can: rockchip_canfd: add driver for Rockchip CAN-FD controller

Add driver for the Rockchip CAN-FD controller.

The IP core on the rk3568v2 SoC has 12 documented errata. Corrections
for these errata will be added in the upcoming patches.

Since several workarounds are required for the TX path, only add the
base driver that only implements the RX path.

Although the RX path implements CAN-FD support, it's not activated in
ctrlmode_supported, as the IP core in the rk3568v2 has problems with
receiving or sending certain CAN-FD frames.

Tested-by: Alibek Omarov <a1ba.omarov@gmail.com>
Acked-by: Heiko Stuebner <heiko@sntech.de>
Link: https://patch.msgid.link/20240904-rockchip-canfd-v5-4-8ae22bcb27cc@pengutronix.de
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>

9 files changed, 1394 insertions, 0 deletions

diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig
index 7f9b60a42d29..cf989bea9aa3 100644
--- a/drivers/net/can/Kconfig
+++ b/drivers/net/can/Kconfig
@@ -225,6 +225,7 @@ source "drivers/net/can/m_can/Kconfig"
 source "drivers/net/can/mscan/Kconfig"
 source "drivers/net/can/peak_canfd/Kconfig"
 source "drivers/net/can/rcar/Kconfig"
+source "drivers/net/can/rockchip/Kconfig"
 source "drivers/net/can/sja1000/Kconfig"
 source "drivers/net/can/softing/Kconfig"
 source "drivers/net/can/spi/Kconfig"
diff --git a/drivers/net/can/Makefile b/drivers/net/can/Makefile
index 4669cd51e7bf..a71db2cfe990 100644
--- a/drivers/net/can/Makefile
+++ b/drivers/net/can/Makefile
@@ -10,6 +10,7 @@ obj-$(CONFIG_CAN_SLCAN)		+= slcan/
 obj-y				+= dev/
 obj-y				+= esd/
 obj-y				+= rcar/
+obj-y				+= rockchip/
 obj-y				+= spi/
 obj-y				+= usb/
 obj-y				+= softing/
diff --git a/drivers/net/can/rockchip/Kconfig b/drivers/net/can/rockchip/Kconfig
new file mode 100644
index 000000000000..e029e2a3ca4b
--- /dev/null
+++ b/drivers/net/can/rockchip/Kconfig
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: GPL-2.0
+
+config CAN_ROCKCHIP_CANFD
+	tristate "Rockchip CAN-FD controller"
+	depends on OF || COMPILE_TEST
+	select CAN_RX_OFFLOAD
+	help
+	  Say Y here if you want to use CAN-FD controller found on
+	  Rockchip SoCs.
diff --git a/drivers/net/can/rockchip/Makefile b/drivers/net/can/rockchip/Makefile
new file mode 100644
index 000000000000..4eb7c50d8d5b
--- /dev/null
+++ b/drivers/net/can/rockchip/Makefile
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: GPL-2.0
+
+obj-$(CONFIG_CAN_ROCKCHIP_CANFD) += rockchip_canfd.o
+
+rockchip_canfd-objs :=
+rockchip_canfd-objs += rockchip_canfd-core.o
+rockchip_canfd-objs += rockchip_canfd-rx.o
+rockchip_canfd-objs += rockchip_canfd-timestamp.o
+rockchip_canfd-objs += rockchip_canfd-tx.o
diff --git a/drivers/net/can/rockchip/rockchip_canfd-core.c b/drivers/net/can/rockchip/rockchip_canfd-core.c
new file mode 100644
index 000000000000..f1b2bad04bf4
--- /dev/null
+++ b/drivers/net/can/rockchip/rockchip_canfd-core.c
@@ -0,0 +1,868 @@
+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+// Based on:
+//
+// Rockchip CANFD driver
+//
+// Copyright (c) 2020 Rockchip Electronics Co. Ltd.
+//
+
+#include <linux/delay.h>
+#include <linux/errno.h>
+#include <linux/init.h>
+#include <linux/interrupt.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/of.h>
+#include <linux/of_device.h>
+#include <linux/platform_device.h>
+#include <linux/pm_runtime.h>
+#include <linux/string.h>
+
+#include "rockchip_canfd.h"
+
+static const struct rkcanfd_devtype_data rkcanfd_devtype_data_rk3568v2 = {
+	.model = RKCANFD_MODEL_RK3568V2,
+};
+
+static const char *__rkcanfd_get_model_str(enum rkcanfd_model model)
+{
+	switch (model) {
+	case RKCANFD_MODEL_RK3568V2:
+		return "rk3568v2";
+	}
+
+	return "<unknown>";
+}
+
+static inline const char *
+rkcanfd_get_model_str(const struct rkcanfd_priv *priv)
+{
+	return __rkcanfd_get_model_str(priv->devtype_data.model);
+}
+
+/* Note:
+ *
+ * The formula to calculate the CAN System Clock is:
+ *
+ * Tsclk = 2 x Tclk x (brp + 1)
+ *
+ * Double the data sheet's brp_min, brp_max and brp_inc values (both
+ * for the arbitration and data bit timing) to take the "2 x" into
+ * account.
