
  */
 
 #include <linux/completion.h>
@@ -261,6 +260,15 @@ struct kvaser_cmd_tx_can {
 	u8 reserved[11];
 } __packed;
 
+struct kvaser_cmd_tx_ack {
+	__le32 id;
+	u8 data[8];
+	u8 dlc;
+	u8 flags;
+	__le16 timestamp[3];
+	u8 reserved0[8];
+} __packed;
+
 struct kvaser_cmd_header {
 	u8 cmd_no;
 	/* The destination HE address is stored in 0..5 of he_addr.
@@ -297,6 +305,7 @@ struct kvaser_cmd {
 
 		struct kvaser_cmd_rx_can rx_can;
 		struct kvaser_cmd_tx_can tx_can;
+		struct kvaser_cmd_tx_ack tx_ack;
 	} __packed;
 } __packed;
 
@@ -522,23 +531,25 @@ kvaser_usb_hydra_net_priv_from_cmd(const struct kvaser_usb *dev,
 	return priv;
 }
 
-static ktime_t
-kvaser_usb_hydra_ktime_from_rx_cmd(const struct kvaser_usb_dev_cfg *cfg,
-				   const struct kvaser_cmd *cmd)
+static ktime_t kvaser_usb_hydra_ktime_from_cmd(const struct kvaser_usb_dev_cfg *cfg,
+					       const struct kvaser_cmd *cmd)
 {
-	u64 ticks;
+	ktime_t hwtstamp = 0;
 
 	if (cmd->header.cmd_no == CMD_EXTENDED) {
 		struct kvaser_cmd_ext *cmd_ext = (struct kvaser_cmd_ext *)cmd;
 
-		ticks = le64_to_cpu(cmd_ext->rx_can.timestamp);
-	} else {
-		ticks = le16_to_cpu(cmd->rx_can.timestamp[0]);
-		ticks += (u64)(le16_to_cpu(cmd->rx_can.timestamp[1])) << 16;
-		ticks += (u64)(le16_to_cpu(cmd->rx_can.timestamp[2])) << 32;
+		if (cmd_ext->cmd_no_ext == CMD_RX_MESSAGE_FD)
+			hwtstamp = kvaser_usb_timestamp64_to_ktime(cfg, cmd_ext->rx_can.timestamp);
+		else if (cmd_ext->cmd_no_ext == CMD_TX_ACKNOWLEDGE_FD)
+			hwtstamp = kvaser_usb_timestamp64_to_ktime(cfg, cmd_ext->tx_ack.timestamp);
+	} else if (cmd->header.cmd_no == CMD_RX_MESSAGE) {
+		hwtstamp = kvaser_usb_timestamp48_to_ktime(cfg, cmd->rx_can.timestamp);
+	} else if (cmd->header.cmd_no == CMD_TX_ACKNOWLEDGE) {
+		hwtstamp = kvaser_usb_timestamp48_to_ktime(cfg, cmd->tx_ack.timestamp);
 	}
 
-	return ns_to_ktime(div_u64(ticks * 1000, cfg->timestamp_freq));
+	return hwtstamp;
 }
 
 static int kvaser_usb_hydra_send_simple_cmd(struct kvaser_usb *dev,
@@ -915,6 +926,42 @@ kvaser_usb_hydra_bus_status_to_can_state(const struct kvaser_usb_net_priv *priv,
 	}
 }
 
