can: ctucanfd: add support for CTU CAN FD open-source IP core - bus independent part.

This driver adds support for the CTU CAN FD open-source IP core.
More documentation and core sources at project page
(https://gitlab.fel.cvut.cz/canbus/ctucanfd_ip_core).
The core integration to Xilinx Zynq system as platform driver
is available (https://gitlab.fel.cvut.cz/canbus/zynq/zynq-can-sja1000-top).
Implementation on Intel FPGA based PCI Express board is available
from project (https://gitlab.fel.cvut.cz/canbus/pcie-ctucanfd).

More about CAN bus related projects used and developed at CTU FEE at
https://canbus.pages.fel.cvut.cz/ .

Link: https://lore.kernel.org/all/1906e4941560ae2ce4b8d181131fd4963aa31611.1647904780.git.pisa@cmp.felk.cvut.cz
Signed-off-by: Martin Jerabek <martin.jerabek01@gmail.com>
Signed-off-by: Ondrej Ille <ondrej.ille@gmail.com>
Signed-off-by: Pavel Pisa <pisa@cmp.felk.cvut.cz>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>

8 files changed, 1995 insertions, 0 deletions

diff --git a/drivers/net/can/Kconfig b/drivers/net/can/Kconfig
index fff259247d52..ac760fd39282 100644
--- a/drivers/net/can/Kconfig
+++ b/drivers/net/can/Kconfig
@@ -170,6 +170,7 @@ config PCH_CAN
 
 source "drivers/net/can/c_can/Kconfig"
 source "drivers/net/can/cc770/Kconfig"
+source "drivers/net/can/ctucanfd/Kconfig"
 source "drivers/net/can/ifi_canfd/Kconfig"
 source "drivers/net/can/m_can/Kconfig"
 source "drivers/net/can/mscan/Kconfig"
diff --git a/drivers/net/can/Makefile b/drivers/net/can/Makefile
index 1e660afcb61b..0af85983634c 100644
--- a/drivers/net/can/Makefile
+++ b/drivers/net/can/Makefile
@@ -16,6 +16,7 @@ obj-y				+= softing/
 obj-$(CONFIG_CAN_AT91)		+= at91_can.o
 obj-$(CONFIG_CAN_CC770)		+= cc770/
 obj-$(CONFIG_CAN_C_CAN)		+= c_can/
+obj-$(CONFIG_CAN_CTUCANFD)	+= ctucanfd/
 obj-$(CONFIG_CAN_FLEXCAN)	+= flexcan/
 obj-$(CONFIG_CAN_GRCAN)		+= grcan.o
 obj-$(CONFIG_CAN_IFI_CANFD)	+= ifi_canfd/
diff --git a/drivers/net/can/ctucanfd/Kconfig b/drivers/net/can/ctucanfd/Kconfig
new file mode 100644
index 000000000000..b5f364068f86
--- /dev/null
+++ b/drivers/net/can/ctucanfd/Kconfig
@@ -0,0 +1,12 @@
+config CAN_CTUCANFD
+	tristate "CTU CAN-FD IP core"
+	help
+	  This driver adds support for the CTU CAN FD open-source IP core.
+	  More documentation and core sources at project page
+	  (https://gitlab.fel.cvut.cz/canbus/ctucanfd_ip_core).
+	  The core integration to Xilinx Zynq system as platform driver
+	  is available (https://gitlab.fel.cvut.cz/canbus/zynq/zynq-can-sja1000-top).
+	  Implementation on Intel FPGA-based PCI Express board is available
+	  from project (https://gitlab.fel.cvut.cz/canbus/pcie-ctucanfd) and
+	  on Intel SoC from project (https://gitlab.fel.cvut.cz/canbus/intel-soc-ctucanfd).
+	  Guidepost CTU FEE CAN bus projects page https://canbus.pages.fel.cvut.cz/ .
diff --git a/drivers/net/can/ctucanfd/Makefile b/drivers/net/can/ctucanfd/Makefile
new file mode 100644
index 000000000000..259ecb0222c2
--- /dev/null
+++ b/drivers/net/can/ctucanfd/Makefile
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Makefile for the CTU CAN-FD IP module drivers
+#
+
+obj-$(CONFIG_CAN_CTUCANFD) := ctucanfd.o
+ctucanfd-y := ctucanfd_base.o
diff --git a/drivers/net/can/ctucanfd/ctucanfd.h b/drivers/net/can/ctucanfd/ctucanfd.h
new file mode 100644
index 000000000000..0e9904f6a05d
--- /dev/null
+++ b/drivers/net/can/ctucanfd/ctucanfd.h
@@ -0,0 +1,82 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*******************************************************************************
+ *
+ * CTU CAN FD IP Core
+ *
+ * Copyright (C) 2015-2018 Ondrej Ille <ondrej.ille@gmail.com> FEE CTU
+ * Copyright (C) 2018-2021 Ondrej Ille <ondrej.ille@gmail.com> self-funded
+ * Copyright (C) 2018-2019 Martin Jerabek <martin.jerabek01@gmail.com> FEE CTU
+ * Copyright (C) 2018-2021 Pavel Pisa <pisa@cmp.felk.cvut.cz> FEE CTU/self-funded
+ *
+ * Project advisors:
+ *     Jiri Novak <jnovak@fel.cvut.cz>
+ *     Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Department of Measurement         (http://meas.fel.cvut.cz/)
+ * Faculty of Electrical Engineering (http://www.fel.cvut.cz)
+ * Czech Technical University        (http://www.cvut.cz/)
+ ******************************************************************************/
+
+#ifndef __CTUCANFD__
+#define __CTUCANFD__
+
+#include <linux/netdevice.h>
+#include <linux/can/dev.h>
+#include <linux/list.h>
+
+enum ctu_can_fd_can_registers;
+
+struct ctucan_priv {
+	struct can_priv can; /* must be first member! */
+
+	void __iomem *mem_base;
+	u32 (*read_reg)(struct ctucan_priv *priv,
+			enum ctu_can_fd_can_registers reg);
+	void (*write_reg)(struct ctucan_priv *priv,
+			  enum ctu_can_fd_can_registers reg, u32 val);
+
+	unsigned int txb_head;
+	unsigned int txb_tail;
+	u32 txb_prio;
+	unsigned int ntxbufs;
+	spinlock_t tx_lock; /* spinlock to serialize allocation and processing of TX buffers */
+
+	struct napi_struct napi;
+	struct device *dev;
+	struct clk *can_clk;
+
+	int irq_flags;
+	unsigned long drv_flags;
+
+	u32 rxfrm_first_word;
+
+	struct list_head peers_on_pdev;
+};
+
+/**
+ * ctucan_probe_common - Device type independent registration call
+ *
+ * This function does all the memory allocation and registration for the CAN
+ * device.
