Merge tag 'linux-can-next-for-6.17-20250618' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next

Marc Kleine-Budde says: ==================== pull-request: can-next 2025-06-18 All 10 patches are by Geert Uytterhoeven, target the rcar_canfd driver, first cleanup/refactor the driver and then add support for Transceiver Delay Compensation. * tag 'linux-can-next-for-6.17-20250618' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next: can: rcar_canfd: Add support for Transceiver Delay Compensation can: rcar_canfd: Return early in rcar_canfd_set_bittiming() when not FD can: rcar_canfd: Share config code in rcar_canfd_set_bittiming() can: rcar_canfd: Rename rcar_canfd_setrnc() to rcar_canfd_set_rnc() can: rcar_canfd: Repurpose f_dcfg base for other registers can: rcar_canfd: Simplify data access in rcar_canfd_{ge,pu}t_data() can: rcar_canfd: Add helper variable dev to rcar_canfd_reset_controller() can: rcar_canfd: Add helper variable ndev to rcar_canfd_rx_pkt() can: rcar_canfd: Remove bittiming debug prints can: rcar_canfd: Consistently use ndev for net_device pointers ==================== Link: https://patch.msgid.link/20250618092336.2175168-1-mkl@pengutronix.de Signed-off-by: Jakub Kicinski <kuba@kernel.org>
2025-12-01 07:26:02 +07:00 · 2025-06-19 07:22:54 -07:00
parent 68d019aa14 1fee0c6131
commit afc783fa0a
1 changed files with 158 additions and 74 deletions
--- a/drivers/net/can/rcar/rcar_canfd.c
+++ b/drivers/net/can/rcar/rcar_canfd.c
@@ -191,9 +191,19 @@
 /* RSCFDnCFDCmFDCFG */
 #define RCANFD_GEN4_FDCFG_CLOE		BIT(30)
 #define RCANFD_GEN4_FDCFG_FDOE		BIT(28)
+#define RCANFD_FDCFG_TDCO		GENMASK(23, 16)
 #define RCANFD_FDCFG_TDCE		BIT(9)
 #define RCANFD_FDCFG_TDCOC		BIT(8)
-#define RCANFD_FDCFG_TDCO(x)		(((x) & 0x7f) >> 16)
+
+/* RSCFDnCFDCmFDSTS */
+#define RCANFD_FDSTS_SOC		GENMASK(31, 24)
+#define RCANFD_FDSTS_EOC		GENMASK(23, 16)
+#define RCANFD_GEN4_FDSTS_TDCVF		BIT(15)
+#define RCANFD_GEN4_FDSTS_PNSTS		GENMASK(13, 12)
+#define RCANFD_FDSTS_SOCO		BIT(9)
+#define RCANFD_FDSTS_EOCO		BIT(8)
+#define RCANFD_FDSTS_TDCVF		BIT(7)
+#define RCANFD_FDSTS_TDCR		GENMASK(7, 0)

 /* RSCFDnCFDRFCCx */
 #define RCANFD_RFCC_RFIM		BIT(12)
@@ -425,19 +435,10 @@
 #define RCANFD_C_RPGACC(r)		(0x1900 + (0x04 * (r)))

 /* R-Car Gen4 Classical and CAN FD mode specific register map */
-#define RCANFD_GEN4_FDCFG(m)		(0x1404 + (0x20 * (m)))
-
 #define RCANFD_GEN4_GAFL_OFFSET		(0x1800)

 /* CAN FD mode specific register map */

-/* RSCFDnCFDCmXXX -> RCANFD_F_XXX(m) */
-#define RCANFD_F_DCFG(gpriv, m)		((gpriv)->info->regs->f_dcfg + (0x20 * (m)))
-#define RCANFD_F_CFDCFG(m)		(0x0504 + (0x20 * (m)))
-#define RCANFD_F_CFDCTR(m)		(0x0508 + (0x20 * (m)))
-#define RCANFD_F_CFDSTS(m)		(0x050c + (0x20 * (m)))
-#define RCANFD_F_CFDCRC(m)		(0x0510 + (0x20 * (m)))
-
 /* RSCFDnCFDGAFLXXXj offset */
 #define RCANFD_F_GAFL_OFFSET		(0x1000)

