Merge tag 'linux-can-next-for-6.9-20240213' of...

Merge tag 'linux-can-next-for-6.9-20240213' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next

Marc Kleine-Budde says:

====================
linux-can-next-for-6.9-20240213

this is a pull request of 23 patches for net-next/master.

The first patch is by Nicolas Maier and targets the CAN Broadcast
Manager (bcm), it adds message flags to distinguish between own local
and remote traffic.

Oliver Hartkopp contributes a patch for the CAN ISOTP protocol that
adds dynamic flow control parameters.

Stefan Mätje's patch series add support for the esd PCIe/402 CAN
interface family.

Markus Schneider-Pargmann contributes 14 patches for the m_can to
optimize for the SPI attached tcan4x5x controller.

A patch by Vincent Mailhol replaces Wolfgang Grandegger by Vincent
Mailhol as the CAN drivers Co-Maintainer.

Jimmy Assarsson's patch add support for the Kvaser M.2 PCIe 4xCAN
adapter.

A patch by Daniil Dulov removed a redundant NULL check in the softing
driver.

Oliver Hartkopp contributes a patch to add CANXL virtual CAN network
identifier support.

A patch by myself removes Naga Sureshkumar Relli as the maintainer of
the xilinx_can driver, as their email bounces.
====================
Signed-off-by: David S. Miller <davem@davemloft.net>

Documentation/networking/can.rst

@@ -444,6 +444,24 @@ definitions are specified for CAN specific MTUs in include/linux/can.h:
   #define CANFD_MTU (sizeof(struct canfd_frame)) == 72  => CAN FD frame
 
 
+Returned Message Flags
+----------------------
+
+When using the system call recvmsg(2) on a RAW or a BCM socket, the
+msg->msg_flags field may contain the following flags:
+
+MSG_DONTROUTE:
+	set when the received frame was created on the local host.
+
+MSG_CONFIRM:
+	set when the frame was sent via the socket it is received on.
+	This flag can be interpreted as a 'transmission confirmation' when the
+	CAN driver supports the echo of frames on driver level, see
+	:ref:`socketcan-local-loopback1` and :ref:`socketcan-local-loopback2`.
+	(Note: In order to receive such messages on a RAW socket,
+	CAN_RAW_RECV_OWN_MSGS must be set.)
+
+
 .. _socketcan-raw-sockets:
 
 RAW Protocol Sockets with can_filters (SOCK_RAW)
@@ -693,22 +711,6 @@ where the CAN_INV_FILTER flag is set in order to notch single CAN IDs or
 CAN ID ranges from the incoming traffic.
 
 
-RAW Socket Returned Message Flags
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-When using recvmsg() call, the msg->msg_flags may contain following flags:
-
-MSG_DONTROUTE:
-	set when the received frame was created on the local host.
-
-MSG_CONFIRM:
-	set when the frame was sent via the socket it is received on.
-	This flag can be interpreted as a 'transmission confirmation' when the
-	CAN driver supports the echo of frames on driver level, see
-	:ref:`socketcan-local-loopback1` and :ref:`socketcan-local-loopback2`.
-	In order to receive such messages, CAN_RAW_RECV_OWN_MSGS must be set.
-
-
 Broadcast Manager Protocol Sockets (SOCK_DGRAM)
 -----------------------------------------------
 

MAINTAINERS

@@ -4632,8 +4632,8 @@ S:	Maintained
 F:	net/sched/sch_cake.c
 
 CAN NETWORK DRIVERS
-M:	Wolfgang Grandegger <wg@grandegger.com>
 M:	Marc Kleine-Budde <mkl@pengutronix.de>
+M:	Vincent Mailhol <mailhol.vincent@wanadoo.fr>
 L:	linux-can@vger.kernel.org
 S:	Maintained
 W:	https://github.com/linux-can
@@ -7887,6 +7887,13 @@ S:	Maintained
 F:	include/linux/errseq.h
 F:	lib/errseq.c
 
+ESD CAN NETWORK DRIVERS
+M:	Stefan Mätje <stefan.maetje@esd.eu>
+R:	socketcan@esd.eu
+L:	linux-can@vger.kernel.org
+S:	Maintained
+F:	drivers/net/can/esd/
+
 ESD CAN/USB DRIVERS
 M:	Frank Jungclaus <frank.jungclaus@esd.eu>
 R:	socketcan@esd.eu
@@ -24142,7 +24149,6 @@ F:	drivers/net/ethernet/xilinx/xilinx_axienet*
 
 XILINX CAN DRIVER
 M:	Appana Durga Kedareswara rao <appana.durga.rao@xilinx.com>
-R:	Naga Sureshkumar Relli <naga.sureshkumar.relli@xilinx.com>
 L:	linux-can@vger.kernel.org
 S:	Maintained
 F:	Documentation/devicetree/bindings/net/can/xilinx,can.yaml

drivers/net/can/Kconfig

@@ -168,6 +168,7 @@ config CAN_KVASER_PCIEFD
 	    Kvaser Mini PCI Express 2xHS v2
 	    Kvaser Mini PCI Express 1xCAN v3
 	    Kvaser Mini PCI Express 2xCAN v3
+	    Kvaser M.2 PCIe 4xCAN
 
 config CAN_SLCAN
 	tristate "Serial / USB serial CAN Adaptors (slcan)"
@@ -218,6 +219,7 @@ config CAN_XILINXCAN
 source "drivers/net/can/c_can/Kconfig"
 source "drivers/net/can/cc770/Kconfig"
 source "drivers/net/can/ctucanfd/Kconfig"
+source "drivers/net/can/esd/Kconfig"
 source "drivers/net/can/ifi_canfd/Kconfig"
 source "drivers/net/can/m_can/Kconfig"
 source "drivers/net/can/mscan/Kconfig"

drivers/net/can/Makefile

@@ -8,6 +8,7 @@ obj-$(CONFIG_CAN_VXCAN)		+= vxcan.o
 obj-$(CONFIG_CAN_SLCAN)		+= slcan/
 
 obj-y				+= dev/
+obj-y				+= esd/
 obj-y				+= rcar/
 obj-y				+= spi/
 obj-y				+= usb/

drivers/net/can/esd/Kconfig

+# SPDX-License-Identifier: GPL-2.0-only
+config CAN_ESD_402_PCI
+	tristate "esd electronics gmbh CAN-PCI(e)/402 family"
+	depends on PCI && HAS_DMA
+	help
+	  Support for C402 card family from esd electronics gmbh.
+	  This card family is based on the ESDACC CAN controller and
+	  available in several form factors:  PCI, PCIe, PCIe Mini,
+	  M.2 PCIe, CPCIserial, PMC, XMC  (see https://esd.eu/en)
+
+	  This driver can also be built as a module. In this case the
+	  module will be called esd_402_pci.