+ *
+ * @dev:	Handle to the generic device structure
+ * @addr:	Base address of CTU CAN FD core address
+ * @irq:	Interrupt number
+ * @ntxbufs:	Number of implemented Tx buffers
+ * @can_clk_rate: Clock rate, if 0 then clock are taken from device node
+ * @pm_enable_call: Whether pm_runtime_enable should be called
+ * @set_drvdata_fnc: Function to set network driver data for physical device
+ *
+ * Return: 0 on success and failure value on error
+ */
+int ctucan_probe_common(struct device *dev, void __iomem *addr,
+			int irq, unsigned int ntxbufs,
+			unsigned long can_clk_rate,
+			int pm_enable_call,
+			void (*set_drvdata_fnc)(struct device *dev,
+						struct net_device *ndev));
+
+int ctucan_suspend(struct device *dev) __maybe_unused;
+int ctucan_resume(struct device *dev) __maybe_unused;
+
+#endif /*__CTUCANFD__*/
diff --git a/drivers/net/can/ctucanfd/ctucanfd_base.c b/drivers/net/can/ctucanfd/ctucanfd_base.c
new file mode 100644
index 000000000000..7a4550f60abb
--- /dev/null
+++ b/drivers/net/can/ctucanfd/ctucanfd_base.c
@@ -0,0 +1,1490 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*******************************************************************************
+ *
+ * CTU CAN FD IP Core
+ *
+ * Copyright (C) 2015-2018 Ondrej Ille <ondrej.ille@gmail.com> FEE CTU
+ * Copyright (C) 2018-2021 Ondrej Ille <ondrej.ille@gmail.com> self-funded
+ * Copyright (C) 2018-2019 Martin Jerabek <martin.jerabek01@gmail.com> FEE CTU
+ * Copyright (C) 2018-2022 Pavel Pisa <pisa@cmp.felk.cvut.cz> FEE CTU/self-funded
+ *
+ * Project advisors:
+ *     Jiri Novak <jnovak@fel.cvut.cz>
+ *     Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Department of Measurement         (http://meas.fel.cvut.cz/)
+ * Faculty of Electrical Engineering (http://www.fel.cvut.cz)
+ * Czech Technical University        (http://www.cvut.cz/)
+ ******************************************************************************/
+
+#include <linux/clk.h>
+#include <linux/errno.h>
+#include <linux/init.h>
+#include <linux/bitfield.h>
+#include <linux/interrupt.h>
+#include <linux/io.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/skbuff.h>
+#include <linux/string.h>
+#include <linux/types.h>
+#include <linux/can/error.h>
+#include <linux/can/led.h>
+#include <linux/pm_runtime.h>
+#include <linux/version.h>
+
+#include "ctucanfd.h"
+#include "ctucanfd_kregs.h"
+#include "ctucanfd_kframe.h"
+
+#ifdef DEBUG
+#define  ctucan_netdev_dbg(ndev, args...) \
+		netdev_dbg(ndev, args)
+#else
+#define ctucan_netdev_dbg(...) do { } while (0)
+#endif
+
+#define CTUCANFD_ID 0xCAFD
+
+/* TX buffer rotation:
+ * - when a buffer transitions to empty state, rotate order and priorities
+ * - if more buffers seem to transition at the same time, rotate by the number of buffers
+ * - it may be assumed that buffers transition to empty state in FIFO order (because we manage
+ *   priorities that way)
+ * - at frame filling, do not rotate anything, just increment buffer modulo counter
+ */
+
+#define CTUCANFD_FLAG_RX_FFW_BUFFERED	1
+
+#define CTUCAN_STATE_TO_TEXT_ENTRY(st) \
+		[st] = #st
+
+enum ctucan_txtb_status {
+	TXT_NOT_EXIST       = 0x0,
+	TXT_RDY             = 0x1,
+	TXT_TRAN            = 0x2,
+	TXT_ABTP            = 0x3,
+	TXT_TOK             = 0x4,
+	TXT_ERR             = 0x6,
+	TXT_ABT             = 0x7,
+	TXT_ETY             = 0x8,
+};
+
+enum ctucan_txtb_command {
+	TXT_CMD_SET_EMPTY   = 0x01,
+	TXT_CMD_SET_READY   = 0x02,
+	TXT_CMD_SET_ABORT   = 0x04
+};
+
+static const struct can_bittiming_const ctu_can_fd_bit_timing_max = {
+	.name = "ctu_can_fd",
+	.tseg1_min = 2,
+	.tseg1_max = 190,
+	.tseg2_min = 1,
+	.tseg2_max = 63,
+	.sjw_max = 31,
+	.brp_min = 1,
+	.brp_max = 8,
+	.brp_inc = 1,
+};
+
+static const struct can_bittiming_const ctu_can_fd_bit_timing_data_max = {
+	.name = "ctu_can_fd",
+	.tseg1_min = 2,
+	.tseg1_max = 94,
+	.tseg2_min = 1,
+	.tseg2_max = 31,
+	.sjw_max = 31,
+	.brp_min = 1,
+	.brp_max = 2,
+	.brp_inc = 1,
+};
+
+static const char * const ctucan_state_strings[CAN_STATE_MAX] = {
+	CTUCAN_STATE_TO_TEXT_ENTRY(CAN_STATE_ERROR_ACTIVE),
+	CTUCAN_STATE_TO_TEXT_ENTRY(CAN_STATE_ERROR_WARNING),
+	CTUCAN_STATE_TO_TEXT_ENTRY(CAN_STATE_ERROR_PASSIVE),
+	CTUCAN_STATE_TO_TEXT_ENTRY(CAN_STATE_BUS_OFF),
+	CTUCAN_STATE_TO_TEXT_ENTRY(CAN_STATE_STOPPED),
+	CTUCAN_STATE_TO_TEXT_ENTRY(CAN_STATE_SLEEPING)
+};
+
+static void ctucan_write32_le(struct ctucan_priv *priv,
+			      enum ctu_can_fd_can_registers reg, u32 val)
+{
+	iowrite32(val, priv->mem_base + reg);
+}
+
+static void ctucan_write32_be(struct ctucan_priv *priv,
+			      enum ctu_can_fd_can_registers reg, u32 val)
+{
+	iowrite32be(val, priv->mem_base + reg);
+}
+
+static u32 ctucan_read32_le(struct ctucan_priv *priv,
+			    enum ctu_can_fd_can_registers reg)
+{
+	return ioread32(priv->mem_base + reg);
+}
+
+static u32 ctucan_read32_be(struct ctucan_priv *priv,
+			    enum ctu_can_fd_can_registers reg)
+{
+	return ioread32be(priv->mem_base + reg);
+}
+
+static inline void ctucan_write32(struct ctucan_priv *priv, enum ctu_can_fd_can_registers reg,
+				  u32 val)
+{
+	priv->write_reg(priv, reg, val);
+}
+
+static inline u32 ctucan_read32(struct ctucan_priv *priv, enum ctu_can_fd_can_registers reg)
+{
+	return priv->read_reg(priv, reg);
+}
+
+static void ctucan_write_txt_buf(struct ctucan_priv *priv, enum ctu_can_fd_can_registers buf_base,
+				 u32 offset, u32 val)
+{
+	priv->write_reg(priv, buf_base + offset, val);
+}
+
+#define CTU_CAN_FD_TXTNF(priv) (!!FIELD_GET(REG_STATUS_TXNF, ctucan_read32(priv, CTUCANFD_STATUS)))
+#define CTU_CAN_FD_ENABLED(priv) (!!FIELD_GET(REG_MODE_ENA, ctucan_read32(priv, CTUCANFD_MODE)))
+
+/**
+ * ctucan_state_to_str() - Converts CAN controller state code to corresponding text
+ * @state:	CAN controller state code
+ *
+ * Return: Pointer to string representation of the error state
+ */
+static const char *ctucan_state_to_str(enum can_state state)
+{
+	const char *txt = NULL;
+
+	if (state >= 0 && state < CAN_STATE_MAX)
+		txt = ctucan_state_strings[state];
+	return txt ? txt : "UNKNOWN";
+}
+
+/**
+ * ctucan_reset() - Issues software reset request to CTU CAN FD
+ * @ndev:	Pointer to net_device structure
+ *
+ * Return: 0 for success, -%ETIMEDOUT if CAN controller does not leave reset
+ */
+static int ctucan_reset(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	int i = 100;
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	ctucan_write32(priv, CTUCANFD_MODE, REG_MODE_RST);
+	clear_bit(CTUCANFD_FLAG_RX_FFW_BUFFERED, &priv->drv_flags);
+
+	do {
+		u16 device_id = FIELD_GET(REG_DEVICE_ID_DEVICE_ID,
+					  ctucan_read32(priv, CTUCANFD_DEVICE_ID));
+
+		if (device_id == 0xCAFD)
+			return 0;
+		if (!i--) {
+			netdev_warn(ndev, "device did not leave reset\n");
+			return -ETIMEDOUT;
+		}
+		usleep_range(100, 200);
+	} while (1);
+}
+
+/**
+ * ctucan_set_btr() - Sets CAN bus bit timing in CTU CAN FD
+ * @ndev:	Pointer to net_device structure
+ * @bt:		Pointer to Bit timing structure
+ * @nominal:	True - Nominal bit timing, False - Data bit timing
+ *
+ * Return: 0 - OK, -%EPERM if controller is enabled
+ */
+static int ctucan_set_btr(struct net_device *ndev, struct can_bittiming *bt, bool nominal)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	int max_ph1_len = 31;
+	u32 btr = 0;
+	u32 prop_seg = bt->prop_seg;
+	u32 phase_seg1 = bt->phase_seg1;
+
+	if (CTU_CAN_FD_ENABLED(priv)) {
+		netdev_err(ndev, "BUG! Cannot set bittiming - CAN is enabled\n");
+		return -EPERM;
+	}
+
+	if (nominal)
+		max_ph1_len = 63;
+
+	/* The timing calculation functions have only constraints on tseg1, which is prop_seg +
+	 * phase1_seg combined. tseg1 is then split in half and stored into prog_seg and phase_seg1.