@@ -510,7 +511,7 @@ struct rcar_canfd_regs {
 	u16 cfcc;	/* Common FIFO Configuration/Control Register */
 	u16 cfsts;	/* Common FIFO Status Register */
 	u16 cfpctr;	/* Common FIFO Pointer Control Register */
-	u16 f_dcfg;	/* Global FD Configuration Register */
+	u16 coffset;	/* Channel Data Bitrate Configuration Register */
 	u16 rfoffset;	/* Receive FIFO buffer access ID register */
 	u16 cfoffset;	/* Transmit/receive FIFO buffer access ID register */
 };
@@ -529,6 +530,7 @@ struct rcar_canfd_shift_data {
 struct rcar_canfd_hw_info {
 	const struct can_bittiming_const *nom_bittiming;
 	const struct can_bittiming_const *data_bittiming;
+	const struct can_tdc_const *tdc_const;
 	const struct rcar_canfd_regs *regs;
 	const struct rcar_canfd_shift_data *sh;
 	u8 rnc_field_width;
@@ -636,12 +638,31 @@ static const struct can_bittiming_const rcar_canfd_bittiming_const = {
 	.brp_inc = 1,
 };

+/* CAN FD Transmission Delay Compensation constants */
+static const struct can_tdc_const rcar_canfd_gen3_tdc_const = {
+	.tdcv_min = 1,
+	.tdcv_max = 128,
+	.tdco_min = 1,
+	.tdco_max = 128,
+	.tdcf_min = 0,	/* Filter window not supported */
+	.tdcf_max = 0,
+};
+
+static const struct can_tdc_const rcar_canfd_gen4_tdc_const = {
+	.tdcv_min = 1,
+	.tdcv_max = 256,
+	.tdco_min = 1,
+	.tdco_max = 256,
+	.tdcf_min = 0,	/* Filter window not supported */
+	.tdcf_max = 0,
+};
+
 static const struct rcar_canfd_regs rcar_gen3_regs = {
 	.rfcc = 0x00b8,
 	.cfcc = 0x0118,
 	.cfsts = 0x0178,
 	.cfpctr = 0x01d8,
-	.f_dcfg = 0x0500,
+	.coffset = 0x0500,
 	.rfoffset = 0x3000,
 	.cfoffset = 0x3400,
 };
@@ -651,7 +672,7 @@ static const struct rcar_canfd_regs rcar_gen4_regs = {
 	.cfcc = 0x0120,
 	.cfsts = 0x01e0,
 	.cfpctr = 0x0240,
-	.f_dcfg = 0x1400,
+	.coffset = 0x1400,
 	.rfoffset = 0x6000,
 	.cfoffset = 0x6400,
 };
@@ -681,6 +702,7 @@ static const struct rcar_canfd_shift_data rcar_gen4_shift_data = {
 static const struct rcar_canfd_hw_info rcar_gen3_hw_info = {
 	.nom_bittiming = &rcar_canfd_gen3_nom_bittiming_const,
 	.data_bittiming = &rcar_canfd_gen3_data_bittiming_const,
+	.tdc_const = &rcar_canfd_gen3_tdc_const,
 	.regs = &rcar_gen3_regs,
 	.sh = &rcar_gen3_shift_data,
 	.rnc_field_width = 8,
@@ -697,6 +719,7 @@ static const struct rcar_canfd_hw_info rcar_gen3_hw_info = {
 static const struct rcar_canfd_hw_info rcar_gen4_hw_info = {
 	.nom_bittiming = &rcar_canfd_gen4_nom_bittiming_const,
 	.data_bittiming = &rcar_canfd_gen4_data_bittiming_const,
+	.tdc_const = &rcar_canfd_gen4_tdc_const,
 	.regs = &rcar_gen4_regs,
 	.sh = &rcar_gen4_shift_data,
 	.rnc_field_width = 16,
@@ -713,6 +736,7 @@ static const struct rcar_canfd_hw_info rcar_gen4_hw_info = {
 static const struct rcar_canfd_hw_info rzg2l_hw_info = {
 	.nom_bittiming = &rcar_canfd_gen3_nom_bittiming_const,
 	.data_bittiming = &rcar_canfd_gen3_data_bittiming_const,
+	.tdc_const = &rcar_canfd_gen3_tdc_const,
 	.regs = &rcar_gen3_regs,
 	.sh = &rcar_gen3_shift_data,
 	.rnc_field_width = 8,
@@ -729,6 +753,7 @@ static const struct rcar_canfd_hw_info rzg2l_hw_info = {
 static const struct rcar_canfd_hw_info r9a09g047_hw_info = {
 	.nom_bittiming = &rcar_canfd_gen4_nom_bittiming_const,
 	.data_bittiming = &rcar_canfd_gen4_data_bittiming_const,
+	.tdc_const = &rcar_canfd_gen4_tdc_const,
 	.regs = &rcar_gen4_regs,
 	.sh = &rcar_gen4_shift_data,
 	.rnc_field_width = 16,
@@ -781,23 +806,54 @@ static void rcar_canfd_update_bit(void __iomem *base, u32 reg,
 static void rcar_canfd_get_data(struct rcar_canfd_channel *priv,
 				struct canfd_frame *cf, u32 off)
 {
+	u32 *data = (u32 *)cf->data;
 	u32 i, lwords;