+static void kvaser_usb_hydra_change_state(struct kvaser_usb_net_priv *priv,
+					  const struct can_berr_counter *bec,
+					  struct can_frame *cf,
+					  enum can_state new_state)
+{
+	struct net_device *netdev = priv->netdev;
+	enum can_state old_state = priv->can.state;
+	enum can_state tx_state, rx_state;
+
+	tx_state = (bec->txerr >= bec->rxerr) ?
+				new_state : CAN_STATE_ERROR_ACTIVE;
+	rx_state = (bec->txerr <= bec->rxerr) ?
+				new_state : CAN_STATE_ERROR_ACTIVE;
+	can_change_state(netdev, cf, tx_state, rx_state);
+
+	if (new_state == CAN_STATE_BUS_OFF && old_state < CAN_STATE_BUS_OFF) {
+		if (priv->can.restart_ms == 0)
+			kvaser_usb_hydra_send_simple_cmd_async(priv, CMD_STOP_CHIP_REQ);
+
+		can_bus_off(netdev);
+	}
+
+	if (priv->can.restart_ms &&
+	    old_state >= CAN_STATE_BUS_OFF &&
+	    new_state < CAN_STATE_BUS_OFF) {
+		priv->can.can_stats.restarts++;
+		if (cf)
+			cf->can_id |= CAN_ERR_RESTARTED;
+	}
+	if (cf && new_state != CAN_STATE_BUS_OFF) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = bec->txerr;
+		cf->data[7] = bec->rxerr;
+	}
+}
+
 static void kvaser_usb_hydra_update_state(struct kvaser_usb_net_priv *priv,
 					  u8 bus_status,
 					  const struct can_berr_counter *bec)
@@ -940,41 +987,11 @@ static void kvaser_usb_hydra_update_state(struct kvaser_usb_net_priv *priv,
 		return;
 
 	skb = alloc_can_err_skb(netdev, &cf);
-	if (skb) {
-		enum can_state tx_state, rx_state;
-
-		tx_state = (bec->txerr >= bec->rxerr) ?
-					new_state : CAN_STATE_ERROR_ACTIVE;
-		rx_state = (bec->txerr <= bec->rxerr) ?
-					new_state : CAN_STATE_ERROR_ACTIVE;
-		can_change_state(netdev, cf, tx_state, rx_state);
-	}
-
-	if (new_state == CAN_STATE_BUS_OFF && old_state < CAN_STATE_BUS_OFF) {
-		if (!priv->can.restart_ms)
-			kvaser_usb_hydra_send_simple_cmd_async
-						(priv, CMD_STOP_CHIP_REQ);
-
-		can_bus_off(netdev);
-	}
-
-	if (!skb) {
+	kvaser_usb_hydra_change_state(priv, bec, cf, new_state);
+	if (skb)
+		netif_rx(skb);
+	else
 		netdev_warn(netdev, "No memory left for err_skb\n");
-		return;
-	}
-
-	if (priv->can.restart_ms &&
-	    old_state >= CAN_STATE_BUS_OFF &&
-	    new_state < CAN_STATE_BUS_OFF)
-		priv->can.can_stats.restarts++;
-
-	if (new_state != CAN_STATE_BUS_OFF) {
-		cf->can_id |= CAN_ERR_CNT;
-		cf->data[6] = bec->txerr;
-		cf->data[7] = bec->rxerr;
-	}
-
-	netif_rx(skb);
 }
 
 static void kvaser_usb_hydra_state_event(const struct kvaser_usb *dev,
@@ -1067,9 +1084,8 @@ kvaser_usb_hydra_error_frame(struct kvaser_usb_net_priv *priv,
 {
 	struct net_device *netdev = priv->netdev;
 	struct net_device_stats *stats = &netdev->stats;
-	struct can_frame *cf;
-	struct sk_buff *skb;
-	struct skb_shared_hwtstamps *shhwtstamps;
+	struct can_frame *cf = NULL;
+	struct sk_buff *skb = NULL;
 	struct can_berr_counter bec;
 	enum can_state new_state, old_state;
 	u8 bus_status;
@@ -1085,52 +1101,26 @@ kvaser_usb_hydra_error_frame(struct kvaser_usb_net_priv *priv,
 	kvaser_usb_hydra_bus_status_to_can_state(priv, bus_status, &bec,
 						 &new_state);
 
-	skb = alloc_can_err_skb(netdev, &cf);
+	if (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING)
+		skb = alloc_can_err_skb(netdev, &cf);
+	if (new_state != old_state)
+		kvaser_usb_hydra_change_state(priv, &bec, cf, new_state);
 