drivers/net/can/esd/Makefile

+# SPDX-License-Identifier: GPL-2.0-only
+#
+#  Makefile for esd gmbh ESDACC controller driver
+#
+esd_402_pci-objs := esdacc.o esd_402_pci-core.o
+
+obj-$(CONFIG_CAN_ESD_402_PCI) += esd_402_pci.o

drivers/net/can/esd/esdacc.h

+/* SPDX-License-Identifier: GPL-2.0-only */
+/* Copyright (C) 2015 - 2016 Thomas Körper, esd electronic system design gmbh
+ * Copyright (C) 2017 - 2023 Stefan Mätje, esd electronics gmbh
+ */
+
+#include <linux/bits.h>
+#include <linux/can/dev.h>
+#include <linux/kernel.h>
+#include <linux/netdevice.h>
+#include <linux/units.h>
+
+#define ACC_TS_FREQ_80MHZ (80 * HZ_PER_MHZ)
+#define ACC_I2C_ADDON_DETECT_DELAY_MS 10
+
+/* esdACC Overview Module */
+#define ACC_OV_OF_PROBE	0x0000
+#define ACC_OV_OF_VERSION 0x0004
+#define ACC_OV_OF_INFO 0x0008
+#define ACC_OV_OF_CANCORE_FREQ 0x000c
+#define ACC_OV_OF_TS_FREQ_LO 0x0010
+#define ACC_OV_OF_TS_FREQ_HI 0x0014
+#define ACC_OV_OF_IRQ_STATUS_CORES 0x0018
+#define ACC_OV_OF_TS_CURR_LO 0x001c
+#define ACC_OV_OF_TS_CURR_HI 0x0020
+#define ACC_OV_OF_IRQ_STATUS 0x0028
+#define ACC_OV_OF_MODE 0x002c
+#define ACC_OV_OF_BM_IRQ_COUNTER 0x0070
+#define ACC_OV_OF_BM_IRQ_MASK 0x0074
+#define ACC_OV_OF_MSI_DATA 0x0080
+#define ACC_OV_OF_MSI_ADDRESSOFFSET 0x0084
+
+/* Feature flags are contained in the upper 16 bit of the version
+ * register at ACC_OV_OF_VERSION but only used with these masks after
+ * extraction into an extra variable => (xx - 16).
+ */
+#define ACC_OV_REG_FEAT_MASK_CANFD BIT(27 - 16)
+#define ACC_OV_REG_FEAT_MASK_NEW_PSC BIT(28 - 16)
+
+#define ACC_OV_REG_MODE_MASK_ENDIAN_LITTLE BIT(0)
+#define ACC_OV_REG_MODE_MASK_BM_ENABLE BIT(1)
+#define ACC_OV_REG_MODE_MASK_MODE_LED BIT(2)
+#define ACC_OV_REG_MODE_MASK_TIMER_ENABLE BIT(4)
+#define ACC_OV_REG_MODE_MASK_TIMER_ONE_SHOT BIT(5)
+#define ACC_OV_REG_MODE_MASK_TIMER_ABSOLUTE BIT(6)
+#define ACC_OV_REG_MODE_MASK_TIMER GENMASK(6, 4)
+#define ACC_OV_REG_MODE_MASK_TS_SRC GENMASK(8, 7)
+#define ACC_OV_REG_MODE_MASK_I2C_ENABLE BIT(11)
+#define ACC_OV_REG_MODE_MASK_MSI_ENABLE BIT(14)
+#define ACC_OV_REG_MODE_MASK_NEW_PSC_ENABLE BIT(15)
+#define ACC_OV_REG_MODE_MASK_FPGA_RESET BIT(31)
+
+/* esdACC CAN Core Module */
+#define ACC_CORE_OF_CTRL_MODE 0x0000
+#define ACC_CORE_OF_STATUS_IRQ 0x0008
+#define ACC_CORE_OF_BRP	0x000c
+#define ACC_CORE_OF_BTR	0x0010
+#define ACC_CORE_OF_FBTR 0x0014
+#define ACC_CORE_OF_STATUS 0x0030
+#define ACC_CORE_OF_TXFIFO_CONFIG 0x0048
+#define ACC_CORE_OF_TXFIFO_STATUS 0x004c
+#define ACC_CORE_OF_TX_STATUS_IRQ 0x0050
+#define ACC_CORE_OF_TX_ABORT_MASK 0x0054
+#define ACC_CORE_OF_BM_IRQ_COUNTER 0x0070
+#define ACC_CORE_OF_TXFIFO_ID 0x00c0
+#define ACC_CORE_OF_TXFIFO_DLC 0x00c4
+#define ACC_CORE_OF_TXFIFO_DATA_0 0x00c8
+#define ACC_CORE_OF_TXFIFO_DATA_1 0x00cc
+
+#define ACC_REG_CONTROL_MASK_MODE_RESETMODE BIT(0)
+#define ACC_REG_CONTROL_MASK_MODE_LOM BIT(1)
+#define ACC_REG_CONTROL_MASK_MODE_STM BIT(2)
+#define ACC_REG_CONTROL_MASK_MODE_TRANSEN BIT(5)
+#define ACC_REG_CONTROL_MASK_MODE_TS BIT(6)
+#define ACC_REG_CONTROL_MASK_MODE_SCHEDULE BIT(7)
+
+#define ACC_REG_CONTROL_MASK_IE_RXTX BIT(8)
+#define ACC_REG_CONTROL_MASK_IE_TXERROR BIT(9)
+#define ACC_REG_CONTROL_MASK_IE_ERRWARN BIT(10)
+#define ACC_REG_CONTROL_MASK_IE_OVERRUN BIT(11)
+#define ACC_REG_CONTROL_MASK_IE_TSI BIT(12)
+#define ACC_REG_CONTROL_MASK_IE_ERRPASS BIT(13)
+#define ACC_REG_CONTROL_MASK_IE_ALI BIT(14)
+#define ACC_REG_CONTROL_MASK_IE_BUSERR BIT(15)
+
+/* BRP and BTR register layout for CAN-Classic version */
+#define ACC_REG_BRP_CL_MASK_BRP GENMASK(8, 0)
+#define ACC_REG_BTR_CL_MASK_TSEG1 GENMASK(3, 0)
+#define ACC_REG_BTR_CL_MASK_TSEG2 GENMASK(18, 16)
+#define ACC_REG_BTR_CL_MASK_SJW GENMASK(25, 24)
+
+/* BRP and BTR register layout for CAN-FD version */
+#define ACC_REG_BRP_FD_MASK_BRP GENMASK(7, 0)
+#define ACC_REG_BTR_FD_MASK_TSEG1 GENMASK(7, 0)
+#define ACC_REG_BTR_FD_MASK_TSEG2 GENMASK(22, 16)
+#define ACC_REG_BTR_FD_MASK_SJW GENMASK(30, 24)
+
+/* 256 BM_MSGs of 32 byte size */
+#define ACC_CORE_DMAMSG_SIZE 32U
+#define ACC_CORE_DMABUF_SIZE (256U * ACC_CORE_DMAMSG_SIZE)
+
+enum acc_bmmsg_id {
+	BM_MSG_ID_RXTXDONE = 0x01,
+	BM_MSG_ID_TXABORT = 0x02,
+	BM_MSG_ID_OVERRUN = 0x03,
+	BM_MSG_ID_BUSERR = 0x04,
+	BM_MSG_ID_ERRPASSIVE = 0x05,
+	BM_MSG_ID_ERRWARN = 0x06,
+	BM_MSG_ID_TIMESLICE = 0x07,
+	BM_MSG_ID_HWTIMER = 0x08,
+	BM_MSG_ID_HOTPLUG = 0x09,
+};
+
+/* The struct acc_bmmsg_* structure declarations that follow here provide
+ * access to the ring buffer of bus master messages maintained by the FPGA
+ * bus master engine. All bus master messages have the same size of
+ * ACC_CORE_DMAMSG_SIZE and a minimum alignment of ACC_CORE_DMAMSG_SIZE in
+ * memory.
+ *
+ * All structure members are natural aligned. Therefore we should not need
+ * a __packed attribute. All struct acc_bmmsg_* declarations have at least
+ * reserved* members to fill the structure to the full ACC_CORE_DMAMSG_SIZE.
+ *
+ * A failure of this property due padding will be detected at compile time
+ * by static_assert(sizeof(union acc_bmmsg) == ACC_CORE_DMAMSG_SIZE).
+ */
+
+struct acc_bmmsg_rxtxdone {