+ */
+static const struct can_bittiming_const rkcanfd_bittiming_const = {
+	.name = DEVICE_NAME,
+	.tseg1_min = 1,
+	.tseg1_max = 256,
+	.tseg2_min = 1,
+	.tseg2_max = 128,
+	.sjw_max = 128,
+	.brp_min = 2,	/* value from data sheet x2 */
+	.brp_max = 512,	/* value from data sheet x2 */
+	.brp_inc = 2,	/* value from data sheet x2 */
+};
+
+static const struct can_bittiming_const rkcanfd_data_bittiming_const = {
+	.name = DEVICE_NAME,
+	.tseg1_min = 1,
+	.tseg1_max = 32,
+	.tseg2_min = 1,
+	.tseg2_max = 16,
+	.sjw_max = 16,
+	.brp_min = 2,	/* value from data sheet x2 */
+	.brp_max = 512,	/* value from data sheet x2 */
+	.brp_inc = 2,	/* value from data sheet x2 */
+};
+
+static void rkcanfd_chip_set_reset_mode(const struct rkcanfd_priv *priv)
+{
+	reset_control_assert(priv->reset);
+	udelay(2);
+	reset_control_deassert(priv->reset);
+
+	rkcanfd_write(priv, RKCANFD_REG_MODE, 0x0);
+}
+
+static void rkcanfd_chip_set_work_mode(const struct rkcanfd_priv *priv)
+{
+	rkcanfd_write(priv, RKCANFD_REG_MODE, priv->reg_mode_default);
+}
+
+static int rkcanfd_set_bittiming(struct rkcanfd_priv *priv)
+{
+	const struct can_bittiming *dbt = &priv->can.data_bittiming;
+	const struct can_bittiming *bt = &priv->can.bittiming;
+	u32 reg_nbt, reg_dbt, reg_tdc;
+	u32 tdco;
+
+	reg_nbt = FIELD_PREP(RKCANFD_REG_FD_NOMINAL_BITTIMING_SJW,
+			     bt->sjw - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_NOMINAL_BITTIMING_BRP,
+			   (bt->brp / 2) - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_NOMINAL_BITTIMING_TSEG2,
+			   bt->phase_seg2 - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_NOMINAL_BITTIMING_TSEG1,
+			   bt->prop_seg + bt->phase_seg1 - 1);
+
+	rkcanfd_write(priv, RKCANFD_REG_FD_NOMINAL_BITTIMING, reg_nbt);
+
+	if (!(priv->can.ctrlmode & CAN_CTRLMODE_FD))
+		return 0;
+
+	reg_dbt = FIELD_PREP(RKCANFD_REG_FD_DATA_BITTIMING_SJW,
+			     dbt->sjw - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_DATA_BITTIMING_BRP,
+			   (dbt->brp / 2) - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_DATA_BITTIMING_TSEG2,
+			   dbt->phase_seg2 - 1) |
+		FIELD_PREP(RKCANFD_REG_FD_DATA_BITTIMING_TSEG1,
+			   dbt->prop_seg + dbt->phase_seg1 - 1);
+
+	rkcanfd_write(priv, RKCANFD_REG_FD_DATA_BITTIMING, reg_dbt);
+
+	tdco = (priv->can.clock.freq / dbt->bitrate) * 2 / 3;
+	tdco = min(tdco, FIELD_MAX(RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_OFFSET));
+
+	reg_tdc = FIELD_PREP(RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_OFFSET, tdco) |
+		RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION_TDC_ENABLE;
+	rkcanfd_write(priv, RKCANFD_REG_TRANSMIT_DELAY_COMPENSATION,
+		      reg_tdc);
+
+	return 0;
+}
+
+static void rkcanfd_get_berr_counter_raw(struct rkcanfd_priv *priv,
+					 struct can_berr_counter *bec)
+{
+	bec->rxerr = rkcanfd_read(priv, RKCANFD_REG_RXERRORCNT);
+	bec->txerr = rkcanfd_read(priv, RKCANFD_REG_TXERRORCNT);
+}
+
+static int rkcanfd_get_berr_counter(const struct net_device *ndev,
+				    struct can_berr_counter *bec)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+	int err;
+
+	err = pm_runtime_resume_and_get(ndev->dev.parent);
+	if (err)
+		return err;
+
+	rkcanfd_get_berr_counter_raw(priv, bec);
+
+	pm_runtime_put(ndev->dev.parent);
+
+	return 0;
+}
+
+static void rkcanfd_chip_interrupts_enable(const struct rkcanfd_priv *priv)
+{
+	rkcanfd_write(priv, RKCANFD_REG_INT_MASK, priv->reg_int_mask_default);
+
+	netdev_dbg(priv->ndev, "%s: reg_int_mask=0x%08x\n", __func__,
+		   rkcanfd_read(priv, RKCANFD_REG_INT_MASK));
+}
+
+static void rkcanfd_chip_interrupts_disable(const struct rkcanfd_priv *priv)
+{
+	rkcanfd_write(priv, RKCANFD_REG_INT_MASK, RKCANFD_REG_INT_ALL);
+}
+
+static void rkcanfd_chip_fifo_setup(struct rkcanfd_priv *priv)
+{
+	u32 reg;
+
+	/* TXE FIFO */
+	reg = rkcanfd_read(priv, RKCANFD_REG_RX_FIFO_CTRL);
+	reg |= RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_ENABLE;
+	rkcanfd_write(priv, RKCANFD_REG_RX_FIFO_CTRL, reg);
+
+	/* RX FIFO */