-	if (new_state != old_state) {
+	if (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING) {
 		if (skb) {
-			enum can_state tx_state, rx_state;
-
-			tx_state = (bec.txerr >= bec.rxerr) ?
-					new_state : CAN_STATE_ERROR_ACTIVE;
-			rx_state = (bec.txerr <= bec.rxerr) ?
-					new_state : CAN_STATE_ERROR_ACTIVE;
+			struct skb_shared_hwtstamps *shhwtstamps = skb_hwtstamps(skb);
 
-			can_change_state(netdev, cf, tx_state, rx_state);
-
-			if (priv->can.restart_ms &&
-			    old_state >= CAN_STATE_BUS_OFF &&
-			    new_state < CAN_STATE_BUS_OFF)
-				cf->can_id |= CAN_ERR_RESTARTED;
-		}
-
-		if (new_state == CAN_STATE_BUS_OFF) {
-			if (!priv->can.restart_ms)
-				kvaser_usb_hydra_send_simple_cmd_async
-						(priv, CMD_STOP_CHIP_REQ);
-
-			can_bus_off(netdev);
+			shhwtstamps->hwtstamp = hwtstamp;
+			cf->can_id |= CAN_ERR_BUSERROR | CAN_ERR_CNT;
+			cf->data[6] = bec.txerr;
+			cf->data[7] = bec.rxerr;
+			netif_rx(skb);
+		} else {
+			stats->rx_dropped++;
+			netdev_warn(netdev, "No memory left for err_skb\n");
 		}
 	}
 
-	if (!skb) {
-		stats->rx_dropped++;
-		netdev_warn(netdev, "No memory left for err_skb\n");
-		return;
-	}
-
-	shhwtstamps = skb_hwtstamps(skb);
-	shhwtstamps->hwtstamp = hwtstamp;
-
-	cf->can_id |= CAN_ERR_BUSERROR;
-	if (new_state != CAN_STATE_BUS_OFF) {
-		cf->can_id |= CAN_ERR_CNT;
-		cf->data[6] = bec.txerr;
-		cf->data[7] = bec.rxerr;
-	}
-
-	netif_rx(skb);
-
 	priv->bec.txerr = bec.txerr;
 	priv->bec.rxerr = bec.rxerr;
 }
@@ -1175,6 +1165,7 @@ static void kvaser_usb_hydra_tx_acknowledge(const struct kvaser_usb *dev,
 	bool one_shot_fail = false;
 	bool is_err_frame = false;
 	u16 transid = kvaser_usb_hydra_get_cmd_transid(cmd);
+	struct sk_buff *skb;
 
 	priv = kvaser_usb_hydra_net_priv_from_cmd(dev, cmd);
 	if (!priv)
@@ -1201,6 +1192,9 @@ static void kvaser_usb_hydra_tx_acknowledge(const struct kvaser_usb *dev,
 
 	spin_lock_irqsave(&priv->tx_contexts_lock, irq_flags);
 
+	skb = priv->can.echo_skb[context->echo_index];
+	if (skb)
+		skb_hwtstamps(skb)->hwtstamp = kvaser_usb_hydra_ktime_from_cmd(dev->cfg, cmd);
 	len = can_get_echo_skb(priv->netdev, context->echo_index, NULL);
 	context->echo_index = dev->max_tx_urbs;
 	--priv->active_tx_contexts;
@@ -1234,7 +1228,7 @@ static void kvaser_usb_hydra_rx_msg_std(const struct kvaser_usb *dev,
 	stats = &priv->netdev->stats;
 
 	flags = cmd->rx_can.flags;
-	hwtstamp = kvaser_usb_hydra_ktime_from_rx_cmd(dev->cfg, cmd);
+	hwtstamp = kvaser_usb_hydra_ktime_from_cmd(dev->cfg, cmd);
 