+	u8 msg_id;
+	u8 txfifo_level;
+	u8 reserved1[2];
+	u8 txtsfifo_level;
+	u8 reserved2[3];
+	u32 id;
+	struct {
+		u8 len;
+		u8 txdfifo_idx;
+		u8 zeroes8;
+		u8 reserved;
+	} acc_dlc;
+	u8 data[CAN_MAX_DLEN];
+	/* Time stamps in struct acc_ov::timestamp_frequency ticks. */
+	u64 ts;
+};
+
+struct acc_bmmsg_txabort {
+	u8 msg_id;
+	u8 txfifo_level;
+	u16 abort_mask;
+	u8 txtsfifo_level;
+	u8 reserved2[1];
+	u16 abort_mask_txts;
+	u64 ts;
+	u32 reserved3[4];
+};
+
+struct acc_bmmsg_overrun {
+	u8 msg_id;
+	u8 txfifo_level;
+	u8 lost_cnt;
+	u8 reserved1;
+	u8 txtsfifo_level;
+	u8 reserved2[3];
+	u64 ts;
+	u32 reserved3[4];
+};
+
+struct acc_bmmsg_buserr {
+	u8 msg_id;
+	u8 txfifo_level;
+	u8 ecc;
+	u8 reserved1;
+	u8 txtsfifo_level;
+	u8 reserved2[3];
+	u64 ts;
+	u32 reg_status;
+	u32 reg_btr;
+	u32 reserved3[2];
+};
+
+struct acc_bmmsg_errstatechange {
+	u8 msg_id;
+	u8 txfifo_level;
+	u8 reserved1[2];
+	u8 txtsfifo_level;
+	u8 reserved2[3];
+	u64 ts;
+	u32 reg_status;
+	u32 reserved3[3];
+};
+
+struct acc_bmmsg_timeslice {
+	u8 msg_id;
+	u8 txfifo_level;
+	u8 reserved1[2];
+	u8 txtsfifo_level;
+	u8 reserved2[3];
+	u64 ts;
+	u32 reserved3[4];
+};
+
+struct acc_bmmsg_hwtimer {
+	u8 msg_id;
+	u8 reserved1[3];
+	u32 reserved2[1];
+	u64 timer;
+	u32 reserved3[4];
+};
+
+struct acc_bmmsg_hotplug {
+	u8 msg_id;
+	u8 reserved1[3];
+	u32 reserved2[7];
+};
+
+union acc_bmmsg {
+	u8 msg_id;
+	struct acc_bmmsg_rxtxdone rxtxdone;
+	struct acc_bmmsg_txabort txabort;
+	struct acc_bmmsg_overrun overrun;
+	struct acc_bmmsg_buserr buserr;
+	struct acc_bmmsg_errstatechange errstatechange;
+	struct acc_bmmsg_timeslice timeslice;
+	struct acc_bmmsg_hwtimer hwtimer;
+};
+
+/* Check size of union acc_bmmsg to be of expected size. */
+static_assert(sizeof(union acc_bmmsg) == ACC_CORE_DMAMSG_SIZE);
+
+struct acc_bmfifo {
+	const union acc_bmmsg *messages;
+	/* irq_cnt points to an u32 value where the esdACC FPGA deposits
+	 * the bm_fifo head index in coherent DMA memory. Only bits 7..0
+	 * are valid. Use READ_ONCE() to access this memory location.
+	 */
+	const u32 *irq_cnt;
+	u32 local_irq_cnt;
+	u32 msg_fifo_tail;
+};
+
+struct acc_core {
+	void __iomem *addr;
+	struct net_device *netdev;
+	struct acc_bmfifo bmfifo;
+	u8 tx_fifo_size;
+	u8 tx_fifo_head;
+	u8 tx_fifo_tail;
+};
+
+struct acc_ov {
+	void __iomem *addr;
+	struct acc_bmfifo bmfifo;
+	u32 timestamp_frequency;
+	u32 core_frequency;
+	u16 version;
+	u16 features;
+	u8 total_cores;
+	u8 active_cores;
+};
+
+struct acc_net_priv {
+	struct can_priv can; /* must be the first member! */
+	struct acc_core *core;
+	struct acc_ov *ov;
+};
+
+static inline u32 acc_read32(struct acc_core *core, unsigned short offs)
+{
+	return ioread32be(core->addr + offs);
+}
+
+static inline void acc_write32(struct acc_core *core,
+			       unsigned short offs, u32 v)
+{
+	iowrite32be(v, core->addr + offs);
+}
+
+static inline void acc_write32_noswap(struct acc_core *core,
+				      unsigned short offs, u32 v)
+{
+	iowrite32(v, core->addr + offs);
+}
+
+static inline void acc_set_bits(struct acc_core *core,
+				unsigned short offs, u32 mask)
+{
+	u32 v = acc_read32(core, offs);
+
+	v |= mask;
+	acc_write32(core, offs, v);
+}
+
+static inline void acc_clear_bits(struct acc_core *core,
+				  unsigned short offs, u32 mask)
+{
+	u32 v = acc_read32(core, offs);
+
+	v &= ~mask;
+	acc_write32(core, offs, v);
+}
+
+static inline int acc_resetmode_entered(struct acc_core *core)
+{
+	u32 ctrl = acc_read32(core, ACC_CORE_OF_CTRL_MODE);
+
+	return (ctrl & ACC_REG_CONTROL_MASK_MODE_RESETMODE) != 0;
+}
+
+static inline u32 acc_ov_read32(struct acc_ov *ov, unsigned short offs)
+{
+	return ioread32be(ov->addr + offs);
+}
+
+static inline void acc_ov_write32(struct acc_ov *ov,
+				  unsigned short offs, u32 v)
+{
+	iowrite32be(v, ov->addr + offs);
+}
+
+static inline void acc_ov_set_bits(struct acc_ov *ov,
+				   unsigned short offs, u32 b)
+{
+	u32 v = acc_ov_read32(ov, offs);
+
+	v |= b;
+	acc_ov_write32(ov, offs, v);
+}
+
+static inline void acc_ov_clear_bits(struct acc_ov *ov,
+				     unsigned short offs, u32 b)
+{
+	u32 v = acc_ov_read32(ov, offs);
+
+	v &= ~b;
+	acc_ov_write32(ov, offs, v);
+}
+
+static inline void acc_reset_fpga(struct acc_ov *ov)
+{
+	acc_ov_write32(ov, ACC_OV_OF_MODE, ACC_OV_REG_MODE_MASK_FPGA_RESET);
+
+	/* (Re-)start and wait for completion of addon detection on the I^2C bus */
+	acc_ov_set_bits(ov, ACC_OV_OF_MODE, ACC_OV_REG_MODE_MASK_I2C_ENABLE);
+	mdelay(ACC_I2C_ADDON_DETECT_DELAY_MS);
+}
+
+void acc_init_ov(struct acc_ov *ov, struct device *dev);
+void acc_init_bm_ptr(struct acc_ov *ov, struct acc_core *cores,
+		     const void *mem);
+int acc_open(struct net_device *netdev);
+int acc_close(struct net_device *netdev);
+netdev_tx_t acc_start_xmit(struct sk_buff *skb, struct net_device *netdev);
+int acc_get_berr_counter(const struct net_device *netdev,
+			 struct can_berr_counter *bec);
+int acc_set_mode(struct net_device *netdev, enum can_mode mode);
+int acc_set_bittiming(struct net_device *netdev);
+irqreturn_t acc_card_interrupt(struct acc_ov *ov, struct acc_core *cores);