+	 * In CTU CAN FD, PROP is 6/7 bits wide but PH1 only 6/5, so we must re-distribute the
+	 * values here.
+	 */
+	if (phase_seg1 > max_ph1_len) {
+		prop_seg += phase_seg1 - max_ph1_len;
+		phase_seg1 = max_ph1_len;
+		bt->prop_seg = prop_seg;
+		bt->phase_seg1 = phase_seg1;
+	}
+
+	if (nominal) {
+		btr = FIELD_PREP(REG_BTR_PROP, prop_seg);
+		btr |= FIELD_PREP(REG_BTR_PH1, phase_seg1);
+		btr |= FIELD_PREP(REG_BTR_PH2, bt->phase_seg2);
+		btr |= FIELD_PREP(REG_BTR_BRP, bt->brp);
+		btr |= FIELD_PREP(REG_BTR_SJW, bt->sjw);
+
+		ctucan_write32(priv, CTUCANFD_BTR, btr);
+	} else {
+		btr = FIELD_PREP(REG_BTR_FD_PROP_FD, prop_seg);
+		btr |= FIELD_PREP(REG_BTR_FD_PH1_FD, phase_seg1);
+		btr |= FIELD_PREP(REG_BTR_FD_PH2_FD, bt->phase_seg2);
+		btr |= FIELD_PREP(REG_BTR_FD_BRP_FD, bt->brp);
+		btr |= FIELD_PREP(REG_BTR_FD_SJW_FD, bt->sjw);
+
+		ctucan_write32(priv, CTUCANFD_BTR_FD, btr);
+	}
+
+	return 0;
+}
+
+/**
+ * ctucan_set_bittiming() - CAN set nominal bit timing routine
+ * @ndev:	Pointer to net_device structure
+ *
+ * Return: 0 on success, -%EPERM on error
+ */
+static int ctucan_set_bittiming(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	struct can_bittiming *bt = &priv->can.bittiming;
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	/* Note that bt may be modified here */
+	return ctucan_set_btr(ndev, bt, true);
+}
+
+/**
+ * ctucan_set_data_bittiming() - CAN set data bit timing routine
+ * @ndev:	Pointer to net_device structure
+ *
+ * Return: 0 on success, -%EPERM on error
+ */
+static int ctucan_set_data_bittiming(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	struct can_bittiming *dbt = &priv->can.data_bittiming;
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	/* Note that dbt may be modified here */
+	return ctucan_set_btr(ndev, dbt, false);
+}
+
+/**
+ * ctucan_set_secondary_sample_point() - Sets secondary sample point in CTU CAN FD
+ * @ndev:	Pointer to net_device structure
+ *
+ * Return: 0 on success, -%EPERM if controller is enabled
+ */
+static int ctucan_set_secondary_sample_point(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	struct can_bittiming *dbt = &priv->can.data_bittiming;
+	int ssp_offset = 0;
+	u32 ssp_cfg = 0; /* No SSP by default */
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	if (CTU_CAN_FD_ENABLED(priv)) {
+		netdev_err(ndev, "BUG! Cannot set SSP - CAN is enabled\n");
+		return -EPERM;
+	}
+
+	/* Use SSP for bit-rates above 1 Mbits/s */
+	if (dbt->bitrate > 1000000) {
+		/* Calculate SSP in minimal time quanta */
+		ssp_offset = (priv->can.clock.freq / 1000) * dbt->sample_point / dbt->bitrate;
+
+		if (ssp_offset > 127) {
+			netdev_warn(ndev, "SSP offset saturated to 127\n");
+			ssp_offset = 127;
+		}
+
+		ssp_cfg = FIELD_PREP(REG_TRV_DELAY_SSP_OFFSET, ssp_offset);
+		ssp_cfg |= FIELD_PREP(REG_TRV_DELAY_SSP_SRC, 0x1);
+	}
+
+	ctucan_write32(priv, CTUCANFD_TRV_DELAY, ssp_cfg);
+
+	return 0;
+}
+
+/**
+ * ctucan_set_mode() - Sets CTU CAN FDs mode
+ * @priv:	Pointer to private data
+ * @mode:	Pointer to controller modes to be set
+ */
+static void ctucan_set_mode(struct ctucan_priv *priv, const struct can_ctrlmode *mode)
+{
+	u32 mode_reg = ctucan_read32(priv, CTUCANFD_MODE);
+
+	mode_reg = (mode->flags & CAN_CTRLMODE_LOOPBACK) ?
+			(mode_reg | REG_MODE_ILBP) :
+			(mode_reg & ~REG_MODE_ILBP);
+
+	mode_reg = (mode->flags & CAN_CTRLMODE_LISTENONLY) ?
+			(mode_reg | REG_MODE_BMM) :
+			(mode_reg & ~REG_MODE_BMM);
+
+	mode_reg = (mode->flags & CAN_CTRLMODE_FD) ?
+			(mode_reg | REG_MODE_FDE) :
+			(mode_reg & ~REG_MODE_FDE);
+
+	mode_reg = (mode->flags & CAN_CTRLMODE_PRESUME_ACK) ?
+			(mode_reg | REG_MODE_ACF) :
+			(mode_reg & ~REG_MODE_ACF);
+
+	mode_reg = (mode->flags & CAN_CTRLMODE_FD_NON_ISO) ?
+			(mode_reg | REG_MODE_NISOFD) :
+			(mode_reg & ~REG_MODE_NISOFD);
+
+	/* One shot mode supported indirectly via Retransmit limit */
+	mode_reg &= ~FIELD_PREP(REG_MODE_RTRTH, 0xF);
+	mode_reg = (mode->flags & CAN_CTRLMODE_ONE_SHOT) ?
+			(mode_reg | REG_MODE_RTRLE) :
+			(mode_reg & ~REG_MODE_RTRLE);
+
+	/* Some bits fixed:
+	 *   TSTM  - Off, User shall not be able to change REC/TEC by hand during operation
+	 */
+	mode_reg &= ~REG_MODE_TSTM;
+
+	ctucan_write32(priv, CTUCANFD_MODE, mode_reg);
+}
+
+/**
+ * ctucan_chip_start() - This routine starts the driver
+ * @ndev:	Pointer to net_device structure
+ *
+ * Routine expects that chip is in reset state. It setups initial
+ * Tx buffers for FIFO priorities, sets bittiming, enables interrupts,
+ * switches core to operational mode and changes controller
+ * state to %CAN_STATE_STOPPED.