 	if (flags & KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME) {
 		kvaser_usb_hydra_error_frame(priv, &cmd->rx_can.err_frame_data,
@@ -1302,7 +1296,7 @@ static void kvaser_usb_hydra_rx_msg_ext(const struct kvaser_usb *dev,
 		KVASER_USB_KCAN_DATA_DLC_SHIFT;
 
 	flags = le32_to_cpu(cmd->rx_can.flags);
-	hwtstamp = kvaser_usb_hydra_ktime_from_rx_cmd(dev->cfg, std_cmd);
+	hwtstamp = kvaser_usb_hydra_ktime_from_cmd(dev->cfg, std_cmd);
 
 	if (flags & KVASER_USB_HYDRA_CF_FLAG_ERROR_FRAME) {
 		kvaser_usb_hydra_error_frame(priv, &cmd->rx_can.err_frame_data,
diff --git a/drivers/net/can/usb/kvaser_usb/kvaser_usb_leaf.c b/drivers/net/can/usb/kvaser_usb/kvaser_usb_leaf.c
index 23bd7574b1c7..6a45adcc45bd 100644
--- a/drivers/net/can/usb/kvaser_usb/kvaser_usb_leaf.c
+++ b/drivers/net/can/usb/kvaser_usb/kvaser_usb_leaf.c
@@ -119,6 +119,10 @@
 /* Extended CAN identifier flag */
 #define KVASER_EXTENDED_FRAME		BIT(31)
 
+/* USBCanII timestamp */
+#define KVASER_USB_USBCAN_CLK_OVERFLOW_MASK GENMASK(31, 16)
+#define KVASER_USB_USBCAN_TIMESTAMP_FACTOR 10
+
 struct kvaser_cmd_simple {
 	u8 tid;
 	u8 channel;
@@ -235,6 +239,20 @@ struct kvaser_cmd_tx_acknowledge_header {
 	u8 tid;
 } __packed;
 
+struct leaf_cmd_tx_acknowledge {
+	u8 channel;
+	u8 tid;
+	__le16 time[3];
+	u8 padding[2];
+} __packed;
+
+struct usbcan_cmd_tx_acknowledge {
+	u8 channel;
+	u8 tid;
+	__le16 time;
+	u8 padding[2];
+} __packed;
+
 struct leaf_cmd_can_error_event {
 	u8 tid;
 	u8 flags;
@@ -281,6 +299,12 @@ struct usbcan_cmd_error_event {
 	__le16 padding;
 } __packed;
 
+struct usbcan_cmd_clk_overflow_event {
+	u8 tid;
+	u8 padding;
+	__le32 time;
+} __packed;
+
 struct kvaser_cmd_ctrl_mode {
 	u8 tid;
 	u8 channel;
@@ -347,6 +371,7 @@ struct kvaser_cmd {
 			struct leaf_cmd_error_event error_event;
 			struct kvaser_cmd_cap_req cap_req;
 			struct kvaser_cmd_cap_res cap_res;
+			struct leaf_cmd_tx_acknowledge tx_ack;
 		} __packed leaf;
 
 		union {
@@ -355,6 +380,8 @@ struct kvaser_cmd {
 			struct usbcan_cmd_chip_state_event chip_state_event;
 			struct usbcan_cmd_can_error_event can_error_event;
 			struct usbcan_cmd_error_event error_event;
+			struct usbcan_cmd_tx_acknowledge tx_ack;
+			struct usbcan_cmd_clk_overflow_event clk_overflow_event;
 		} __packed usbcan;
 