drivers/net/can/kvaser_pciefd.c

@@ -47,12 +47,18 @@ MODULE_DESCRIPTION("CAN driver for Kvaser CAN/PCIe devices");
 #define KVASER_PCIEFD_MINIPCIE_2CAN_V3_DEVICE_ID 0x0015
 #define KVASER_PCIEFD_MINIPCIE_1CAN_V3_DEVICE_ID 0x0016
 
+/* Xilinx based devices */
+#define KVASER_PCIEFD_M2_4CAN_DEVICE_ID 0x0017
+
 /* Altera SerDes Enable 64-bit DMA address translation */
 #define KVASER_PCIEFD_ALTERA_DMA_64BIT BIT(0)
 
 /* SmartFusion2 SerDes LSB address translation mask */
 #define KVASER_PCIEFD_SF2_DMA_LSB_MASK GENMASK(31, 12)
 
+/* Xilinx SerDes LSB address translation mask */
+#define KVASER_PCIEFD_XILINX_DMA_LSB_MASK GENMASK(31, 12)
+
 /* Kvaser KCAN CAN controller registers */
 #define KVASER_PCIEFD_KCAN_FIFO_REG 0x100
 #define KVASER_PCIEFD_KCAN_FIFO_LAST_REG 0x180
@@ -281,6 +287,8 @@ static void kvaser_pciefd_write_dma_map_altera(struct kvaser_pciefd *pcie,
 					       dma_addr_t addr, int index);
 static void kvaser_pciefd_write_dma_map_sf2(struct kvaser_pciefd *pcie,
 					    dma_addr_t addr, int index);
+static void kvaser_pciefd_write_dma_map_xilinx(struct kvaser_pciefd *pcie,
+					       dma_addr_t addr, int index);
 
 struct kvaser_pciefd_address_offset {
 	u32 serdes;
@@ -335,6 +343,18 @@ static const struct kvaser_pciefd_address_offset kvaser_pciefd_sf2_address_offse
 	.kcan_ch1 = 0x142000,
 };
 
+static const struct kvaser_pciefd_address_offset kvaser_pciefd_xilinx_address_offset = {
+	.serdes = 0x00208,
+	.pci_ien = 0x102004,
+	.pci_irq = 0x102008,
+	.sysid = 0x100000,
+	.loopback = 0x103000,
+	.kcan_srb_fifo = 0x120000,
+	.kcan_srb = 0x121000,
+	.kcan_ch0 = 0x140000,
+	.kcan_ch1 = 0x142000,
+};
+
 static const struct kvaser_pciefd_irq_mask kvaser_pciefd_altera_irq_mask = {
 	.kcan_rx0 = BIT(4),
 	.kcan_tx = { BIT(0), BIT(1), BIT(2), BIT(3) },
@@ -347,6 +367,12 @@ static const struct kvaser_pciefd_irq_mask kvaser_pciefd_sf2_irq_mask = {
 	.all = GENMASK(19, 16) | BIT(4),
 };
 
+static const struct kvaser_pciefd_irq_mask kvaser_pciefd_xilinx_irq_mask = {
+	.kcan_rx0 = BIT(4),
+	.kcan_tx = { BIT(16), BIT(17), BIT(18), BIT(19) },
+	.all = GENMASK(19, 16) | BIT(4),
+};
+
 static const struct kvaser_pciefd_dev_ops kvaser_pciefd_altera_dev_ops = {
 	.kvaser_pciefd_write_dma_map = kvaser_pciefd_write_dma_map_altera,
 };
@@ -355,6 +381,10 @@ static const struct kvaser_pciefd_dev_ops kvaser_pciefd_sf2_dev_ops = {
 	.kvaser_pciefd_write_dma_map = kvaser_pciefd_write_dma_map_sf2,
 };
 