+	reg = rkcanfd_read(priv, RKCANFD_REG_RX_FIFO_CTRL);
+	reg |= RKCANFD_REG_RX_FIFO_CTRL_RX_FIFO_ENABLE;
+	rkcanfd_write(priv, RKCANFD_REG_RX_FIFO_CTRL, reg);
+
+	WRITE_ONCE(priv->tx_head, 0);
+	WRITE_ONCE(priv->tx_tail, 0);
+	netdev_reset_queue(priv->ndev);
+}
+
+static void rkcanfd_chip_start(struct rkcanfd_priv *priv)
+{
+	u32 reg;
+
+	rkcanfd_chip_set_reset_mode(priv);
+
+	/* Receiving Filter: accept all */
+	rkcanfd_write(priv, RKCANFD_REG_IDCODE, 0x0);
+	rkcanfd_write(priv, RKCANFD_REG_IDMASK, RKCANFD_REG_IDCODE_EXTENDED_FRAME_ID);
+
+	/* enable:
+	 * - CAN_FD: enable CAN-FD
+	 * - AUTO_RETX_MODE: auto retransmission on TX error
+	 * - COVER_MODE: RX-FIFO overwrite mode, do not send OVERLOAD frames
+	 * - WORK_MODE: transition from reset to working mode
+	 */
+	reg = rkcanfd_read(priv, RKCANFD_REG_MODE);
+	priv->reg_mode_default = reg |
+		RKCANFD_REG_MODE_CAN_FD_MODE_ENABLE |
+		RKCANFD_REG_MODE_AUTO_RETX_MODE |
+		RKCANFD_REG_MODE_COVER_MODE |
+		RKCANFD_REG_MODE_WORK_MODE;
+
+	/* mask, i.e. ignore:
+	 * - TIMESTAMP_COUNTER_OVERFLOW_INT - timestamp counter overflow interrupt
+	 * - TX_ARBIT_FAIL_INT - TX arbitration fail interrupt
+	 * - OVERLOAD_INT - CAN bus overload interrupt
+	 */
+	priv->reg_int_mask_default =
+		RKCANFD_REG_INT_TIMESTAMP_COUNTER_OVERFLOW_INT |
+		RKCANFD_REG_INT_TX_ARBIT_FAIL_INT |
+		RKCANFD_REG_INT_OVERLOAD_INT;
+
+	rkcanfd_chip_fifo_setup(priv);
+	rkcanfd_timestamp_init(priv);
+	rkcanfd_set_bittiming(priv);
+
+	rkcanfd_chip_interrupts_disable(priv);
+	rkcanfd_chip_set_work_mode(priv);
+
+	priv->can.state = CAN_STATE_ERROR_ACTIVE;
+
+	netdev_dbg(priv->ndev, "%s: reg_mode=0x%08x\n", __func__,
+		   rkcanfd_read(priv, RKCANFD_REG_MODE));
+}
+
+static void __rkcanfd_chip_stop(struct rkcanfd_priv *priv, const enum can_state state)
+{
+	priv->can.state = state;
+
+	rkcanfd_chip_set_reset_mode(priv);
+	rkcanfd_chip_interrupts_disable(priv);
+}
+
+static void rkcanfd_chip_stop(struct rkcanfd_priv *priv, const enum can_state state)
+{
+	priv->can.state = state;
+
+	__rkcanfd_chip_stop(priv, state);
+}
+
+static void rkcanfd_chip_stop_sync(struct rkcanfd_priv *priv, const enum can_state state)
+{
+	priv->can.state = state;
+
+	__rkcanfd_chip_stop(priv, state);
+}
+
+static int rkcanfd_set_mode(struct net_device *ndev,
+			    enum can_mode mode)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+
+	switch (mode) {
+	case CAN_MODE_START:
+		rkcanfd_chip_start(priv);
+		rkcanfd_chip_interrupts_enable(priv);
+		netif_wake_queue(ndev);
+		break;
+
+	default:
+		return -EOPNOTSUPP;
+	}
+
+	return 0;
+}
+
+static struct sk_buff *
+rkcanfd_alloc_can_err_skb(struct rkcanfd_priv *priv,
+			  struct can_frame **cf, u32 *timestamp)
+{
+	struct sk_buff *skb;
+
+	*timestamp = rkcanfd_get_timestamp(priv);
+
+	skb = alloc_can_err_skb(priv->ndev, cf);
+
+	return skb;
+}
+
+static const char *rkcanfd_get_error_type_str(unsigned int type)
+{
+	switch (type) {
+	case RKCANFD_REG_ERROR_CODE_TYPE_BIT:
+		return "Bit";
+	case RKCANFD_REG_ERROR_CODE_TYPE_STUFF:
+		return "Stuff";
+	case RKCANFD_REG_ERROR_CODE_TYPE_FORM:
+		return "Form";
+	case RKCANFD_REG_ERROR_CODE_TYPE_ACK:
+		return "ACK";
+	case RKCANFD_REG_ERROR_CODE_TYPE_CRC:
+		return "CRC";
+	}
+
+	return "<unknown>";
+}
+
+#define RKCAN_ERROR_CODE(reg_ec, code) \
+	((reg_ec) & RKCANFD_REG_ERROR_CODE_##code ? __stringify(code) " " : "")
+
+static void
+rkcanfd_handle_error_int_reg_ec(struct rkcanfd_priv *priv, struct can_frame *cf,
+				const u32 reg_ec)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	unsigned int type;
+	u32 reg_state, reg_cmd;
+
+	type = FIELD_GET(RKCANFD_REG_ERROR_CODE_TYPE, reg_ec);
+	reg_cmd = rkcanfd_read(priv, RKCANFD_REG_CMD);
+	reg_state = rkcanfd_read(priv, RKCANFD_REG_STATE);
+
+	netdev_dbg(priv->ndev, "%s Error in %s %s Phase: %s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s%s(0x%08x) CMD=%u RX=%u TX=%u Error-Warning=%u Bus-Off=%u\n",
+		   rkcanfd_get_error_type_str(type),
+		   reg_ec & RKCANFD_REG_ERROR_CODE_DIRECTION_RX ? "RX" : "TX",