+ *
+ * Return: 0 on success and failure value on error
+ */
+static int ctucan_chip_start(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	u32 int_ena, int_msk;
+	u32 mode_reg;
+	int err;
+	struct can_ctrlmode mode;
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	priv->txb_prio = 0x01234567;
+	priv->txb_head = 0;
+	priv->txb_tail = 0;
+	ctucan_write32(priv, CTUCANFD_TX_PRIORITY, priv->txb_prio);
+
+	/* Configure bit-rates and ssp */
+	err = ctucan_set_bittiming(ndev);
+	if (err < 0)
+		return err;
+
+	err = ctucan_set_data_bittiming(ndev);
+	if (err < 0)
+		return err;
+
+	err = ctucan_set_secondary_sample_point(ndev);
+	if (err < 0)
+		return err;
+
+	/* Configure modes */
+	mode.flags = priv->can.ctrlmode;
+	mode.mask = 0xFFFFFFFF;
+	ctucan_set_mode(priv, &mode);
+
+	/* Configure interrupts */
+	int_ena = REG_INT_STAT_RBNEI |
+		  REG_INT_STAT_TXBHCI |
+		  REG_INT_STAT_EWLI |
+		  REG_INT_STAT_FCSI;
+
+	/* Bus error reporting -> Allow Error/Arb.lost interrupts */
+	if (priv->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING) {
+		int_ena |= REG_INT_STAT_ALI |
+			   REG_INT_STAT_BEI;
+	}
+
+	int_msk = ~int_ena; /* Mask all disabled interrupts */
+
+	/* It's after reset, so there is no need to clear anything */
+	ctucan_write32(priv, CTUCANFD_INT_MASK_SET, int_msk);
+	ctucan_write32(priv, CTUCANFD_INT_ENA_SET, int_ena);
+
+	/* Controller enters ERROR_ACTIVE on initial FCSI */
+	priv->can.state = CAN_STATE_STOPPED;
+
+	/* Enable the controller */
+	mode_reg = ctucan_read32(priv, CTUCANFD_MODE);
+	mode_reg |= REG_MODE_ENA;
+	ctucan_write32(priv, CTUCANFD_MODE, mode_reg);
+
+	return 0;
+}
+
+/**
+ * ctucan_do_set_mode() - Sets mode of the driver
+ * @ndev:	Pointer to net_device structure
+ * @mode:	Tells the mode of the driver
+ *
+ * This check the drivers state and calls the corresponding modes to set.
+ *
+ * Return: 0 on success and failure value on error
+ */
+static int ctucan_do_set_mode(struct net_device *ndev, enum can_mode mode)
+{
+	int ret;
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	switch (mode) {
+	case CAN_MODE_START:
+		ret = ctucan_reset(ndev);
+		if (ret < 0)
+			return ret;
+		ret = ctucan_chip_start(ndev);
+		if (ret < 0) {
+			netdev_err(ndev, "ctucan_chip_start failed!\n");
+			return ret;
+		}
+		netif_wake_queue(ndev);
+		break;
+	default:
+		ret = -EOPNOTSUPP;
+		break;
+	}
+
+	return ret;
+}
+
+/**
+ * ctucan_get_tx_status() - Gets status of TXT buffer
+ * @priv:	Pointer to private data
+ * @buf:	Buffer index (0-based)
+ *
+ * Return: Status of TXT buffer
+ */
+static inline enum ctucan_txtb_status ctucan_get_tx_status(struct ctucan_priv *priv, u8 buf)
+{
+	u32 tx_status = ctucan_read32(priv, CTUCANFD_TX_STATUS);
+	enum ctucan_txtb_status status = (tx_status >> (buf * 4)) & 0x7;
+
+	return status;
+}
+
+/**
+ * ctucan_is_txt_buf_writable() - Checks if frame can be inserted to TXT Buffer
+ * @priv:	Pointer to private data
+ * @buf:	Buffer index (0-based)
+ *
+ * Return: True - Frame can be inserted to TXT Buffer, False - If attempted, frame will not be
+ *	   inserted to TXT Buffer
+ */
+static bool ctucan_is_txt_buf_writable(struct ctucan_priv *priv, u8 buf)
+{
+	enum ctucan_txtb_status buf_status;
+
+	buf_status = ctucan_get_tx_status(priv, buf);
+	if (buf_status == TXT_RDY || buf_status == TXT_TRAN || buf_status == TXT_ABTP)
+		return false;
+
+	return true;
+}
+
+/**
+ * ctucan_insert_frame() - Inserts frame to TXT buffer
+ * @priv:	Pointer to private data
+ * @cf:		Pointer to CAN frame to be inserted
+ * @buf:	TXT Buffer index to which frame is inserted (0-based)
+ * @isfdf:	True - CAN FD Frame, False - CAN 2.0 Frame
+ *
+ * Return: True - Frame inserted successfully
+ *	   False - Frame was not inserted due to one of:
+ *			1. TXT Buffer is not writable (it is in wrong state)
+ *			2. Invalid TXT buffer index
+ *			3. Invalid frame length
+ */
+static bool ctucan_insert_frame(struct ctucan_priv *priv, const struct canfd_frame *cf, u8 buf,
+				bool isfdf)
+{
+	u32 buf_base;
+	u32 ffw = 0;
+	u32 idw = 0;
+	unsigned int i;
+
+	if (buf >= priv->ntxbufs)
+		return false;
+
+	if (!ctucan_is_txt_buf_writable(priv, buf))
+		return false;
+
+	if (cf->len > CANFD_MAX_DLEN)
+		return false;
+
+	/* Prepare Frame format */
+	if (cf->can_id & CAN_RTR_FLAG)
+		ffw |= REG_FRAME_FORMAT_W_RTR;
+
+	if (cf->can_id & CAN_EFF_FLAG)
+		ffw |= REG_FRAME_FORMAT_W_IDE;
+
+	if (isfdf) {
+		ffw |= REG_FRAME_FORMAT_W_FDF;
+		if (cf->flags & CANFD_BRS)
+			ffw |= REG_FRAME_FORMAT_W_BRS;
+	}
+
+	ffw |= FIELD_PREP(REG_FRAME_FORMAT_W_DLC, can_fd_len2dlc(cf->len));
+
+	/* Prepare identifier */
+	if (cf->can_id & CAN_EFF_FLAG)
+		idw = cf->can_id & CAN_EFF_MASK;
+	else
+		idw = FIELD_PREP(REG_IDENTIFIER_W_IDENTIFIER_BASE, cf->can_id & CAN_SFF_MASK);
+
+	/* Write ID, Frame format, Don't write timestamp -> Time triggered transmission disabled */
+	buf_base = (buf + 1) * 0x100;
+	ctucan_write_txt_buf(priv, buf_base, CTUCANFD_FRAME_FORMAT_W, ffw);
+	ctucan_write_txt_buf(priv, buf_base, CTUCANFD_IDENTIFIER_W, idw);
+
+	/* Write Data payload */
+	if (!(cf->can_id & CAN_RTR_FLAG)) {
+		for (i = 0; i < cf->len; i += 4) {
+			u32 data = le32_to_cpu(*(__le32 *)(cf->data + i));
+
+			ctucan_write_txt_buf(priv, buf_base, CTUCANFD_DATA_1_4_W + i, data);
+		}
+	}
+
+	return true;
+}
+
+/**
+ * ctucan_give_txtb_cmd() - Applies command on TXT buffer
+ * @priv:	Pointer to private data
+ * @cmd:	Command to give
+ * @buf:	Buffer index (0-based)
+ */
+static void ctucan_give_txtb_cmd(struct ctucan_priv *priv, enum ctucan_txtb_command cmd, u8 buf)
+{
+	u32 tx_cmd = cmd;
+
+	tx_cmd |= 1 << (buf + 8);
+	ctucan_write32(priv, CTUCANFD_TX_COMMAND, tx_cmd);
+}
+
+/**
+ * ctucan_start_xmit() - Starts the transmission
+ * @skb:	sk_buff pointer that contains data to be Txed
+ * @ndev:	Pointer to net_device structure
+ *
+ * Invoked from upper layers to initiate transmission. Uses the next available free TXT Buffer and
+ * populates its fields to start the transmission.