 		struct kvaser_cmd_tx_can tx_can;
@@ -370,7 +397,7 @@ static const u8 kvaser_usb_leaf_cmd_sizes_leaf[] = {
 	[CMD_START_CHIP_REPLY]		= kvaser_fsize(u.simple),
 	[CMD_STOP_CHIP_REPLY]		= kvaser_fsize(u.simple),
 	[CMD_GET_CARD_INFO_REPLY]	= kvaser_fsize(u.cardinfo),
-	[CMD_TX_ACKNOWLEDGE]		= kvaser_fsize(u.tx_acknowledge_header),
+	[CMD_TX_ACKNOWLEDGE]		= kvaser_fsize(u.leaf.tx_ack),
 	[CMD_GET_SOFTWARE_INFO_REPLY]	= kvaser_fsize(u.leaf.softinfo),
 	[CMD_RX_STD_MESSAGE]		= kvaser_fsize(u.leaf.rx_can),
 	[CMD_RX_EXT_MESSAGE]		= kvaser_fsize(u.leaf.rx_can),
@@ -388,15 +415,14 @@ static const u8 kvaser_usb_leaf_cmd_sizes_usbcan[] = {
 	[CMD_START_CHIP_REPLY]		= kvaser_fsize(u.simple),
 	[CMD_STOP_CHIP_REPLY]		= kvaser_fsize(u.simple),
 	[CMD_GET_CARD_INFO_REPLY]	= kvaser_fsize(u.cardinfo),
-	[CMD_TX_ACKNOWLEDGE]		= kvaser_fsize(u.tx_acknowledge_header),
+	[CMD_TX_ACKNOWLEDGE]		= kvaser_fsize(u.usbcan.tx_ack),
 	[CMD_GET_SOFTWARE_INFO_REPLY]	= kvaser_fsize(u.usbcan.softinfo),
 	[CMD_RX_STD_MESSAGE]		= kvaser_fsize(u.usbcan.rx_can),
 	[CMD_RX_EXT_MESSAGE]		= kvaser_fsize(u.usbcan.rx_can),
 	[CMD_CHIP_STATE_EVENT]		= kvaser_fsize(u.usbcan.chip_state_event),
 	[CMD_CAN_ERROR_EVENT]		= kvaser_fsize(u.usbcan.can_error_event),
 	[CMD_ERROR_EVENT]		= kvaser_fsize(u.usbcan.error_event),
-	/* ignored events: */
-	[CMD_USBCAN_CLOCK_OVERFLOW_EVENT] = CMD_SIZE_ANY,
+	[CMD_USBCAN_CLOCK_OVERFLOW_EVENT] = kvaser_fsize(u.usbcan.clk_overflow_event),
 };
 
 /* Summary of a kvaser error event, for a unified Leaf/Usbcan error
@@ -463,11 +489,27 @@ static const struct kvaser_usb_dev_cfg kvaser_usb_leaf_usbcan_dev_cfg = {
 	.bittiming_const = &kvaser_usb_leaf_m16c_bittiming_const,
 };
 
-static const struct kvaser_usb_dev_cfg kvaser_usb_leaf_m32c_dev_cfg = {
+static const struct kvaser_usb_dev_cfg kvaser_usb_leaf_m32c_dev_cfg_16mhz = {
 	.clock = {
 		.freq = 16 * MEGA /* Hz */,
 	},
-	.timestamp_freq = 1,
+	.timestamp_freq = 16,
+	.bittiming_const = &kvaser_usb_leaf_m32c_bittiming_const,
+};
+
+static const struct kvaser_usb_dev_cfg kvaser_usb_leaf_m32c_dev_cfg_24mhz = {
+	.clock = {
+		.freq = 16 * MEGA /* Hz */,
+	},
+	.timestamp_freq = 24,
+	.bittiming_const = &kvaser_usb_leaf_m32c_bittiming_const,
+};
+
+static const struct kvaser_usb_dev_cfg kvaser_usb_leaf_m32c_dev_cfg_32mhz = {
+	.clock = {
+		.freq = 16 * MEGA /* Hz */,
+	},
+	.timestamp_freq = 32,
 	.bittiming_const = &kvaser_usb_leaf_m32c_bittiming_const,
 };
 