+static const struct kvaser_pciefd_dev_ops kvaser_pciefd_xilinx_dev_ops = {
+	.kvaser_pciefd_write_dma_map = kvaser_pciefd_write_dma_map_xilinx,
+};
+
 static const struct kvaser_pciefd_driver_data kvaser_pciefd_altera_driver_data = {
 	.address_offset = &kvaser_pciefd_altera_address_offset,
 	.irq_mask = &kvaser_pciefd_altera_irq_mask,
@@ -367,6 +397,12 @@ static const struct kvaser_pciefd_driver_data kvaser_pciefd_sf2_driver_data = {
 	.ops = &kvaser_pciefd_sf2_dev_ops,
 };
 
+static const struct kvaser_pciefd_driver_data kvaser_pciefd_xilinx_driver_data = {
+	.address_offset = &kvaser_pciefd_xilinx_address_offset,
+	.irq_mask = &kvaser_pciefd_xilinx_irq_mask,
+	.ops = &kvaser_pciefd_xilinx_dev_ops,
+};
+
 struct kvaser_pciefd_can {
 	struct can_priv can;
 	struct kvaser_pciefd *kv_pcie;
@@ -456,6 +492,10 @@ static struct pci_device_id kvaser_pciefd_id_table[] = {
 		PCI_DEVICE(KVASER_PCIEFD_VENDOR, KVASER_PCIEFD_MINIPCIE_1CAN_V3_DEVICE_ID),
 		.driver_data = (kernel_ulong_t)&kvaser_pciefd_sf2_driver_data,
 	},
+	{
+		PCI_DEVICE(KVASER_PCIEFD_VENDOR, KVASER_PCIEFD_M2_4CAN_DEVICE_ID),
+		.driver_data = (kernel_ulong_t)&kvaser_pciefd_xilinx_driver_data,
+	},
 	{
 		0,
 	},
@@ -1035,6 +1075,21 @@ static void kvaser_pciefd_write_dma_map_sf2(struct kvaser_pciefd *pcie,
 	iowrite32(msb, serdes_base + 0x4);
 }
 
+static void kvaser_pciefd_write_dma_map_xilinx(struct kvaser_pciefd *pcie,
+					       dma_addr_t addr, int index)
+{
+	void __iomem *serdes_base;
+	u32 lsb = addr & KVASER_PCIEFD_XILINX_DMA_LSB_MASK;
+	u32 msb = 0x0;
+
+#ifdef CONFIG_ARCH_DMA_ADDR_T_64BIT
+	msb = addr >> 32;
+#endif
+	serdes_base = KVASER_PCIEFD_SERDES_ADDR(pcie) + 0x8 * index;
+	iowrite32(msb, serdes_base);
+	iowrite32(lsb, serdes_base + 0x4);
+}
+
 static int kvaser_pciefd_setup_dma(struct kvaser_pciefd *pcie)
 {
 	int i;

drivers/net/can/m_can/m_can.h

@@ -70,6 +70,13 @@ struct m_can_ops {
 	int (*init)(struct m_can_classdev *cdev);
 };
 
+struct m_can_tx_op {
+	struct m_can_classdev *cdev;
+	struct work_struct work;
+	struct sk_buff *skb;
+	bool submit;
+};
+
 struct m_can_classdev {
 	struct can_priv can;
 	struct can_rx_offload offload;
@@ -80,10 +87,10 @@ struct m_can_classdev {
 	struct clk *cclk;
 
 	struct workqueue_struct *tx_wq;
-	struct work_struct tx_work;
-	struct sk_buff *tx_skb;
 	struct phy *transceiver;
 
+	ktime_t irq_timer_wait;
+
 	struct m_can_ops *ops;
 
 	int version;
@@ -92,6 +99,29 @@ struct m_can_classdev {
 	int pm_clock_support;
 	int is_peripheral;
 
+	// Cached M_CAN_IE register content
+	u32 active_interrupts;
+	u32 rx_max_coalesced_frames_irq;
+	u32 rx_coalesce_usecs_irq;
+	u32 tx_max_coalesced_frames;
+	u32 tx_max_coalesced_frames_irq;
+	u32 tx_coalesce_usecs_irq;
+
+	// Store this internally to avoid fetch delays on peripheral chips
+	u32 tx_fifo_putidx;
+
+	/* Protects shared state between start_xmit and m_can_isr */
+	spinlock_t tx_handling_spinlock;
+	int tx_fifo_in_flight;
+
+	struct m_can_tx_op *tx_ops;
+	int tx_fifo_size;
+	int next_tx_op;
+
+	int nr_txs_without_submit;
+	/* bitfield of fifo elements that will be submitted together */
+	u32 tx_peripheral_submit;
+
 	struct mram_cfg mcfg[MRAM_CFG_NUM];
 
 	struct hrtimer hrtimer;

drivers/net/can/m_can/m_can_platform.c

@@ -109,10 +109,6 @@ static int m_can_plat_probe(struct platform_device *pdev)
 			ret = irq;
 			goto probe_fail;
 		}
-	} else {
-		dev_dbg(mcan_class->dev, "Polling enabled, initialize hrtimer");
-		hrtimer_init(&mcan_class->hrtimer, CLOCK_MONOTONIC,
-			     HRTIMER_MODE_REL_PINNED);
 	}
 
 	/* message ram could be shared */

drivers/net/can/softing/softing_fw.c

@@ -436,7 +436,7 @@ int softing_startstop(struct net_device *dev, int up)
 		return ret;
 
 	bus_bitmask_start = 0;
-	if (dev && up)
+	if (up)
 		/* prepare to start this bus as well */
 		bus_bitmask_start |= (1 << priv->index);
 	/* bring netdevs down */

include/uapi/linux/can.h

@@ -193,9 +193,14 @@ struct canfd_frame {
 #define CANXL_XLF 0x80 /* mandatory CAN XL frame flag (must always be set!) */
 #define CANXL_SEC 0x01 /* Simple Extended Content (security/segmentation) */
 