+ *
+ * Return: %NETDEV_TX_OK on success, %NETDEV_TX_BUSY when no free TXT buffer is available,
+ *         negative return values reserved for error cases
+ */
+static netdev_tx_t ctucan_start_xmit(struct sk_buff *skb, struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	struct canfd_frame *cf = (struct canfd_frame *)skb->data;
+	u32 txtb_id;
+	bool ok;
+	unsigned long flags;
+
+	if (can_dropped_invalid_skb(ndev, skb))
+		return NETDEV_TX_OK;
+
+	if (unlikely(!CTU_CAN_FD_TXTNF(priv))) {
+		netif_stop_queue(ndev);
+		netdev_err(ndev, "BUG!, no TXB free when queue awake!\n");
+		return NETDEV_TX_BUSY;
+	}
+
+	txtb_id = priv->txb_head % priv->ntxbufs;
+	ctucan_netdev_dbg(ndev, "%s: using TXB#%u\n", __func__, txtb_id);
+	ok = ctucan_insert_frame(priv, cf, txtb_id, can_is_canfd_skb(skb));
+
+	if (!ok) {
+		netdev_err(ndev, "BUG! TXNF set but cannot insert frame into TXTB! HW Bug?");
+		kfree_skb(skb);
+		ndev->stats.tx_dropped++;
+		return NETDEV_TX_OK;
+	}
+
+	can_put_echo_skb(skb, ndev, txtb_id, 0);
+
+	spin_lock_irqsave(&priv->tx_lock, flags);
+	ctucan_give_txtb_cmd(priv, TXT_CMD_SET_READY, txtb_id);
+	priv->txb_head++;
+
+	/* Check if all TX buffers are full */
+	if (!CTU_CAN_FD_TXTNF(priv))
+		netif_stop_queue(ndev);
+
+	spin_unlock_irqrestore(&priv->tx_lock, flags);
+
+	return NETDEV_TX_OK;
+}
+
+/**
+ * ctucan_read_rx_frame() - Reads frame from RX FIFO
+ * @priv:	Pointer to CTU CAN FD's private data
+ * @cf:		Pointer to CAN frame struct
+ * @ffw:	Previously read frame format word
+ *
+ * Note: Frame format word must be read separately and provided in 'ffw'.
+ */
+static void ctucan_read_rx_frame(struct ctucan_priv *priv, struct canfd_frame *cf, u32 ffw)
+{
+	u32 idw;
+	unsigned int i;
+	unsigned int wc;
+	unsigned int len;
+
+	idw = ctucan_read32(priv, CTUCANFD_RX_DATA);
+	if (FIELD_GET(REG_FRAME_FORMAT_W_IDE, ffw))
+		cf->can_id = (idw & CAN_EFF_MASK) | CAN_EFF_FLAG;
+	else
+		cf->can_id = (idw >> 18) & CAN_SFF_MASK;
+
+	/* BRS, ESI, RTR Flags */
+	cf->flags = 0;
+	if (FIELD_GET(REG_FRAME_FORMAT_W_FDF, ffw)) {
+		if (FIELD_GET(REG_FRAME_FORMAT_W_BRS, ffw))
+			cf->flags |= CANFD_BRS;
+		if (FIELD_GET(REG_FRAME_FORMAT_W_ESI_RSV, ffw))
+			cf->flags |= CANFD_ESI;
+	} else if (FIELD_GET(REG_FRAME_FORMAT_W_RTR, ffw)) {
+		cf->can_id |= CAN_RTR_FLAG;
+	}
+
+	wc = FIELD_GET(REG_FRAME_FORMAT_W_RWCNT, ffw) - 3;
+
+	/* DLC */
+	if (FIELD_GET(REG_FRAME_FORMAT_W_DLC, ffw) <= 8) {
+		len = FIELD_GET(REG_FRAME_FORMAT_W_DLC, ffw);
+	} else {
+		if (FIELD_GET(REG_FRAME_FORMAT_W_FDF, ffw))
+			len = wc << 2;
+		else
+			len = 8;
+	}
+	cf->len = len;
+	if (unlikely(len > wc * 4))
+		len = wc * 4;
+
+	/* Timestamp - Read and throw away */
+	ctucan_read32(priv, CTUCANFD_RX_DATA);
+	ctucan_read32(priv, CTUCANFD_RX_DATA);
+
+	/* Data */
+	for (i = 0; i < len; i += 4) {
+		u32 data = ctucan_read32(priv, CTUCANFD_RX_DATA);
+		*(__le32 *)(cf->data + i) = cpu_to_le32(data);
+	}
+	while (unlikely(i < wc * 4)) {
+		ctucan_read32(priv, CTUCANFD_RX_DATA);
+		i += 4;
+	}
+}
+
+/**
+ * ctucan_rx() -  Called from CAN ISR to complete the received frame processing
+ * @ndev:	Pointer to net_device structure
+ *
+ * This function is invoked from the CAN isr(poll) to process the Rx frames. It does minimal
+ * processing and invokes "netif_receive_skb" to complete further processing.
+ * Return: 1 when frame is passed to the network layer, 0 when the first frame word is read but
+ *	   system is out of free SKBs temporally and left code to resolve SKB allocation later,
+ *         -%EAGAIN in a case of empty Rx FIFO.
+ */
+static int ctucan_rx(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	struct net_device_stats *stats = &ndev->stats;
+	struct canfd_frame *cf;
+	struct sk_buff *skb;
+	u32 ffw;
+
+	if (test_bit(CTUCANFD_FLAG_RX_FFW_BUFFERED, &priv->drv_flags)) {
+		ffw = priv->rxfrm_first_word;
+		clear_bit(CTUCANFD_FLAG_RX_FFW_BUFFERED, &priv->drv_flags);
+	} else {
+		ffw = ctucan_read32(priv, CTUCANFD_RX_DATA);
+	}
+
+	if (!FIELD_GET(REG_FRAME_FORMAT_W_RWCNT, ffw))
+		return -EAGAIN;
+
+	if (FIELD_GET(REG_FRAME_FORMAT_W_FDF, ffw))
+		skb = alloc_canfd_skb(ndev, &cf);
+	else
+		skb = alloc_can_skb(ndev, (struct can_frame **)&cf);
+
+	if (unlikely(!skb)) {
+		priv->rxfrm_first_word = ffw;
+		set_bit(CTUCANFD_FLAG_RX_FFW_BUFFERED, &priv->drv_flags);
+		return 0;
+	}
+
+	ctucan_read_rx_frame(priv, cf, ffw);
+
+	stats->rx_bytes += cf->len;
+	stats->rx_packets++;
+	netif_receive_skb(skb);
+
+	return 1;
+}
+
+/**
+ * ctucan_read_fault_state() - Reads CTU CAN FDs fault confinement state.
+ * @priv:	Pointer to private data
+ *
+ * Returns: Fault confinement state of controller
+ */
+static enum can_state ctucan_read_fault_state(struct ctucan_priv *priv)
+{
+	u32 fs;
+	u32 rec_tec;
+	u32 ewl;
+
+	fs = ctucan_read32(priv, CTUCANFD_EWL);
+	rec_tec = ctucan_read32(priv, CTUCANFD_REC);
+	ewl = FIELD_GET(REG_EWL_EW_LIMIT, fs);
+
+	if (FIELD_GET(REG_EWL_ERA, fs)) {
+		if (ewl > FIELD_GET(REG_REC_REC_VAL, rec_tec) &&
+		    ewl > FIELD_GET(REG_REC_TEC_VAL, rec_tec))
+			return CAN_STATE_ERROR_ACTIVE;
+		else
+			return CAN_STATE_ERROR_WARNING;
+	} else if (FIELD_GET(REG_EWL_ERP, fs)) {
+		return CAN_STATE_ERROR_PASSIVE;
+	} else if (FIELD_GET(REG_EWL_BOF, fs)) {
+		return CAN_STATE_BUS_OFF;
+	}
+
+	WARN(true, "Invalid error state");
+	return CAN_STATE_ERROR_PASSIVE;
+}
+
+/**
+ * ctucan_get_rec_tec() - Reads REC/TEC counter values from controller
+ * @priv:	Pointer to private data
+ * @bec:	Pointer to Error counter structure
+ */
+static void ctucan_get_rec_tec(struct ctucan_priv *priv, struct can_berr_counter *bec)
+{
+	u32 err_ctrs = ctucan_read32(priv, CTUCANFD_REC);
+
+	bec->rxerr = FIELD_GET(REG_REC_REC_VAL, err_ctrs);
+	bec->txerr = FIELD_GET(REG_REC_TEC_VAL, err_ctrs);
+}
+
+/**
+ * ctucan_err_interrupt() - Error frame ISR
+ * @ndev:	net_device pointer
+ * @isr:	interrupt status register value
+ *
+ * This is the CAN error interrupt and it will check the type of error and forward the error
+ * frame to upper layers.