@@ -475,7 +517,7 @@ static const struct kvaser_usb_dev_cfg kvaser_usb_leaf_imx_dev_cfg_16mhz = {
 	.clock = {
 		.freq = 16 * MEGA /* Hz */,
 	},
-	.timestamp_freq = 1,
+	.timestamp_freq = 16,
 	.bittiming_const = &kvaser_usb_flexc_bittiming_const,
 };
 
@@ -483,7 +525,7 @@ static const struct kvaser_usb_dev_cfg kvaser_usb_leaf_imx_dev_cfg_24mhz = {
 	.clock = {
 		.freq = 24 * MEGA /* Hz */,
 	},
-	.timestamp_freq = 1,
+	.timestamp_freq = 24,
 	.bittiming_const = &kvaser_usb_flexc_bittiming_const,
 };
 
@@ -491,10 +533,19 @@ static const struct kvaser_usb_dev_cfg kvaser_usb_leaf_imx_dev_cfg_32mhz = {
 	.clock = {
 		.freq = 32 * MEGA /* Hz */,
 	},
-	.timestamp_freq = 1,
+	.timestamp_freq = 32,
 	.bittiming_const = &kvaser_usb_flexc_bittiming_const,
 };
 
+static inline ktime_t kvaser_usb_usbcan_timestamp_to_ktime(const struct kvaser_usb *dev,
+							   __le16 timestamp)
+{
+	u64 ticks = le16_to_cpu(timestamp) |
+		    dev->card_data.usbcan_timestamp_msb;
+
+	return kvaser_usb_ticks_to_ktime(dev->cfg, ticks * KVASER_USB_USBCAN_TIMESTAMP_FACTOR);
+}
+
 static int kvaser_usb_leaf_verify_size(const struct kvaser_usb *dev,
 				       const struct kvaser_cmd *cmd)
 {
@@ -678,8 +729,19 @@ static void kvaser_usb_leaf_get_software_info_leaf(struct kvaser_usb *dev,
 	if (dev->driver_info->quirks & KVASER_USB_QUIRK_IGNORE_CLK_FREQ) {
 		/* Firmware expects bittiming parameters calculated for 16MHz
 		 * clock, regardless of the actual clock
+		 * Though, the reported freq is used for timestamps
 		 */
-		dev->cfg = &kvaser_usb_leaf_m32c_dev_cfg;
+		switch (sw_options & KVASER_USB_LEAF_SWOPTION_FREQ_MASK) {
+		case KVASER_USB_LEAF_SWOPTION_FREQ_16_MHZ_CLK:
+			dev->cfg = &kvaser_usb_leaf_m32c_dev_cfg_16mhz;
+			break;
+		case KVASER_USB_LEAF_SWOPTION_FREQ_24_MHZ_CLK:
+			dev->cfg = &kvaser_usb_leaf_m32c_dev_cfg_24mhz;
+			break;
+		case KVASER_USB_LEAF_SWOPTION_FREQ_32_MHZ_CLK:
+			dev->cfg = &kvaser_usb_leaf_m32c_dev_cfg_32mhz;
+			break;
+		}
 	} else {
 		switch (sw_options & KVASER_USB_LEAF_SWOPTION_FREQ_MASK) {
 		case KVASER_USB_LEAF_SWOPTION_FREQ_16_MHZ_CLK:
@@ -880,6 +942,8 @@ static void kvaser_usb_leaf_tx_acknowledge(const struct kvaser_usb *dev,
 	struct kvaser_usb_net_priv *priv;
 	unsigned long flags;
 	u8 channel, tid;
+	struct sk_buff *skb;
+	ktime_t hwtstamp = 0;
 
 	channel = cmd->u.tx_acknowledge_header.channel;
 	tid = cmd->u.tx_acknowledge_header.tid;
@@ -901,14 +965,14 @@ static void kvaser_usb_leaf_tx_acknowledge(const struct kvaser_usb *dev,
 