+		   reg_ec & RKCANFD_REG_ERROR_CODE_PHASE ? "Data" : "Arbitration",
+		   RKCAN_ERROR_CODE(reg_ec, TX_OVERLOAD),
+		   RKCAN_ERROR_CODE(reg_ec, TX_ERROR),
+		   RKCAN_ERROR_CODE(reg_ec, TX_ACK),
+		   RKCAN_ERROR_CODE(reg_ec, TX_ACK_EOF),
+		   RKCAN_ERROR_CODE(reg_ec, TX_CRC),
+		   RKCAN_ERROR_CODE(reg_ec, TX_STUFF_COUNT),
+		   RKCAN_ERROR_CODE(reg_ec, TX_DATA),
+		   RKCAN_ERROR_CODE(reg_ec, TX_SOF_DLC),
+		   RKCAN_ERROR_CODE(reg_ec, TX_IDLE),
+		   RKCAN_ERROR_CODE(reg_ec, RX_BUF_INT),
+		   RKCAN_ERROR_CODE(reg_ec, RX_SPACE),
+		   RKCAN_ERROR_CODE(reg_ec, RX_EOF),
+		   RKCAN_ERROR_CODE(reg_ec, RX_ACK_LIM),
+		   RKCAN_ERROR_CODE(reg_ec, RX_ACK),
+		   RKCAN_ERROR_CODE(reg_ec, RX_CRC_LIM),
+		   RKCAN_ERROR_CODE(reg_ec, RX_CRC),
+		   RKCAN_ERROR_CODE(reg_ec, RX_STUFF_COUNT),
+		   RKCAN_ERROR_CODE(reg_ec, RX_DATA),
+		   RKCAN_ERROR_CODE(reg_ec, RX_DLC),
+		   RKCAN_ERROR_CODE(reg_ec, RX_BRS_ESI),
+		   RKCAN_ERROR_CODE(reg_ec, RX_RES),
+		   RKCAN_ERROR_CODE(reg_ec, RX_FDF),
+		   RKCAN_ERROR_CODE(reg_ec, RX_ID2_RTR),
+		   RKCAN_ERROR_CODE(reg_ec, RX_SOF_IDE),
+		   RKCAN_ERROR_CODE(reg_ec, RX_IDLE),
+		   reg_ec, reg_cmd,
+		   !!(reg_state & RKCANFD_REG_STATE_RX_PERIOD),
+		   !!(reg_state & RKCANFD_REG_STATE_TX_PERIOD),
+		   !!(reg_state & RKCANFD_REG_STATE_ERROR_WARNING_STATE),
+		   !!(reg_state & RKCANFD_REG_STATE_BUS_OFF_STATE));
+
+	priv->can.can_stats.bus_error++;
+
+	if (reg_ec & RKCANFD_REG_ERROR_CODE_DIRECTION_RX)
+		stats->rx_errors++;
+	else
+		stats->tx_errors++;
+
+	if (!cf)
+		return;
+
+	if (reg_ec & RKCANFD_REG_ERROR_CODE_DIRECTION_RX) {
+		if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_SOF_IDE)
+			cf->data[3] = CAN_ERR_PROT_LOC_SOF;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_ID2_RTR)
+			cf->data[3] = CAN_ERR_PROT_LOC_RTR;
+		/* RKCANFD_REG_ERROR_CODE_RX_FDF */
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_RES)
+			cf->data[3] = CAN_ERR_PROT_LOC_RES0;
+		/* RKCANFD_REG_ERROR_CODE_RX_BRS_ESI */
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_DLC)
+			cf->data[3] = CAN_ERR_PROT_LOC_DLC;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_DATA)
+			cf->data[3] = CAN_ERR_PROT_LOC_DATA;
+		/* RKCANFD_REG_ERROR_CODE_RX_STUFF_COUNT */
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_CRC)
+			cf->data[3] = CAN_ERR_PROT_LOC_CRC_SEQ;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_CRC_LIM)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK_DEL;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_ACK)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_ACK_LIM)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK_DEL;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_EOF)
+			cf->data[3] = CAN_ERR_PROT_LOC_EOF;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_SPACE)
+			cf->data[3] = CAN_ERR_PROT_LOC_EOF;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_RX_BUF_INT)
+			cf->data[3] = CAN_ERR_PROT_LOC_INTERM;
+	} else {
+		cf->data[2] |= CAN_ERR_PROT_TX;
+
+		if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_SOF_DLC)
+			cf->data[3] = CAN_ERR_PROT_LOC_SOF;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_DATA)
+			cf->data[3] = CAN_ERR_PROT_LOC_DATA;
+		/* RKCANFD_REG_ERROR_CODE_TX_STUFF_COUNT */
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_CRC)
+			cf->data[3] = CAN_ERR_PROT_LOC_CRC_SEQ;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_ACK_EOF)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_ACK)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK;
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_ACK_EOF)
+			cf->data[3] = CAN_ERR_PROT_LOC_ACK_DEL;
+		/* RKCANFD_REG_ERROR_CODE_TX_ERROR */
+		else if (reg_ec & RKCANFD_REG_ERROR_CODE_TX_OVERLOAD)
+			cf->data[2] |= CAN_ERR_PROT_OVERLOAD;
+	}
+
+	switch (reg_ec & RKCANFD_REG_ERROR_CODE_TYPE) {
+	case FIELD_PREP_CONST(RKCANFD_REG_ERROR_CODE_TYPE,
+			      RKCANFD_REG_ERROR_CODE_TYPE_BIT):
+
+		cf->data[2] |= CAN_ERR_PROT_BIT;