+/* the 8-bit VCID is optionally placed in the canxl_frame.prio element */
+#define CANXL_VCID_OFFSET 16 /* bit offset of VCID in prio element */
+#define CANXL_VCID_VAL_MASK 0xFFUL /* VCID is an 8-bit value */
+#define CANXL_VCID_MASK (CANXL_VCID_VAL_MASK << CANXL_VCID_OFFSET)
+
 /**
  * struct canxl_frame - CAN with e'X'tended frame 'L'ength frame structure
- * @prio:  11 bit arbitration priority with zero'ed CAN_*_FLAG flags
+ * @prio:  11 bit arbitration priority with zero'ed CAN_*_FLAG flags / VCID
  * @flags: additional flags for CAN XL
  * @sdt:   SDU (service data unit) type
  * @len:   frame payload length in byte (CANXL_MIN_DLEN .. CANXL_MAX_DLEN)
@@ -205,7 +210,7 @@ struct canfd_frame {
  * @prio shares the same position as @can_id from struct can[fd]_frame.
  */
 struct canxl_frame {
-	canid_t prio;  /* 11 bit priority for arbitration (canid_t) */
+	canid_t prio;  /* 11 bit priority for arbitration / 8 bit VCID */
 	__u8    flags; /* additional flags for CAN XL */
 	__u8    sdt;   /* SDU (service data unit) type */
 	__u16   len;   /* frame payload length in byte */

include/uapi/linux/can/isotp.h

@@ -137,6 +137,7 @@ struct can_isotp_ll_options {
 #define CAN_ISOTP_WAIT_TX_DONE	0x0400	/* wait for tx completion */
 #define CAN_ISOTP_SF_BROADCAST	0x0800	/* 1-to-N functional addressing */
 #define CAN_ISOTP_CF_BROADCAST	0x1000	/* 1-to-N transmission w/o FC */
+#define CAN_ISOTP_DYN_FC_PARMS	0x2000	/* dynamic FC parameters BS/STmin */
 
 /* protocol machine default values */
 

include/uapi/linux/can/raw.h

@@ -65,6 +65,22 @@ enum {
 	CAN_RAW_FD_FRAMES,	/* allow CAN FD frames (default:off) */
 	CAN_RAW_JOIN_FILTERS,	/* all filters must match to trigger */
 	CAN_RAW_XL_FRAMES,	/* allow CAN XL frames (default:off) */
+	CAN_RAW_XL_VCID_OPTS,	/* CAN XL VCID configuration options */
 };
 
+/* configuration for CAN XL virtual CAN identifier (VCID) handling */
+struct can_raw_vcid_options {
+
+	__u8 flags;		/* flags for vcid (filter) behaviour */
+	__u8 tx_vcid;		/* VCID value set into canxl_frame.prio */
+	__u8 rx_vcid;		/* VCID value for VCID filter */
+	__u8 rx_vcid_mask;	/* VCID mask for VCID filter */
+
+};
+
+/* can_raw_vcid_options.flags for CAN XL virtual CAN identifier handling */
+#define CAN_RAW_XL_VCID_TX_SET		0x01
+#define CAN_RAW_XL_VCID_TX_PASS		0x02
+#define CAN_RAW_XL_VCID_RX_FILTER	0x04
+
 #endif /* !_UAPI_CAN_RAW_H */

net/can/af_can.c

@@ -865,6 +865,8 @@ static __init int can_init(void)
 	/* check for correct padding to be able to use the structs similarly */
 	BUILD_BUG_ON(offsetof(struct can_frame, len) !=
 		     offsetof(struct canfd_frame, len) ||
+		     offsetof(struct can_frame, len) !=
+		     offsetof(struct canxl_frame, flags) ||
 		     offsetof(struct can_frame, data) !=
 		     offsetof(struct canfd_frame, data));
 

net/can/bcm.c

@@ -72,9 +72,11 @@
 #define BCM_TIMER_SEC_MAX (400 * 24 * 60 * 60)
 
 /* use of last_frames[index].flags */
+#define RX_LOCAL   0x10 /* frame was created on the local host */
+#define RX_OWN     0x20 /* frame was sent via the socket it was received on */
 #define RX_RECV    0x40 /* received data for this element */
 #define RX_THR     0x80 /* element not been sent due to throttle feature */
-#define BCM_CAN_FLAGS_MASK 0x3F /* to clean private flags after usage */
+#define BCM_CAN_FLAGS_MASK 0x0F /* to clean private flags after usage */
 
 /* get best masking value for can_rx_register() for a given single can_id */
 #define REGMASK(id) ((id & CAN_EFF_FLAG) ? \
@@ -138,6 +140,16 @@ static LIST_HEAD(bcm_notifier_list);
 static DEFINE_SPINLOCK(bcm_notifier_lock);
 static struct bcm_sock *bcm_busy_notifier;
 
+/* Return pointer to store the extra msg flags for bcm_recvmsg().
+ * We use the space of one unsigned int beyond the 'struct sockaddr_can'
+ * in skb->cb.
+ */
+static inline unsigned int *bcm_flags(struct sk_buff *skb)
+{
+	/* return pointer after struct sockaddr_can */
+	return (unsigned int *)(&((struct sockaddr_can *)skb->cb)[1]);
+}
+
 static inline struct bcm_sock *bcm_sk(const struct sock *sk)
 {
 	return (struct bcm_sock *)sk;
@@ -325,6 +337,7 @@ static void bcm_send_to_user(struct bcm_op *op, struct bcm_msg_head *head,
 	struct sock *sk = op->sk;
 	unsigned int datalen = head->nframes * op->cfsiz;
 	int err;
+	unsigned int *pflags;
 
 	skb = alloc_skb(sizeof(*head) + datalen, gfp_any());
 	if (!skb)
@@ -332,6 +345,14 @@ static void bcm_send_to_user(struct bcm_op *op, struct bcm_msg_head *head,
 
 	skb_put_data(skb, head, sizeof(*head));
 
+	/* ensure space for sockaddr_can and msg flags */
+	sock_skb_cb_check_size(sizeof(struct sockaddr_can) +
+			       sizeof(unsigned int));
+
+	/* initialize msg flags */
+	pflags = bcm_flags(skb);
+	*pflags = 0;
+
 	if (head->nframes) {
 		/* CAN frames starting here */
 		firstframe = (struct canfd_frame *)skb_tail_pointer(skb);
@@ -344,8 +365,14 @@ static void bcm_send_to_user(struct bcm_op *op, struct bcm_msg_head *head,
 		 * relevant for updates that are generated by the
 		 * BCM, where nframes is 1
 		 */
-		if (head->nframes == 1)
+		if (head->nframes == 1) {
+			if (firstframe->flags & RX_LOCAL)
+				*pflags |= MSG_DONTROUTE;
+			if (firstframe->flags & RX_OWN)
+				*pflags |= MSG_CONFIRM;
+
 			firstframe->flags &= BCM_CAN_FLAGS_MASK;
+		}
 	}
 
 	if (has_timestamp) {
@@ -360,7 +387,6 @@ static void bcm_send_to_user(struct bcm_op *op, struct bcm_msg_head *head,
 	 *  containing the interface index.
 	 */
 
-	sock_skb_cb_check_size(sizeof(struct sockaddr_can));
 	addr = (struct sockaddr_can *)skb->cb;
 	memset(addr, 0, sizeof(*addr));
 	addr->can_family  = AF_CAN;
@@ -444,7 +470,7 @@ static void bcm_rx_changed(struct bcm_op *op, struct canfd_frame *data)
 		op->frames_filtered = op->frames_abs = 0;
 