+ */
+static void ctucan_err_interrupt(struct net_device *ndev, u32 isr)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	struct net_device_stats *stats = &ndev->stats;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+	enum can_state state;
+	struct can_berr_counter bec;
+	u32 err_capt_alc;
+	int dologerr = net_ratelimit();
+
+	ctucan_get_rec_tec(priv, &bec);
+	state = ctucan_read_fault_state(priv);
+	err_capt_alc = ctucan_read32(priv, CTUCANFD_ERR_CAPT);
+
+	if (dologerr)
+		netdev_info(ndev, "%s: ISR = 0x%08x, rxerr %d, txerr %d, error type %lu, pos %lu, ALC id_field %lu, bit %lu\n",
+			    __func__, isr, bec.rxerr, bec.txerr,
+			    FIELD_GET(REG_ERR_CAPT_ERR_TYPE, err_capt_alc),
+			    FIELD_GET(REG_ERR_CAPT_ERR_POS, err_capt_alc),
+			    FIELD_GET(REG_ERR_CAPT_ALC_ID_FIELD, err_capt_alc),
+			    FIELD_GET(REG_ERR_CAPT_ALC_BIT, err_capt_alc));
+
+	skb = alloc_can_err_skb(ndev, &cf);
+
+	/* EWLI: error warning limit condition met
+	 * FCSI: fault confinement state changed
+	 * ALI:  arbitration lost (just informative)
+	 * BEI:  bus error interrupt
+	 */
+	if (FIELD_GET(REG_INT_STAT_FCSI, isr) || FIELD_GET(REG_INT_STAT_EWLI, isr)) {
+		netdev_info(ndev, "state changes from %s to %s\n",
+			    ctucan_state_to_str(priv->can.state),
+			    ctucan_state_to_str(state));
+
+		if (priv->can.state == state)
+			netdev_warn(ndev,
+				    "current and previous state is the same! (missed interrupt?)\n");
+
+		priv->can.state = state;
+		switch (state) {
+		case CAN_STATE_BUS_OFF:
+			priv->can.can_stats.bus_off++;
+			can_bus_off(ndev);
+			if (skb)
+				cf->can_id |= CAN_ERR_BUSOFF;
+			break;
+		case CAN_STATE_ERROR_PASSIVE:
+			priv->can.can_stats.error_passive++;
+			if (skb) {
+				cf->can_id |= CAN_ERR_CRTL;
+				cf->data[1] = (bec.rxerr > 127) ?
+						CAN_ERR_CRTL_RX_PASSIVE :
+						CAN_ERR_CRTL_TX_PASSIVE;
+				cf->data[6] = bec.txerr;
+				cf->data[7] = bec.rxerr;
+			}
+			break;
+		case CAN_STATE_ERROR_WARNING:
+			priv->can.can_stats.error_warning++;
+			if (skb) {
+				cf->can_id |= CAN_ERR_CRTL;
+				cf->data[1] |= (bec.txerr > bec.rxerr) ?
+					CAN_ERR_CRTL_TX_WARNING :
+					CAN_ERR_CRTL_RX_WARNING;
+				cf->data[6] = bec.txerr;
+				cf->data[7] = bec.rxerr;
+			}
+			break;
+		case CAN_STATE_ERROR_ACTIVE:
+			cf->data[1] = CAN_ERR_CRTL_ACTIVE;
+			cf->data[6] = bec.txerr;
+			cf->data[7] = bec.rxerr;
+			break;
+		default:
+			netdev_warn(ndev, "unhandled error state (%d:%s)!\n",
+				    state, ctucan_state_to_str(state));
+			break;
+		}
+	}
+
+	/* Check for Arbitration Lost interrupt */
+	if (FIELD_GET(REG_INT_STAT_ALI, isr)) {
+		if (dologerr)
+			netdev_info(ndev, "arbitration lost\n");
+		priv->can.can_stats.arbitration_lost++;
+		if (skb) {
+			cf->can_id |= CAN_ERR_LOSTARB;
+			cf->data[0] = CAN_ERR_LOSTARB_UNSPEC;
+		}
+	}
+
+	/* Check for Bus Error interrupt */
+	if (FIELD_GET(REG_INT_STAT_BEI, isr)) {
+		netdev_info(ndev, "bus error\n");
+		priv->can.can_stats.bus_error++;
+		stats->rx_errors++;
+		if (skb) {
+			cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
+			cf->data[2] = CAN_ERR_PROT_UNSPEC;
+			cf->data[3] = CAN_ERR_PROT_LOC_UNSPEC;
+		}
+	}
+
+	if (skb) {
+		stats->rx_packets++;
+		stats->rx_bytes += cf->can_dlc;
+		netif_rx(skb);
+	}
+}
+
+/**
+ * ctucan_rx_poll() - Poll routine for rx packets (NAPI)
+ * @napi:	NAPI structure pointer
+ * @quota:	Max number of rx packets to be processed.
+ *
+ * This is the poll routine for rx part. It will process the packets maximux quota value.
+ *
+ * Return: Number of packets received
+ */
+static int ctucan_rx_poll(struct napi_struct *napi, int quota)
+{
+	struct net_device *ndev = napi->dev;
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	int work_done = 0;
+	u32 status;
+	u32 framecnt;
+	int res = 1;
+
+	framecnt = FIELD_GET(REG_RX_STATUS_RXFRC, ctucan_read32(priv, CTUCANFD_RX_STATUS));
+	while (framecnt && work_done < quota && res > 0) {
+		res = ctucan_rx(ndev);
+		work_done++;
+		framecnt = FIELD_GET(REG_RX_STATUS_RXFRC, ctucan_read32(priv, CTUCANFD_RX_STATUS));
+	}
+
+	/* Check for RX FIFO Overflow */
+	status = ctucan_read32(priv, CTUCANFD_STATUS);
+	if (FIELD_GET(REG_STATUS_DOR, status)) {
+		struct net_device_stats *stats = &ndev->stats;
+		struct can_frame *cf;
+		struct sk_buff *skb;
+
+		netdev_info(ndev, "rx_poll: rx fifo overflow\n");
+		stats->rx_over_errors++;
+		stats->rx_errors++;
+		skb = alloc_can_err_skb(ndev, &cf);
+		if (skb) {
+			cf->can_id |= CAN_ERR_CRTL;
+			cf->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
+			stats->rx_packets++;
+			stats->rx_bytes += cf->can_dlc;
+			netif_rx(skb);
+		}
+
+		/* Clear Data Overrun */
+		ctucan_write32(priv, CTUCANFD_COMMAND, REG_COMMAND_CDO);
+	}
+
+	if (work_done)
+		can_led_event(ndev, CAN_LED_EVENT_RX);
+
+	if (!framecnt && res != 0) {
+		if (napi_complete_done(napi, work_done)) {
+			/* Clear and enable RBNEI. It is level-triggered, so
+			 * there is no race condition.