+		break;
+	case FIELD_PREP_CONST(RKCANFD_REG_ERROR_CODE_TYPE,
+			      RKCANFD_REG_ERROR_CODE_TYPE_STUFF):
+		cf->data[2] |= CAN_ERR_PROT_STUFF;
+		break;
+	case FIELD_PREP_CONST(RKCANFD_REG_ERROR_CODE_TYPE,
+			      RKCANFD_REG_ERROR_CODE_TYPE_FORM):
+		cf->data[2] |= CAN_ERR_PROT_FORM;
+		break;
+	case FIELD_PREP_CONST(RKCANFD_REG_ERROR_CODE_TYPE,
+			      RKCANFD_REG_ERROR_CODE_TYPE_ACK):
+		cf->can_id |= CAN_ERR_ACK;
+		break;
+	case FIELD_PREP_CONST(RKCANFD_REG_ERROR_CODE_TYPE,
+			      RKCANFD_REG_ERROR_CODE_TYPE_CRC):
+		cf->data[3] = CAN_ERR_PROT_LOC_CRC_SEQ;
+		break;
+	}
+}
+
+static int rkcanfd_handle_error_int(struct rkcanfd_priv *priv)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	struct can_frame *cf = NULL;
+	u32 reg_ec, timestamp;
+	struct sk_buff *skb;
+	int err;
+
+	reg_ec = rkcanfd_read(priv, RKCANFD_REG_ERROR_CODE);
+
+	if (!reg_ec)
+		return 0;
+
+	skb = rkcanfd_alloc_can_err_skb(priv, &cf, &timestamp);
+	if (cf) {
+		struct can_berr_counter bec;
+
+		rkcanfd_get_berr_counter_raw(priv, &bec);
+		cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR | CAN_ERR_CNT;
+		cf->data[6] = bec.txerr;
+		cf->data[7] = bec.rxerr;
+	}
+
+	rkcanfd_handle_error_int_reg_ec(priv, cf, reg_ec);
+
+	if (!cf)
+		return 0;
+
+	err = can_rx_offload_queue_timestamp(&priv->offload, skb, timestamp);
+	if (err)
+		stats->rx_fifo_errors++;
+
+	return 0;
+}
+
+static int rkcanfd_handle_state_error_int(struct rkcanfd_priv *priv)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	enum can_state new_state, rx_state, tx_state;
+	struct net_device *ndev = priv->ndev;
+	struct can_berr_counter bec;
+	struct can_frame *cf = NULL;
+	struct sk_buff *skb;
+	u32 timestamp;
+	int err;
+
+	rkcanfd_get_berr_counter_raw(priv, &bec);
+	can_state_get_by_berr_counter(ndev, &bec, &tx_state, &rx_state);
+
+	new_state = max(tx_state, rx_state);
+	if (new_state == priv->can.state)
+		return 0;
+
+	/* The skb allocation might fail, but can_change_state()
+	 * handles cf == NULL.
+	 */
+	skb = rkcanfd_alloc_can_err_skb(priv, &cf, &timestamp);
+	can_change_state(ndev, cf, tx_state, rx_state);
+
+	if (new_state == CAN_STATE_BUS_OFF) {
+		rkcanfd_chip_stop(priv, CAN_STATE_BUS_OFF);
+		can_bus_off(ndev);
+	}
+
+	if (!skb)
+		return 0;
+
+	if (new_state != CAN_STATE_BUS_OFF) {
+		cf->can_id |= CAN_ERR_CNT;
+		cf->data[6] = bec.txerr;
+		cf->data[7] = bec.rxerr;
+	}
+
+	err = can_rx_offload_queue_timestamp(&priv->offload, skb, timestamp);
+	if (err)
+		stats->rx_fifo_errors++;
+
+	return 0;
+}
+
+static int
+rkcanfd_handle_rx_fifo_overflow_int(struct rkcanfd_priv *priv)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	struct can_berr_counter bec;
+	struct can_frame *cf = NULL;
+	struct sk_buff *skb;
+	u32 timestamp;
+	int err;
+
+	stats->rx_over_errors++;
+	stats->rx_errors++;
+
+	netdev_dbg(priv->ndev, "RX-FIFO overflow\n");
+
+	skb = rkcanfd_alloc_can_err_skb(priv, &cf, &timestamp);
+	if (skb)
+		return 0;
+
+	rkcanfd_get_berr_counter_raw(priv, &bec);
+
+	cf->can_id |= CAN_ERR_CRTL | CAN_ERR_CNT;
+	cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
+	cf->data[6] = bec.txerr;
+	cf->data[7] = bec.rxerr;
+
+	err = can_rx_offload_queue_timestamp(&priv->offload, skb, timestamp);
+	if (err)
+		stats->rx_fifo_errors++;
+
+	return 0;
+}
+
+#define rkcanfd_handle(priv, irq, ...) \
+({ \
+	struct rkcanfd_priv *_priv = (priv); \
+	int err; \
+\
+	err = rkcanfd_handle_##irq(_priv, ## __VA_ARGS__); \
+	if (err) \
+		netdev_err(_priv->ndev, \
+			"IRQ handler rkcanfd_handle_%s() returned error: %pe\n", \
+			   __stringify(irq), ERR_PTR(err)); \
+	err; \
+})
+
+static irqreturn_t rkcanfd_irq(int irq, void *dev_id)
+{
+	struct rkcanfd_priv *priv = dev_id;
+	u32 reg_int_unmasked, reg_int;
+
+	reg_int_unmasked = rkcanfd_read(priv, RKCANFD_REG_INT);
+	reg_int = reg_int_unmasked & ~priv->reg_int_mask_default;
+
+	if (!reg_int)
+		return IRQ_NONE;
+
+	/* First ACK then handle, to avoid lost-IRQ race condition on
+	 * fast re-occurring interrupts.