 	/* Sometimes the state change doesn't come after a bus-off event */
 	if (priv->can.restart_ms && priv->can.state == CAN_STATE_BUS_OFF) {
-		struct sk_buff *skb;
+		struct sk_buff *err_skb;
 		struct can_frame *cf;
 
-		skb = alloc_can_err_skb(priv->netdev, &cf);
-		if (skb) {
+		err_skb = alloc_can_err_skb(priv->netdev, &cf);
+		if (err_skb) {
 			cf->can_id |= CAN_ERR_RESTARTED;
 
-			netif_rx(skb);
+			netif_rx(err_skb);
 		} else {
 			netdev_err(priv->netdev,
 				   "No memory left for err_skb\n");
@@ -919,9 +983,20 @@ static void kvaser_usb_leaf_tx_acknowledge(const struct kvaser_usb *dev,
 
 		priv->can.state = CAN_STATE_ERROR_ACTIVE;
 	}
+	switch (dev->driver_info->family) {
+	case KVASER_LEAF:
+		hwtstamp = kvaser_usb_timestamp48_to_ktime(dev->cfg, cmd->u.leaf.tx_ack.time);
+		break;
+	case KVASER_USBCAN:
+		hwtstamp = kvaser_usb_usbcan_timestamp_to_ktime(dev, cmd->u.usbcan.tx_ack.time);
+		break;
+	}
 
 	spin_lock_irqsave(&priv->tx_contexts_lock, flags);
 
+	skb = priv->can.echo_skb[context->echo_index];
+	if (skb)
+		skb_hwtstamps(skb)->hwtstamp = hwtstamp;
 	stats->tx_packets++;
 	stats->tx_bytes += can_get_echo_skb(priv->netdev,
 					    context->echo_index, NULL);
@@ -1045,10 +1120,8 @@ kvaser_usb_leaf_rx_error_update_can_state(struct kvaser_usb_net_priv *priv,
 static void kvaser_usb_leaf_rx_error(const struct kvaser_usb *dev,
 				     const struct kvaser_usb_err_summary *es)
 {
-	struct can_frame *cf;
-	struct can_frame tmp_cf = { .can_id = CAN_ERR_FLAG,
-				    .len = CAN_ERR_DLC };
-	struct sk_buff *skb;
+	struct can_frame *cf = NULL;
+	struct sk_buff *skb = NULL;
 	struct net_device_stats *stats;
 	struct kvaser_usb_net_priv *priv;
 	struct kvaser_usb_net_leaf_priv *leaf;
@@ -1068,18 +1141,10 @@ static void kvaser_usb_leaf_rx_error(const struct kvaser_usb *dev,
 	if (!netif_running(priv->netdev))
 		return;
 
-	/* Update all of the CAN interface's state and error counters before
-	 * trying any memory allocation that can actually fail with -ENOMEM.
-	 *
-	 * We send a temporary stack-allocated error CAN frame to
-	 * can_change_state() for the very same reason.
-	 *
-	 * TODO: Split can_change_state() responsibility between updating the
-	 * CAN interface's state and counters, and the setting up of CAN error
-	 * frame ID and data to userspace. Remove stack allocation afterwards.
-	 */
 	old_state = priv->can.state;
-	kvaser_usb_leaf_rx_error_update_can_state(priv, es, &tmp_cf);
+	if (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING)
+		skb = alloc_can_err_skb(priv->netdev, &cf);
+	kvaser_usb_leaf_rx_error_update_can_state(priv, es, cf);
 	new_state = priv->can.state;
 
 	/* If there are errors, request status updates periodically as we do
@@ -1093,13 +1158,6 @@ static void kvaser_usb_leaf_rx_error(const struct kvaser_usb *dev,
 		schedule_delayed_work(&leaf->chip_state_req_work,
 				      msecs_to_jiffies(500));
 