 	lwords = DIV_ROUND_UP(cf->len, sizeof(u32));
 	for (i = 0; i < lwords; i++)
-		*((u32 *)cf->data + i) =
-			rcar_canfd_read(priv->base, off + i * sizeof(u32));
+		data[i] = rcar_canfd_read(priv->base, off + i * sizeof(u32));
 }

 static void rcar_canfd_put_data(struct rcar_canfd_channel *priv,
 				struct canfd_frame *cf, u32 off)
 {
+	const u32 *data = (u32 *)cf->data;
 	u32 i, lwords;

 	lwords = DIV_ROUND_UP(cf->len, sizeof(u32));
 	for (i = 0; i < lwords; i++)
-		rcar_canfd_write(priv->base, off + i * sizeof(u32),
-				 *((u32 *)cf->data + i));
+		rcar_canfd_write(priv->base, off + i * sizeof(u32), data[i]);
+}
+
+/* RSCFDnCFDCmXXX -> rcar_canfd_f_xxx(gpriv, ch) */
+static inline unsigned int rcar_canfd_f_dcfg(struct rcar_canfd_global *gpriv,
+					     unsigned int ch)
+{
+	return gpriv->info->regs->coffset + 0x00 + 0x20 * ch;
+}
+
+static inline unsigned int rcar_canfd_f_cfdcfg(struct rcar_canfd_global *gpriv,
+					       unsigned int ch)
+{
+	return gpriv->info->regs->coffset + 0x04 + 0x20 * ch;
+}
+
+static inline unsigned int rcar_canfd_f_cfdctr(struct rcar_canfd_global *gpriv,
+					       unsigned int ch)
+{
+	return gpriv->info->regs->coffset + 0x08 + 0x20 * ch;
+}
+
+static inline unsigned int rcar_canfd_f_cfdsts(struct rcar_canfd_global *gpriv,
+					       unsigned int ch)
+{
+	return gpriv->info->regs->coffset + 0x0c + 0x20 * ch;
+}
+
+static inline unsigned int rcar_canfd_f_cfdcrc(struct rcar_canfd_global *gpriv,
+					       unsigned int ch)
+{
+	return gpriv->info->regs->coffset + 0x10 + 0x20 * ch;
 }

 static void rcar_canfd_tx_failure_cleanup(struct net_device *ndev)
@@ -808,8 +864,8 @@ static void rcar_canfd_tx_failure_cleanup(struct net_device *ndev)
 		can_free_echo_skb(ndev, i, NULL);
 }

-static void rcar_canfd_setrnc(struct rcar_canfd_global *gpriv, unsigned int ch,
-			      unsigned int num_rules)
+static void rcar_canfd_set_rnc(struct rcar_canfd_global *gpriv, unsigned int ch,
+			       unsigned int num_rules)
 {
 	unsigned int rnc_stride = 32 / gpriv->info->rnc_field_width;
 	unsigned int shift = 32 - (ch % rnc_stride + 1) * gpriv->info->rnc_field_width;
@@ -827,8 +883,8 @@ static void rcar_canfd_set_mode(struct rcar_canfd_global *gpriv)

 		for_each_set_bit(ch, &gpriv->channels_mask,
 				 gpriv->info->max_channels)
-			rcar_canfd_set_bit(gpriv->base, RCANFD_GEN4_FDCFG(ch),
-					   val);
+			rcar_canfd_set_bit(gpriv->base,
+					   rcar_canfd_f_cfdcfg(gpriv, ch), val);
 	} else {
 		if (gpriv->fdmode)
 			rcar_canfd_set_bit(gpriv->base, RCANFD_GRMCFG,
@@ -841,6 +897,7 @@ static void rcar_canfd_set_mode(struct rcar_canfd_global *gpriv)

 static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
 {
+	struct device *dev = &gpriv->pdev->dev;
 	u32 sts, ch;
 	int err;