+	 */
+	rkcanfd_write(priv, RKCANFD_REG_INT, reg_int);
+
+	if (reg_int & RKCANFD_REG_INT_RX_FINISH_INT)
+		rkcanfd_handle(priv, rx_int);
+
+	if (reg_int & RKCANFD_REG_INT_ERROR_INT)
+		rkcanfd_handle(priv, error_int);
+
+	if (reg_int & (RKCANFD_REG_INT_BUS_OFF_INT |
+		       RKCANFD_REG_INT_PASSIVE_ERROR_INT |
+		       RKCANFD_REG_INT_ERROR_WARNING_INT) ||
+	    priv->can.state > CAN_STATE_ERROR_ACTIVE)
+		rkcanfd_handle(priv, state_error_int);
+
+	if (reg_int & RKCANFD_REG_INT_RX_FIFO_OVERFLOW_INT)
+		rkcanfd_handle(priv, rx_fifo_overflow_int);
+
+	if (reg_int & ~(RKCANFD_REG_INT_ALL_ERROR |
+			RKCANFD_REG_INT_RX_FIFO_OVERFLOW_INT |
+			RKCANFD_REG_INT_RX_FINISH_INT))
+		netdev_err(priv->ndev, "%s: int=0x%08x\n", __func__, reg_int);
+
+	if (reg_int & RKCANFD_REG_INT_WAKEUP_INT)
+		netdev_info(priv->ndev, "%s: WAKEUP_INT\n", __func__);
+
+	if (reg_int & RKCANFD_REG_INT_TXE_FIFO_FULL_INT)
+		netdev_info(priv->ndev, "%s: TXE_FIFO_FULL_INT\n", __func__);
+
+	if (reg_int & RKCANFD_REG_INT_TXE_FIFO_OV_INT)
+		netdev_info(priv->ndev, "%s: TXE_FIFO_OV_INT\n", __func__);
+
+	if (reg_int & RKCANFD_REG_INT_BUS_OFF_RECOVERY_INT)
+		netdev_info(priv->ndev, "%s: BUS_OFF_RECOVERY_INT\n", __func__);
+
+	if (reg_int & RKCANFD_REG_INT_RX_FIFO_FULL_INT)
+		netdev_info(priv->ndev, "%s: RX_FIFO_FULL_INT\n", __func__);
+
+	if (reg_int & RKCANFD_REG_INT_OVERLOAD_INT)
+		netdev_info(priv->ndev, "%s: OVERLOAD_INT\n", __func__);
+
+	can_rx_offload_irq_finish(&priv->offload);
+
+	return IRQ_HANDLED;
+}
+
+static int rkcanfd_open(struct net_device *ndev)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+	int err;
+
+	err = open_candev(ndev);
+	if (err)
+		return err;
+
+	err = pm_runtime_resume_and_get(ndev->dev.parent);
+	if (err)
+		goto out_close_candev;
+
+	rkcanfd_chip_start(priv);
+	can_rx_offload_enable(&priv->offload);
+
+	err = request_irq(ndev->irq, rkcanfd_irq, IRQF_SHARED, ndev->name, priv);
+	if (err)
+		goto out_rkcanfd_chip_stop;
+
+	rkcanfd_chip_interrupts_enable(priv);
+
+	netif_start_queue(ndev);
+
+	return 0;
+
+out_rkcanfd_chip_stop:
+	rkcanfd_chip_stop_sync(priv, CAN_STATE_STOPPED);
+	pm_runtime_put(ndev->dev.parent);
+out_close_candev:
+	close_candev(ndev);
+	return err;
+}
+
+static int rkcanfd_stop(struct net_device *ndev)
+{
+	struct rkcanfd_priv *priv = netdev_priv(ndev);
+
+	netif_stop_queue(ndev);
+
+	rkcanfd_chip_interrupts_disable(priv);
+	free_irq(ndev->irq, priv);
+	can_rx_offload_disable(&priv->offload);
+	rkcanfd_chip_stop_sync(priv, CAN_STATE_STOPPED);
+	close_candev(ndev);
+
+	pm_runtime_put(ndev->dev.parent);
+
+	return 0;
+}
+
+static const struct net_device_ops rkcanfd_netdev_ops = {
+	.ndo_open = rkcanfd_open,
+	.ndo_stop = rkcanfd_stop,
+	.ndo_start_xmit = rkcanfd_start_xmit,
+	.ndo_change_mtu = can_change_mtu,
+};
+
+static int __maybe_unused rkcanfd_runtime_suspend(struct device *dev)
+{
+	struct rkcanfd_priv *priv = dev_get_drvdata(dev);
+
+	clk_bulk_disable_unprepare(priv->clks_num, priv->clks);
+
+	return 0;
+}
+
+static int __maybe_unused rkcanfd_runtime_resume(struct device *dev)
+{
+	struct rkcanfd_priv *priv = dev_get_drvdata(dev);
+
+	return clk_bulk_prepare_enable(priv->clks_num, priv->clks);
+}
+
+static void rkcanfd_register_done(const struct rkcanfd_priv *priv)
+{
+	u32 dev_id;
+
+	dev_id = rkcanfd_read(priv, RKCANFD_REG_RTL_VERSION);
+
+	netdev_info(priv->ndev,