 	/* this element is not throttled anymore */
-	data->flags &= (BCM_CAN_FLAGS_MASK|RX_RECV);
+	data->flags &= ~RX_THR;
 
 	memset(&head, 0, sizeof(head));
 	head.opcode  = RX_CHANGED;
@@ -465,13 +491,17 @@ static void bcm_rx_changed(struct bcm_op *op, struct canfd_frame *data)
  */
 static void bcm_rx_update_and_send(struct bcm_op *op,
 				   struct canfd_frame *lastdata,
-				   const struct canfd_frame *rxdata)
+				   const struct canfd_frame *rxdata,
+				   unsigned char traffic_flags)
 {
 	memcpy(lastdata, rxdata, op->cfsiz);
 
 	/* mark as used and throttled by default */
 	lastdata->flags |= (RX_RECV|RX_THR);
 
+	/* add own/local/remote traffic flags */
+	lastdata->flags |= traffic_flags;
+
 	/* throttling mode inactive ? */
 	if (!op->kt_ival2) {
 		/* send RX_CHANGED to the user immediately */
@@ -508,7 +538,8 @@ static void bcm_rx_update_and_send(struct bcm_op *op,
  *                       received data stored in op->last_frames[]
  */
 static void bcm_rx_cmp_to_index(struct bcm_op *op, unsigned int index,
-				const struct canfd_frame *rxdata)
+				const struct canfd_frame *rxdata,
+				unsigned char traffic_flags)
 {
 	struct canfd_frame *cf = op->frames + op->cfsiz * index;
 	struct canfd_frame *lcf = op->last_frames + op->cfsiz * index;
@@ -521,7 +552,7 @@ static void bcm_rx_cmp_to_index(struct bcm_op *op, unsigned int index,
 
 	if (!(lcf->flags & RX_RECV)) {
 		/* received data for the first time => send update to user */
-		bcm_rx_update_and_send(op, lcf, rxdata);
+		bcm_rx_update_and_send(op, lcf, rxdata, traffic_flags);
 		return;
 	}
 
@@ -529,7 +560,7 @@ static void bcm_rx_cmp_to_index(struct bcm_op *op, unsigned int index,
 	for (i = 0; i < rxdata->len; i += 8) {
 		if ((get_u64(cf, i) & get_u64(rxdata, i)) !=
 		    (get_u64(cf, i) & get_u64(lcf, i))) {
-			bcm_rx_update_and_send(op, lcf, rxdata);
+			bcm_rx_update_and_send(op, lcf, rxdata, traffic_flags);
 			return;
 		}
 	}
@@ -537,7 +568,7 @@ static void bcm_rx_cmp_to_index(struct bcm_op *op, unsigned int index,
 	if (op->flags & RX_CHECK_DLC) {
 		/* do a real check in CAN frame length */
 		if (rxdata->len != lcf->len) {
-			bcm_rx_update_and_send(op, lcf, rxdata);
+			bcm_rx_update_and_send(op, lcf, rxdata, traffic_flags);
 			return;
 		}
 	}
@@ -644,6 +675,7 @@ static void bcm_rx_handler(struct sk_buff *skb, void *data)
 	struct bcm_op *op = (struct bcm_op *)data;
 	const struct canfd_frame *rxframe = (struct canfd_frame *)skb->data;
 	unsigned int i;
+	unsigned char traffic_flags;
 
 	if (op->can_id != rxframe->can_id)
 		return;
@@ -673,15 +705,24 @@ static void bcm_rx_handler(struct sk_buff *skb, void *data)
 		return;
 	}
 
+	/* compute flags to distinguish between own/local/remote CAN traffic */
+	traffic_flags = 0;
+	if (skb->sk) {
+		traffic_flags |= RX_LOCAL;
+		if (skb->sk == op->sk)
+			traffic_flags |= RX_OWN;
+	}
+
 	if (op->flags & RX_FILTER_ID) {
 		/* the easiest case */
-		bcm_rx_update_and_send(op, op->last_frames, rxframe);
+		bcm_rx_update_and_send(op, op->last_frames, rxframe,
+				       traffic_flags);
 		goto rx_starttimer;
 	}
 
 	if (op->nframes == 1) {
 		/* simple compare with index 0 */
-		bcm_rx_cmp_to_index(op, 0, rxframe);
+		bcm_rx_cmp_to_index(op, 0, rxframe, traffic_flags);
 		goto rx_starttimer;
 	}
 
@@ -698,7 +739,8 @@ static void bcm_rx_handler(struct sk_buff *skb, void *data)
 			if ((get_u64(op->frames, 0) & get_u64(rxframe, 0)) ==
 			    (get_u64(op->frames, 0) &
 			     get_u64(op->frames + op->cfsiz * i, 0))) {
-				bcm_rx_cmp_to_index(op, i, rxframe);
+				bcm_rx_cmp_to_index(op, i, rxframe,
+						    traffic_flags);
 				break;
 			}
 		}
@@ -1675,6 +1717,9 @@ static int bcm_recvmsg(struct socket *sock, struct msghdr *msg, size_t size,
 		memcpy(msg->msg_name, skb->cb, msg->msg_namelen);
 	}
 
+	/* assign the flags that have been recorded in bcm_send_to_user() */
+	msg->msg_flags |= *(bcm_flags(skb));
+
 	skb_free_datagram(sk, skb);
 
 	return size;

net/can/isotp.c

@@ -381,8 +381,9 @@ static int isotp_rcv_fc(struct isotp_sock *so, struct canfd_frame *cf, int ae)
 		return 1;
 	}
 
-	/* get communication parameters only from the first FC frame */
-	if (so->tx.state == ISOTP_WAIT_FIRST_FC) {
+	/* get static/dynamic communication params from first/every FC frame */
+	if (so->tx.state == ISOTP_WAIT_FIRST_FC ||
+	    so->opt.flags & CAN_ISOTP_DYN_FC_PARMS) {
 		so->txfc.bs = cf->data[ae + 1];
 		so->txfc.stmin = cf->data[ae + 2];
 

net/can/raw.c

@@ -91,6 +91,10 @@ struct raw_sock {
 	int recv_own_msgs;
 	int fd_frames;
 	int xl_frames;
+	struct can_raw_vcid_options raw_vcid_opts;
+	canid_t tx_vcid_shifted;
+	canid_t rx_vcid_shifted;
+	canid_t rx_vcid_mask_shifted;
 	int join_filters;
 	int count;                 /* number of active filters */
 	struct can_filter dfilter; /* default/single filter */
@@ -134,10 +138,29 @@ static void raw_rcv(struct sk_buff *oskb, void *data)
 		return;
 