@@ -850,7 +907,7 @@ static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
 	err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts,
 				 !(sts & RCANFD_GSTS_GRAMINIT), 2, 500000);
 	if (err) {
-		dev_dbg(&gpriv->pdev->dev, "global raminit failed\n");
+		dev_dbg(dev, "global raminit failed\n");
 		return err;
 	}

@@ -863,7 +920,7 @@ static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
 	err = readl_poll_timeout((gpriv->base + RCANFD_GSTS), sts,
 				 (sts & RCANFD_GSTS_GRSTSTS), 2, 500000);
 	if (err) {
-		dev_dbg(&gpriv->pdev->dev, "global reset failed\n");
+		dev_dbg(dev, "global reset failed\n");
 		return err;
 	}

@@ -887,8 +944,7 @@ static int rcar_canfd_reset_controller(struct rcar_canfd_global *gpriv)
 					 (sts & RCANFD_CSTS_CRSTSTS),
 					 2, 500000);
 		if (err) {
-			dev_dbg(&gpriv->pdev->dev,
-				"channel %u reset failed\n", ch);
+			dev_dbg(dev, "channel %u reset failed\n", ch);
 			return err;
 		}
 	}
@@ -938,7 +994,7 @@ static void rcar_canfd_configure_afl_rules(struct rcar_canfd_global *gpriv,
 			    RCANFD_GAFLECTR_AFLDAE));

 	/* Write number of rules for channel */
-	rcar_canfd_setrnc(gpriv, ch, num_rules);
+	rcar_canfd_set_rnc(gpriv, ch, num_rules);
 	if (gpriv->info->shared_can_regs)
 		offset = RCANFD_GEN4_GAFL_OFFSET;
 	else if (gpriv->fdmode)
@@ -1436,14 +1492,17 @@ static irqreturn_t rcar_canfd_channel_interrupt(int irq, void *dev_id)
 	return IRQ_HANDLED;
 }

-static void rcar_canfd_set_bittiming(struct net_device *dev)
+static void rcar_canfd_set_bittiming(struct net_device *ndev)
 {
-	struct rcar_canfd_channel *priv = netdev_priv(dev);
+	u32 mask = RCANFD_FDCFG_TDCO | RCANFD_FDCFG_TDCE | RCANFD_FDCFG_TDCOC;
+	struct rcar_canfd_channel *priv = netdev_priv(ndev);
 	struct rcar_canfd_global *gpriv = priv->gpriv;
 	const struct can_bittiming *bt = &priv->can.bittiming;
 	const struct can_bittiming *dbt = &priv->can.fd.data_bittiming;
+	const struct can_tdc_const *tdc_const = priv->can.fd.tdc_const;
+	const struct can_tdc *tdc = &priv->can.fd.tdc;
+	u32 cfg, tdcmode = 0, tdco = 0;
 	u16 brp, sjw, tseg1, tseg2;
-	u32 cfg;
 	u32 ch = priv->channel;

 	/* Nominal bit timing settings */
@@ -1452,46 +1511,43 @@ static void rcar_canfd_set_bittiming(struct net_device *dev)
 	tseg1 = bt->prop_seg + bt->phase_seg1 - 1;
 	tseg2 = bt->phase_seg2 - 1;