+		    "Rockchip-CANFD %s rev%lu.%lu found\n",
+		    rkcanfd_get_model_str(priv),
+		    FIELD_GET(RKCANFD_REG_RTL_VERSION_MAJOR, dev_id),
+		    FIELD_GET(RKCANFD_REG_RTL_VERSION_MINOR, dev_id));
+}
+
+static int rkcanfd_register(struct rkcanfd_priv *priv)
+{
+	struct net_device *ndev = priv->ndev;
+	int err;
+
+	pm_runtime_enable(ndev->dev.parent);
+
+	err = pm_runtime_resume_and_get(ndev->dev.parent);
+	if (err)
+		goto out_pm_runtime_disable;
+
+	err = register_candev(ndev);
+	if (err)
+		goto out_pm_runtime_put_sync;
+
+	rkcanfd_register_done(priv);
+
+	pm_runtime_put(ndev->dev.parent);
+
+	return 0;
+
+out_pm_runtime_put_sync:
+	pm_runtime_put_sync(ndev->dev.parent);
+out_pm_runtime_disable:
+	pm_runtime_disable(ndev->dev.parent);
+
+	return err;
+}
+
+static inline void rkcanfd_unregister(struct rkcanfd_priv *priv)
+{
+	struct net_device *ndev	= priv->ndev;
+
+	unregister_candev(ndev);
+	pm_runtime_disable(ndev->dev.parent);
+}
+
+static const struct of_device_id rkcanfd_of_match[] = {
+	{
+		.compatible = "rockchip,rk3568v2-canfd",
+		.data = &rkcanfd_devtype_data_rk3568v2,
+	}, {
+		/* sentinel */
+	},
+};
+MODULE_DEVICE_TABLE(of, rkcanfd_of_match);
+
+static int rkcanfd_probe(struct platform_device *pdev)
+{
+	struct rkcanfd_priv *priv;
+	struct net_device *ndev;
+	const void *match;
+	int err;
+
+	ndev = alloc_candev(sizeof(struct rkcanfd_priv), RKCANFD_TXFIFO_DEPTH);
+	if (!ndev)
+		return -ENOMEM;
+
+	priv = netdev_priv(ndev);
+
+	ndev->irq = platform_get_irq(pdev, 0);
+	if (ndev->irq < 0) {
+		err = ndev->irq;
+		goto out_free_candev;
+	}
+
+	priv->clks_num = devm_clk_bulk_get_all(&pdev->dev, &priv->clks);
+	if (priv->clks_num < 0) {
+		err = priv->clks_num;
+		goto out_free_candev;
+	}
+
+	priv->regs = devm_platform_ioremap_resource(pdev, 0);
+	if (IS_ERR(priv->regs)) {
+		err = PTR_ERR(priv->regs);
+		goto out_free_candev;
+	}
+
+	priv->reset = devm_reset_control_array_get_exclusive(&pdev->dev);
+	if (IS_ERR(priv->reset)) {
+		err = dev_err_probe(&pdev->dev, PTR_ERR(priv->reset),
+				    "Failed to get reset line\n");
+		goto out_free_candev;
+	}
+
+	SET_NETDEV_DEV(ndev, &pdev->dev);
+
+	ndev->netdev_ops = &rkcanfd_netdev_ops;
+	ndev->flags |= IFF_ECHO;
+
+	platform_set_drvdata(pdev, priv);
+	priv->can.clock.freq = clk_get_rate(priv->clks[0].clk);
+	priv->can.bittiming_const = &rkcanfd_bittiming_const;
+	priv->can.data_bittiming_const = &rkcanfd_data_bittiming_const;
+	priv->can.ctrlmode_supported = 0;
+	priv->can.do_set_mode = rkcanfd_set_mode;
+	priv->can.do_get_berr_counter = rkcanfd_get_berr_counter;
+	priv->ndev = ndev;
+
+	match = device_get_match_data(&pdev->dev);
+	if (match)
+		priv->devtype_data = *(struct rkcanfd_devtype_data *)match;
+
+	err = can_rx_offload_add_manual(ndev, &priv->offload,
+					RKCANFD_NAPI_WEIGHT);
+	if (err)
+		goto out_free_candev;
+
+	err = rkcanfd_register(priv);
+	if (err)
+		goto out_can_rx_offload_del;
+
+	return 0;
+
+out_can_rx_offload_del:
+	can_rx_offload_del(&priv->offload);
+out_free_candev:
+	free_candev(ndev);
+
+	return err;
+}
+
+static void rkcanfd_remove(struct platform_device *pdev)
+{
+	struct rkcanfd_priv *priv = platform_get_drvdata(pdev);
+	struct net_device *ndev = priv->ndev;
+
+	can_rx_offload_del(&priv->offload);
+	rkcanfd_unregister(priv);
+	free_candev(ndev);
+}
+
+static const struct dev_pm_ops rkcanfd_pm_ops = {