+			 */
+			ctucan_write32(priv, CTUCANFD_INT_STAT, REG_INT_STAT_RBNEI);
+			ctucan_write32(priv, CTUCANFD_INT_MASK_CLR, REG_INT_STAT_RBNEI);
+		}
+	}
+
+	return work_done;
+}
+
+/**
+ * ctucan_rotate_txb_prio() - Rotates priorities of TXT Buffers
+ * @ndev:	net_device pointer
+ */
+static void ctucan_rotate_txb_prio(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	u32 prio = priv->txb_prio;
+
+	prio = (prio << 4) | ((prio >> ((priv->ntxbufs - 1) * 4)) & 0xF);
+	ctucan_netdev_dbg(ndev, "%s: from 0x%08x to 0x%08x\n", __func__, priv->txb_prio, prio);
+	priv->txb_prio = prio;
+	ctucan_write32(priv, CTUCANFD_TX_PRIORITY, prio);
+}
+
+/**
+ * ctucan_tx_interrupt() - Tx done Isr
+ * @ndev:	net_device pointer
+ */
+static void ctucan_tx_interrupt(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	struct net_device_stats *stats = &ndev->stats;
+	bool first = true;
+	bool some_buffers_processed;
+	unsigned long flags;
+	enum ctucan_txtb_status txtb_status;
+	u32 txtb_id;
+
+	/*  read tx_status
+	 *  if txb[n].finished (bit 2)
+	 *	if ok -> echo
+	 *	if error / aborted -> ?? (find how to handle oneshot mode)
+	 *	txb_tail++
+	 */
+	do {
+		spin_lock_irqsave(&priv->tx_lock, flags);
+
+		some_buffers_processed = false;
+		while ((int)(priv->txb_head - priv->txb_tail) > 0) {
+			txtb_id = priv->txb_tail % priv->ntxbufs;
+			txtb_status = ctucan_get_tx_status(priv, txtb_id);
+
+			ctucan_netdev_dbg(ndev, "TXI: TXB#%u: status 0x%x\n", txtb_id, txtb_status);
+
+			switch (txtb_status) {
+			case TXT_TOK:
+				ctucan_netdev_dbg(ndev, "TXT_OK\n");
+				stats->tx_bytes += can_get_echo_skb(ndev, txtb_id, NULL);
+				stats->tx_packets++;
+				break;
+			case TXT_ERR:
+				/* This indicated that retransmit limit has been reached. Obviously
+				 * we should not echo the frame, but also not indicate any kind of
+				 * error. If desired, it was already reported (possible multiple
+				 * times) on each arbitration lost.
+				 */
+				netdev_warn(ndev, "TXB in Error state\n");
+				can_free_echo_skb(ndev, txtb_id, NULL);
+				stats->tx_dropped++;
+				break;
+			case TXT_ABT:
+				/* Same as for TXT_ERR, only with different cause. We *could*
+				 * re-queue the frame, but multiqueue/abort is not supported yet
+				 * anyway.
+				 */
+				netdev_warn(ndev, "TXB in Aborted state\n");
+				can_free_echo_skb(ndev, txtb_id, NULL);
+				stats->tx_dropped++;
+				break;
+			default:
+				/* Bug only if the first buffer is not finished, otherwise it is
+				 * pretty much expected.
+				 */
+				if (first) {
+					netdev_err(ndev,
+						   "BUG: TXB#%u not in a finished state (0x%x)!\n",
+						   txtb_id, txtb_status);
+					spin_unlock_irqrestore(&priv->tx_lock, flags);
+					/* do not clear nor wake */
+					return;
+				}
+				goto clear;
+			}
+			priv->txb_tail++;
+			first = false;
+			some_buffers_processed = true;
+			/* Adjust priorities *before* marking the buffer as empty. */
+			ctucan_rotate_txb_prio(ndev);
+			ctucan_give_txtb_cmd(priv, TXT_CMD_SET_EMPTY, txtb_id);
+		}
+clear:
+		spin_unlock_irqrestore(&priv->tx_lock, flags);
+
+		/* If no buffers were processed this time, we cannot clear - that would introduce
+		 * a race condition.
+		 */
+		if (some_buffers_processed) {
+			/* Clear the interrupt again. We do not want to receive again interrupt for
+			 * the buffer already handled. If it is the last finished one then it would
+			 * cause log of spurious interrupt.
+			 */
+			ctucan_write32(priv, CTUCANFD_INT_STAT, REG_INT_STAT_TXBHCI);
+		}
+	} while (some_buffers_processed);
+
+	can_led_event(ndev, CAN_LED_EVENT_TX);
+
+	spin_lock_irqsave(&priv->tx_lock, flags);
+
+	/* Check if at least one TX buffer is free */
+	if (CTU_CAN_FD_TXTNF(priv))
+		netif_wake_queue(ndev);
+
+	spin_unlock_irqrestore(&priv->tx_lock, flags);
+}
+
+/**
+ * ctucan_interrupt() - CAN Isr
+ * @irq:	irq number
+ * @dev_id:	device id poniter
+ *
+ * This is the CTU CAN FD ISR. It checks for the type of interrupt
+ * and invokes the corresponding ISR.
+ *
+ * Return:
+ * IRQ_NONE - If CAN device is in sleep mode, IRQ_HANDLED otherwise
+ */
+static irqreturn_t ctucan_interrupt(int irq, void *dev_id)
+{
+	struct net_device *ndev = (struct net_device *)dev_id;
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	u32 isr, icr;
+	u32 imask;
+	int irq_loops;
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	for (irq_loops = 0; irq_loops < 10000; irq_loops++) {
+		/* Get the interrupt status */
+		isr = ctucan_read32(priv, CTUCANFD_INT_STAT);
+
+		if (!isr)
+			return irq_loops ? IRQ_HANDLED : IRQ_NONE;
+
+		/* Receive Buffer Not Empty Interrupt */
+		if (FIELD_GET(REG_INT_STAT_RBNEI, isr)) {
+			ctucan_netdev_dbg(ndev, "RXBNEI\n");
+			/* Mask RXBNEI the first, then clear interrupt and schedule NAPI. Even if
+			 * another IRQ fires, RBNEI will always be 0 (masked).
+			 */
+			icr = REG_INT_STAT_RBNEI;
+			ctucan_write32(priv, CTUCANFD_INT_MASK_SET, icr);
+			ctucan_write32(priv, CTUCANFD_INT_STAT, icr);
+			napi_schedule(&priv->napi);
+		}
+
+		/* TXT Buffer HW Command Interrupt */
+		if (FIELD_GET(REG_INT_STAT_TXBHCI, isr)) {
+			ctucan_netdev_dbg(ndev, "TXBHCI\n");
+			/* Cleared inside */
+			ctucan_tx_interrupt(ndev);
+		}
+
+		/* Error interrupts */
+		if (FIELD_GET(REG_INT_STAT_EWLI, isr) ||
+		    FIELD_GET(REG_INT_STAT_FCSI, isr) ||
+		    FIELD_GET(REG_INT_STAT_ALI, isr)) {
+			icr = isr & (REG_INT_STAT_EWLI | REG_INT_STAT_FCSI | REG_INT_STAT_ALI);
+
+			ctucan_netdev_dbg(ndev, "some ERR interrupt: clearing 0x%08x\n", icr);
+			ctucan_write32(priv, CTUCANFD_INT_STAT, icr);
+			ctucan_err_interrupt(ndev, isr);
+		}
+		/* Ignore RI, TI, LFI, RFI, BSI */
+	}
+
+	netdev_err(ndev, "%s: stuck interrupt (isr=0x%08x), stopping\n", __func__, isr);
+
+	if (FIELD_GET(REG_INT_STAT_TXBHCI, isr)) {
+		int i;
+
+		netdev_err(ndev, "txb_head=0x%08x txb_tail=0x%08x\n",
+			   priv->txb_head, priv->txb_tail);
+		for (i = 0; i < priv->ntxbufs; i++) {
+			u32 status = ctucan_get_tx_status(priv, i);
+
+			netdev_err(ndev, "txb[%d] txb status=0x%08x\n", i, status);
+		}
+	}
+
+	imask = 0xffffffff;
+	ctucan_write32(priv, CTUCANFD_INT_ENA_CLR, imask);
+	ctucan_write32(priv, CTUCANFD_INT_MASK_SET, imask);
+
+	return IRQ_HANDLED;
+}
+
+/**
+ * ctucan_chip_stop() - Driver stop routine
+ * @ndev:	Pointer to net_device structure
+ *
+ * This is the drivers stop routine. It will disable the
+ * interrupts and disable the controller.
+ */
+static void ctucan_chip_stop(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	u32 mask = 0xffffffff;
+	u32 mode;
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	/* Disable interrupts and disable CAN */
+	ctucan_write32(priv, CTUCANFD_INT_ENA_CLR, mask);
+	ctucan_write32(priv, CTUCANFD_INT_MASK_SET, mask);
+	mode = ctucan_read32(priv, CTUCANFD_MODE);
+	mode &= ~REG_MODE_ENA;
+	ctucan_write32(priv, CTUCANFD_MODE, mode);
+
+	priv->can.state = CAN_STATE_STOPPED;
+}
+
+/**
+ * ctucan_open() - Driver open routine
+ * @ndev:	Pointer to net_device structure
+ *
+ * This is the driver open routine.