-	if (priv->can.ctrlmode & CAN_CTRLMODE_FD) {
-		/* CAN FD only mode */
+	if ((priv->can.ctrlmode & CAN_CTRLMODE_FD) || gpriv->info->shared_can_regs) {
 		cfg = (RCANFD_NCFG_NTSEG1(gpriv, tseg1) | RCANFD_NCFG_NBRP(brp) |
 		       RCANFD_NCFG_NSJW(gpriv, sjw) | RCANFD_NCFG_NTSEG2(gpriv, tseg2));
-
-		rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg);
-		netdev_dbg(priv->ndev, "nrate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n",
-			   brp, sjw, tseg1, tseg2);
-
-		/* Data bit timing settings */
-		brp = dbt->brp - 1;
-		sjw = dbt->sjw - 1;
-		tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1;
-		tseg2 = dbt->phase_seg2 - 1;
-
-		cfg = (RCANFD_DCFG_DTSEG1(gpriv, tseg1) | RCANFD_DCFG_DBRP(brp) |
-		       RCANFD_DCFG_DSJW(gpriv, sjw) | RCANFD_DCFG_DTSEG2(gpriv, tseg2));
-
-		rcar_canfd_write(priv->base, RCANFD_F_DCFG(gpriv, ch), cfg);
-		netdev_dbg(priv->ndev, "drate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n",
-			   brp, sjw, tseg1, tseg2);
 	} else {
-		/* Classical CAN only mode */
-		if (gpriv->info->shared_can_regs) {
-			cfg = (RCANFD_NCFG_NTSEG1(gpriv, tseg1) |
-			       RCANFD_NCFG_NBRP(brp) |
-			       RCANFD_NCFG_NSJW(gpriv, sjw) |
-			       RCANFD_NCFG_NTSEG2(gpriv, tseg2));
-		} else {
-			cfg = (RCANFD_CFG_TSEG1(tseg1) |
-			       RCANFD_CFG_BRP(brp) |
-			       RCANFD_CFG_SJW(sjw) |
-			       RCANFD_CFG_TSEG2(tseg2));
-		}
-
-		rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg);
-		netdev_dbg(priv->ndev,
-			   "rate: brp %u, sjw %u, tseg1 %u, tseg2 %u\n",
-			   brp, sjw, tseg1, tseg2);
+		cfg = (RCANFD_CFG_TSEG1(tseg1) | RCANFD_CFG_BRP(brp) |
+		       RCANFD_CFG_SJW(sjw) | RCANFD_CFG_TSEG2(tseg2));
 	}
+
+	rcar_canfd_write(priv->base, RCANFD_CCFG(ch), cfg);
+
+	if (!(priv->can.ctrlmode & CAN_CTRLMODE_FD))
+		return;
+
+	/* Data bit timing settings */
+	brp = dbt->brp - 1;
+	sjw = dbt->sjw - 1;
+	tseg1 = dbt->prop_seg + dbt->phase_seg1 - 1;
+	tseg2 = dbt->phase_seg2 - 1;
+
+	cfg = (RCANFD_DCFG_DTSEG1(gpriv, tseg1) | RCANFD_DCFG_DBRP(brp) |
+	       RCANFD_DCFG_DSJW(gpriv, sjw) | RCANFD_DCFG_DTSEG2(gpriv, tseg2));
+
+	rcar_canfd_write(priv->base, rcar_canfd_f_dcfg(gpriv, ch), cfg);
+
+	/* Transceiver Delay Compensation */
+	if (priv->can.ctrlmode & CAN_CTRLMODE_TDC_AUTO) {
+		/* TDC enabled, measured + offset */
+		tdcmode = RCANFD_FDCFG_TDCE;
+		tdco = tdc->tdco - 1;
+	} else if (priv->can.ctrlmode & CAN_CTRLMODE_TDC_MANUAL) {
+		/* TDC enabled, offset only */
+		tdcmode = RCANFD_FDCFG_TDCE | RCANFD_FDCFG_TDCOC;
+		tdco = min(tdc->tdcv + tdc->tdco, tdc_const->tdco_max) - 1;
+	}
+
+	rcar_canfd_update_bit(gpriv->base, rcar_canfd_f_cfdcfg(gpriv, ch), mask,
+			      tdcmode | FIELD_PREP(RCANFD_FDCFG_TDCO, tdco));
 }

 static int rcar_canfd_start(struct net_device *ndev)
@@ -1691,7 +1747,8 @@ static netdev_tx_t rcar_canfd_start_xmit(struct sk_buff *skb,

 static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv)
 {
-	struct net_device_stats *stats = &priv->ndev->stats;
+	struct net_device *ndev = priv->ndev;
+	struct net_device_stats *stats = &ndev->stats;
 	struct rcar_canfd_global *gpriv = priv->gpriv;
 	struct canfd_frame *cf;
 	struct sk_buff *skb;
@@ -1707,14 +1764,13 @@ static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv)