+	SET_RUNTIME_PM_OPS(rkcanfd_runtime_suspend,
+			   rkcanfd_runtime_resume, NULL)
+};
+
+static struct platform_driver rkcanfd_driver = {
+	.driver = {
+		.name = DEVICE_NAME,
+		.pm = &rkcanfd_pm_ops,
+		.of_match_table = rkcanfd_of_match,
+	},
+	.probe = rkcanfd_probe,
+	.remove = rkcanfd_remove,
+};
+module_platform_driver(rkcanfd_driver);
+
+MODULE_AUTHOR("Marc Kleine-Budde <mkl@pengutronix.de>");
+MODULE_DESCRIPTION("Rockchip CAN-FD Driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/net/can/rockchip/rockchip_canfd-rx.c b/drivers/net/can/rockchip/rockchip_canfd-rx.c
new file mode 100644
index 000000000000..5398aff0d180
--- /dev/null
+++ b/drivers/net/can/rockchip/rockchip_canfd-rx.c
@@ -0,0 +1,118 @@
+// SPDX-License-Identifier: GPL-2.0
+//
+// Copyright (c) 2023, 2024 Pengutronix,
+//               Marc Kleine-Budde <kernel@pengutronix.de>
+//
+
+#include "rockchip_canfd.h"
+
+static unsigned int
+rkcanfd_fifo_header_to_cfd_header(const struct rkcanfd_priv *priv,
+				  const struct rkcanfd_fifo_header *header,
+				  struct canfd_frame *cfd)
+{
+	unsigned int len = sizeof(*cfd) - sizeof(cfd->data);
+	u8 dlc;
+
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FRAME_FORMAT)
+		cfd->can_id = FIELD_GET(RKCANFD_REG_FD_ID_EFF, header->id) |
+			CAN_EFF_FLAG;
+	else
+		cfd->can_id = FIELD_GET(RKCANFD_REG_FD_ID_SFF, header->id);
+
+	dlc = FIELD_GET(RKCANFD_REG_FD_FRAMEINFO_DATA_LENGTH,
+			header->frameinfo);
+
+	/* CAN-FD */
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF) {
+		cfd->len = can_fd_dlc2len(dlc);
+
+		/* The cfd is not allocated by alloc_canfd_skb(), so
+		 * set CANFD_FDF here.
+		 */
+		cfd->flags |= CANFD_FDF;
+
+		if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_BRS)
+			cfd->flags |= CANFD_BRS;
+	} else {
+		cfd->len = can_cc_dlc2len(dlc);
+
+		if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_RTR) {
+			cfd->can_id |= CAN_RTR_FLAG;
+
+			return len;
+		}
+	}
+
+	return len + cfd->len;
+}
+
+static int rkcanfd_handle_rx_int_one(struct rkcanfd_priv *priv)
+{
+	struct net_device_stats *stats = &priv->ndev->stats;
+	struct canfd_frame cfd[1] = { }, *skb_cfd;
+	struct rkcanfd_fifo_header header[1] = { };
+	struct sk_buff *skb;
+	unsigned int len;
+	int err;
+
+	/* read header into separate struct and convert it later */
+	rkcanfd_read_rep(priv, RKCANFD_REG_RX_FIFO_RDATA,
+			 header, sizeof(*header));
+	/* read data directly into cfd */
+	rkcanfd_read_rep(priv, RKCANFD_REG_RX_FIFO_RDATA,
+			 cfd->data, sizeof(cfd->data));
+
+	len = rkcanfd_fifo_header_to_cfd_header(priv, header, cfd);
+
+	/* Drop any received CAN-FD frames if CAN-FD mode is not
+	 * requested.
+	 */
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF &&
+	    !(priv->can.ctrlmode & CAN_CTRLMODE_FD)) {
+		stats->rx_dropped++;
+
+		return 0;
+	}
+
+	if (header->frameinfo & RKCANFD_REG_FD_FRAMEINFO_FDF)
+		skb = alloc_canfd_skb(priv->ndev, &skb_cfd);
+	else
+		skb = alloc_can_skb(priv->ndev, (struct can_frame **)&skb_cfd);
+
+	if (!skb) {
+		stats->rx_dropped++;
+
+		return 0;
+	}
+
+	memcpy(skb_cfd, cfd, len);
+
+	err = can_rx_offload_queue_timestamp(&priv->offload, skb, header->ts);
+	if (err)
+		stats->rx_fifo_errors++;
+
+	return 0;
+}
+
+static inline unsigned int
+rkcanfd_rx_fifo_get_len(const struct rkcanfd_priv *priv)
+{
+	const u32 reg = rkcanfd_read(priv, RKCANFD_REG_RX_FIFO_CTRL);