 	/* make sure to not pass oversized frames to the socket */
-	if ((!ro->fd_frames && can_is_canfd_skb(oskb)) ||
-	    (!ro->xl_frames && can_is_canxl_skb(oskb)))
+	if (!ro->fd_frames && can_is_canfd_skb(oskb))
 		return;
 
+	if (can_is_canxl_skb(oskb)) {
+		struct canxl_frame *cxl = (struct canxl_frame *)oskb->data;
+
+		/* make sure to not pass oversized frames to the socket */
+		if (!ro->xl_frames)
+			return;
+
+		/* filter CAN XL VCID content */
+		if (ro->raw_vcid_opts.flags & CAN_RAW_XL_VCID_RX_FILTER) {
+			/* apply VCID filter if user enabled the filter */
+			if ((cxl->prio & ro->rx_vcid_mask_shifted) !=
+			    (ro->rx_vcid_shifted & ro->rx_vcid_mask_shifted))
+				return;
+		} else {
+			/* no filter => do not forward VCID tagged frames */
+			if (cxl->prio & CANXL_VCID_MASK)
+				return;
+		}
+	}
+
 	/* eliminate multiple filter matches for the same skb */
 	if (this_cpu_ptr(ro->uniq)->skb == oskb &&
 	    this_cpu_ptr(ro->uniq)->skbcnt == can_skb_prv(oskb)->skbcnt) {
@@ -698,6 +721,19 @@ static int raw_setsockopt(struct socket *sock, int level, int optname,
 			ro->fd_frames = ro->xl_frames;
 		break;
 
+	case CAN_RAW_XL_VCID_OPTS:
+		if (optlen != sizeof(ro->raw_vcid_opts))
+			return -EINVAL;
+
+		if (copy_from_sockptr(&ro->raw_vcid_opts, optval, optlen))
+			return -EFAULT;
+
+		/* prepare 32 bit values for handling in hot path */
+		ro->tx_vcid_shifted = ro->raw_vcid_opts.tx_vcid << CANXL_VCID_OFFSET;
+		ro->rx_vcid_shifted = ro->raw_vcid_opts.rx_vcid << CANXL_VCID_OFFSET;
+		ro->rx_vcid_mask_shifted = ro->raw_vcid_opts.rx_vcid_mask << CANXL_VCID_OFFSET;
+		break;
+
 	case CAN_RAW_JOIN_FILTERS:
 		if (optlen != sizeof(ro->join_filters))
 			return -EINVAL;
@@ -786,6 +822,21 @@ static int raw_getsockopt(struct socket *sock, int level, int optname,
 		val = &ro->xl_frames;
 		break;
 
+	case CAN_RAW_XL_VCID_OPTS:
+		/* user space buffer to small for VCID opts? */
+		if (len < sizeof(ro->raw_vcid_opts)) {
+			/* return -ERANGE and needed space in optlen */
+			err = -ERANGE;
+			if (put_user(sizeof(ro->raw_vcid_opts), optlen))
+				err = -EFAULT;
+		} else {
+			if (len > sizeof(ro->raw_vcid_opts))
+				len = sizeof(ro->raw_vcid_opts);
+			if (copy_to_user(optval, &ro->raw_vcid_opts, len))
+				err = -EFAULT;
+		}
+		break;
+
 	case CAN_RAW_JOIN_FILTERS:
 		if (len > sizeof(int))
 			len = sizeof(int);
@@ -803,23 +854,41 @@ static int raw_getsockopt(struct socket *sock, int level, int optname,
 	return 0;
 }
 
-static bool raw_bad_txframe(struct raw_sock *ro, struct sk_buff *skb, int mtu)
+static void raw_put_canxl_vcid(struct raw_sock *ro, struct sk_buff *skb)
+{
+	struct canxl_frame *cxl = (struct canxl_frame *)skb->data;
+
+	/* sanitize non CAN XL bits */
+	cxl->prio &= (CANXL_PRIO_MASK | CANXL_VCID_MASK);
+
+	/* clear VCID in CAN XL frame if pass through is disabled */
+	if (!(ro->raw_vcid_opts.flags & CAN_RAW_XL_VCID_TX_PASS))
+		cxl->prio &= CANXL_PRIO_MASK;
+
+	/* set VCID in CAN XL frame if enabled */
+	if (ro->raw_vcid_opts.flags & CAN_RAW_XL_VCID_TX_SET) {
+		cxl->prio &= CANXL_PRIO_MASK;
+		cxl->prio |= ro->tx_vcid_shifted;
+	}
+}
+
+static unsigned int raw_check_txframe(struct raw_sock *ro, struct sk_buff *skb, int mtu)
 {
 	/* Classical CAN -> no checks for flags and device capabilities */
 	if (can_is_can_skb(skb))
-		return false;
+		return CAN_MTU;
 
 	/* CAN FD -> needs to be enabled and a CAN FD or CAN XL device */
 	if (ro->fd_frames && can_is_canfd_skb(skb) &&
 	    (mtu == CANFD_MTU || can_is_canxl_dev_mtu(mtu)))
-		return false;
+		return CANFD_MTU;
 
 	/* CAN XL -> needs to be enabled and a CAN XL device */
 	if (ro->xl_frames && can_is_canxl_skb(skb) &&
 	    can_is_canxl_dev_mtu(mtu))
-		return false;
+		return CANXL_MTU;
 
-	return true;
+	return 0;
 }
 
 static int raw_sendmsg(struct socket *sock, struct msghdr *msg, size_t size)
@@ -829,6 +898,7 @@ static int raw_sendmsg(struct socket *sock, struct msghdr *msg, size_t size)
 	struct sockcm_cookie sockc;
 	struct sk_buff *skb;
 	struct net_device *dev;
+	unsigned int txmtu;
 	int ifindex;
 	int err = -EINVAL;
 
@@ -869,9 +939,16 @@ static int raw_sendmsg(struct socket *sock, struct msghdr *msg, size_t size)
 		goto free_skb;
 
 	err = -EINVAL;
-	if (raw_bad_txframe(ro, skb, dev->mtu))
+
+	/* check for valid CAN (CC/FD/XL) frame content */
+	txmtu = raw_check_txframe(ro, skb, dev->mtu);
+	if (!txmtu)
 		goto free_skb;
 
+	/* only CANXL: clear/forward/set VCID value */
+	if (txmtu == CANXL_MTU)
+		raw_put_canxl_vcid(ro, skb);
+
 	sockcm_init(&sockc, sk);
 	if (msg->msg_controllen) {
 		err = sock_cmsg_send(sk, msg, &sockc);