 		if ((priv->can.ctrlmode & CAN_CTRLMODE_FD) &&
 		    sts & RCANFD_RFFDSTS_RFFDF)
-			skb = alloc_canfd_skb(priv->ndev, &cf);
+			skb = alloc_canfd_skb(ndev, &cf);
 		else
-			skb = alloc_can_skb(priv->ndev,
-					    (struct can_frame **)&cf);
+			skb = alloc_can_skb(ndev, (struct can_frame **)&cf);
 	} else {
 		id = rcar_canfd_read(priv->base, RCANFD_C_RFID(ridx));
 		dlc = rcar_canfd_read(priv->base, RCANFD_C_RFPTR(ridx));
-		skb = alloc_can_skb(priv->ndev, (struct can_frame **)&cf);
+		skb = alloc_can_skb(ndev, (struct can_frame **)&cf);
 	}

 	if (!skb) {
@@ -1735,7 +1791,7 @@ static void rcar_canfd_rx_pkt(struct rcar_canfd_channel *priv)

 		if (sts & RCANFD_RFFDSTS_RFESI) {
 			cf->flags |= CANFD_ESI;
-			netdev_dbg(priv->ndev, "ESI Error\n");
+			netdev_dbg(ndev, "ESI Error\n");
 		}

 		if (!(sts & RCANFD_RFFDSTS_RFFDF) && (id & RCANFD_RFID_RFRTR)) {
@@ -1802,6 +1858,29 @@ static int rcar_canfd_rx_poll(struct napi_struct *napi, int quota)
 	return num_pkts;
 }

+static unsigned int rcar_canfd_get_tdcr(struct rcar_canfd_global *gpriv,
+					unsigned int ch)
+{
+	u32 sts = rcar_canfd_read(gpriv->base, rcar_canfd_f_cfdsts(gpriv, ch));
+	u32 tdcr = FIELD_GET(RCANFD_FDSTS_TDCR, sts);
+
+	return tdcr & (gpriv->info->tdc_const->tdcv_max - 1);
+}
+
+static int rcar_canfd_get_auto_tdcv(const struct net_device *ndev, u32 *tdcv)
+{
+	struct rcar_canfd_channel *priv = netdev_priv(ndev);
+	u32 tdco = priv->can.fd.tdc.tdco;
+	u32 tdcr;
+
+	/* Transceiver Delay Compensation Result */
+	tdcr = rcar_canfd_get_tdcr(priv->gpriv, priv->channel) + 1;
+
+	*tdcv = tdcr < tdco ? 0 : tdcr - tdco;
+
+	return 0;
+}
+
 static int rcar_canfd_do_set_mode(struct net_device *ndev, enum can_mode mode)
 {
 	int err;
@@ -1818,10 +1897,10 @@ static int rcar_canfd_do_set_mode(struct net_device *ndev, enum can_mode mode)
 	}
 }

-static int rcar_canfd_get_berr_counter(const struct net_device *dev,
+static int rcar_canfd_get_berr_counter(const struct net_device *ndev,
 				       struct can_berr_counter *bec)
 {
-	struct rcar_canfd_channel *priv = netdev_priv(dev);
+	struct rcar_canfd_channel *priv = netdev_priv(ndev);
 	u32 val, ch = priv->channel;

 	/* Peripheral clock is already enabled in probe */
@@ -1924,12 +2003,17 @@ static int rcar_canfd_channel_probe(struct rcar_canfd_global *gpriv, u32 ch,
 	if (gpriv->fdmode) {
 		priv->can.bittiming_const = gpriv->info->nom_bittiming;
 		priv->can.fd.data_bittiming_const = gpriv->info->data_bittiming;
+		priv->can.fd.tdc_const = gpriv->info->tdc_const;

 		/* Controller starts in CAN FD only mode */
 		err = can_set_static_ctrlmode(ndev, CAN_CTRLMODE_FD);
 		if (err)
 			goto fail;
-		priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING;
+
+		priv->can.ctrlmode_supported = CAN_CTRLMODE_BERR_REPORTING |
+					       CAN_CTRLMODE_TDC_AUTO |
+					       CAN_CTRLMODE_TDC_MANUAL;
+		priv->can.fd.do_get_auto_tdcv = rcar_canfd_get_auto_tdcv;
 	} else {
 		/* Controller starts in Classical CAN only mode */
 		priv->can.bittiming_const = &rcar_canfd_bittiming_const;