-	skb = alloc_can_err_skb(priv->netdev, &cf);
-	if (!skb) {
-		stats->rx_dropped++;
-		return;
-	}
-	memcpy(cf, &tmp_cf, sizeof(*cf));
-
 	if (new_state != old_state) {
 		if (es->status &
 		    (M16C_STATE_BUS_OFF | M16C_STATE_BUS_RESET)) {
@@ -1112,11 +1170,20 @@ static void kvaser_usb_leaf_rx_error(const struct kvaser_usb *dev,
 		if (priv->can.restart_ms &&
 		    old_state == CAN_STATE_BUS_OFF &&
 		    new_state < CAN_STATE_BUS_OFF) {
-			cf->can_id |= CAN_ERR_RESTARTED;
+			if (cf)
+				cf->can_id |= CAN_ERR_RESTARTED;
 			netif_carrier_on(priv->netdev);
 		}
 	}
 
+	if (!skb) {
+		if (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING) {
+			stats->rx_dropped++;
+			netdev_warn(priv->netdev, "No memory left for err_skb\n");
+		}
+		return;
+	}
+
 	switch (dev->driver_info->family) {
 	case KVASER_LEAF:
 		if (es->leaf.error_factor) {
@@ -1299,6 +1366,7 @@ static void kvaser_usb_leaf_rx_can_msg(const struct kvaser_usb *dev,
 	struct net_device_stats *stats;
 	u8 channel = cmd->u.rx_can_header.channel;
 	const u8 *rx_data = NULL;	/* GCC */
+	ktime_t hwtstamp = 0;
 
 	if (channel >= dev->nchannels) {
 		dev_err(&dev->intf->dev,
@@ -1329,9 +1397,11 @@ static void kvaser_usb_leaf_rx_can_msg(const struct kvaser_usb *dev,
 	switch (dev->driver_info->family) {
 	case KVASER_LEAF:
 		rx_data = cmd->u.leaf.rx_can.data;
+		hwtstamp = kvaser_usb_timestamp48_to_ktime(dev->cfg, cmd->u.leaf.rx_can.time);
 		break;
 	case KVASER_USBCAN:
 		rx_data = cmd->u.usbcan.rx_can.data;
+		hwtstamp = kvaser_usb_usbcan_timestamp_to_ktime(dev, cmd->u.usbcan.rx_can.time);
 		break;
 	}
 
@@ -1375,6 +1445,7 @@ static void kvaser_usb_leaf_rx_can_msg(const struct kvaser_usb *dev,
 			memcpy(cf->data, &rx_data[6], cf->len);
 	}
 
+	skb_hwtstamps(skb)->hwtstamp = hwtstamp;
 	stats->rx_packets++;
 	if (!(cf->can_id & CAN_RTR_FLAG))
 		stats->rx_bytes += cf->len;
@@ -1508,7 +1579,7 @@ static void kvaser_usb_leaf_get_busparams_reply(const struct kvaser_usb *dev,
 	complete(&priv->get_busparams_comp);
 }
 
-static void kvaser_usb_leaf_handle_command(const struct kvaser_usb *dev,
+static void kvaser_usb_leaf_handle_command(struct kvaser_usb *dev,
 					   const struct kvaser_cmd *cmd)
 {
 	if (kvaser_usb_leaf_verify_size(dev, cmd) < 0)
@@ -1554,12 +1625,15 @@ static void kvaser_usb_leaf_handle_command(const struct kvaser_usb *dev,
 		kvaser_usb_leaf_get_busparams_reply(dev, cmd);
 		break;
 
-	/* Ignored commands */
 	case CMD_USBCAN_CLOCK_OVERFLOW_EVENT:
 		if (dev->driver_info->family != KVASER_USBCAN)
 			goto warn;
+		dev->card_data.usbcan_timestamp_msb =
+					le32_to_cpu(cmd->u.usbcan.clk_overflow_event.time) &
+					KVASER_USB_USBCAN_CLK_OVERFLOW_MASK;
 		break;
 
+	/* Ignored commands */
 	case CMD_FLUSH_QUEUE_REPLY:
 		if (dev->driver_info->family != KVASER_LEAF)
 			goto warn;