+ * Return: 0 on success and failure value on error
+ */
+static int ctucan_open(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	int ret;
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	ret = pm_runtime_get_sync(priv->dev);
+	if (ret < 0) {
+		netdev_err(ndev, "%s: pm_runtime_get failed(%d)\n",
+			   __func__, ret);
+		pm_runtime_put_noidle(priv->dev);
+		return ret;
+	}
+
+	ret = ctucan_reset(ndev);
+	if (ret < 0)
+		goto err_reset;
+
+	/* Common open */
+	ret = open_candev(ndev);
+	if (ret) {
+		netdev_warn(ndev, "open_candev failed!\n");
+		goto err_open;
+	}
+
+	ret = request_irq(ndev->irq, ctucan_interrupt, priv->irq_flags, ndev->name, ndev);
+	if (ret < 0) {
+		netdev_err(ndev, "irq allocation for CAN failed\n");
+		goto err_irq;
+	}
+
+	ret = ctucan_chip_start(ndev);
+	if (ret < 0) {
+		netdev_err(ndev, "ctucan_chip_start failed!\n");
+		goto err_chip_start;
+	}
+
+	netdev_info(ndev, "ctu_can_fd device registered\n");
+	can_led_event(ndev, CAN_LED_EVENT_OPEN);
+	napi_enable(&priv->napi);
+	netif_start_queue(ndev);
+
+	return 0;
+
+err_chip_start:
+	free_irq(ndev->irq, ndev);
+err_irq:
+	close_candev(ndev);
+err_open:
+err_reset:
+	pm_runtime_put(priv->dev);
+
+	return ret;
+}
+
+/**
+ * ctucan_close() - Driver close routine
+ * @ndev:	Pointer to net_device structure
+ *
+ * Return: 0 always
+ */
+static int ctucan_close(struct net_device *ndev)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	netif_stop_queue(ndev);
+	napi_disable(&priv->napi);
+	ctucan_chip_stop(ndev);
+	free_irq(ndev->irq, ndev);
+	close_candev(ndev);
+
+	can_led_event(ndev, CAN_LED_EVENT_STOP);
+	pm_runtime_put(priv->dev);
+
+	return 0;
+}
+
+/**
+ * ctucan_get_berr_counter() - error counter routine
+ * @ndev:	Pointer to net_device structure
+ * @bec:	Pointer to can_berr_counter structure
+ *
+ * This is the driver error counter routine.
+ * Return: 0 on success and failure value on error
+ */
+static int ctucan_get_berr_counter(const struct net_device *ndev, struct can_berr_counter *bec)
+{
+	struct ctucan_priv *priv = netdev_priv(ndev);
+	int ret;
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	ret = pm_runtime_get_sync(priv->dev);
+	if (ret < 0) {
+		netdev_err(ndev, "%s: pm_runtime_get failed(%d)\n", __func__, ret);
+		pm_runtime_put_noidle(priv->dev);
+		return ret;
+	}
+
+	ctucan_get_rec_tec(priv, bec);
+	pm_runtime_put(priv->dev);
+
+	return 0;
+}
+
+static const struct net_device_ops ctucan_netdev_ops = {
+	.ndo_open	= ctucan_open,
+	.ndo_stop	= ctucan_close,
+	.ndo_start_xmit	= ctucan_start_xmit,
+	.ndo_change_mtu	= can_change_mtu,
+};
+
+int ctucan_suspend(struct device *dev)
+{
+	struct net_device *ndev = dev_get_drvdata(dev);
+	struct ctucan_priv *priv = netdev_priv(ndev);
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	if (netif_running(ndev)) {
+		netif_stop_queue(ndev);
+		netif_device_detach(ndev);
+	}
+
+	priv->can.state = CAN_STATE_SLEEPING;
+
+	return 0;
+}
+EXPORT_SYMBOL(ctucan_suspend);
+
+int ctucan_resume(struct device *dev)
+{
+	struct net_device *ndev = dev_get_drvdata(dev);
+	struct ctucan_priv *priv = netdev_priv(ndev);
+
+	ctucan_netdev_dbg(ndev, "%s\n", __func__);
+
+	priv->can.state = CAN_STATE_ERROR_ACTIVE;
+
+	if (netif_running(ndev)) {
+		netif_device_attach(ndev);
+		netif_start_queue(ndev);
+	}
+
+	return 0;
+}
+EXPORT_SYMBOL(ctucan_resume);
+
+int ctucan_probe_common(struct device *dev, void __iomem *addr, int irq, unsigned int ntxbufs,
+			unsigned long can_clk_rate, int pm_enable_call,
+			void (*set_drvdata_fnc)(struct device *dev, struct net_device *ndev))
+{
+	struct ctucan_priv *priv;
+	struct net_device *ndev;
+	int ret;
+
+	/* Create a CAN device instance */
+	ndev = alloc_candev(sizeof(struct ctucan_priv), ntxbufs);
+	if (!ndev)
+		return -ENOMEM;
+
+	priv = netdev_priv(ndev);
+	spin_lock_init(&priv->tx_lock);
+	INIT_LIST_HEAD(&priv->peers_on_pdev);
+	priv->ntxbufs = ntxbufs;
+	priv->dev = dev;
+	priv->can.bittiming_const = &ctu_can_fd_bit_timing_max;
+	priv->can.data_bittiming_const = &ctu_can_fd_bit_timing_data_max;
+	priv->can.do_set_mode = ctucan_do_set_mode;
+
+	/* Needed for timing adjustment to be performed as soon as possible */
+	priv->can.do_set_bittiming = ctucan_set_bittiming;
+	priv->can.do_set_data_bittiming = ctucan_set_data_bittiming;
+
+	priv->can.do_get_berr_counter = ctucan_get_berr_counter;
+	priv->can.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK
+					| CAN_CTRLMODE_LISTENONLY
+					| CAN_CTRLMODE_FD
+					| CAN_CTRLMODE_PRESUME_ACK
+					| CAN_CTRLMODE_BERR_REPORTING
+					| CAN_CTRLMODE_FD_NON_ISO
+					| CAN_CTRLMODE_ONE_SHOT;
+	priv->mem_base = addr;
+
+	/* Get IRQ for the device */
+	ndev->irq = irq;
+	ndev->flags |= IFF_ECHO;	/* We support local echo */
+
+	if (set_drvdata_fnc)
+		set_drvdata_fnc(dev, ndev);
+	SET_NETDEV_DEV(ndev, dev);
+	ndev->netdev_ops = &ctucan_netdev_ops;
+
+	/* Getting the can_clk info */
+	if (!can_clk_rate) {
+		priv->can_clk = devm_clk_get(dev, NULL);
+		if (IS_ERR(priv->can_clk)) {
+			dev_err(dev, "Device clock not found.\n");
+			ret = PTR_ERR(priv->can_clk);
+			goto err_free;
+		}
+		can_clk_rate = clk_get_rate(priv->can_clk);
+	}
+
+	priv->write_reg = ctucan_write32_le;
+	priv->read_reg = ctucan_read32_le;
+
+	if (pm_enable_call)
+		pm_runtime_enable(dev);
+	ret = pm_runtime_get_sync(dev);
+	if (ret < 0) {
+		netdev_err(ndev, "%s: pm_runtime_get failed(%d)\n",
+			   __func__, ret);
+		pm_runtime_put_noidle(priv->dev);
+		goto err_pmdisable;
+	}
+
+	/* Check for big-endianity and set according IO-accessors */
+	if ((ctucan_read32(priv, CTUCANFD_DEVICE_ID) & 0xFFFF) != CTUCANFD_ID) {
+		priv->write_reg = ctucan_write32_be;
+		priv->read_reg = ctucan_read32_be;
+		if ((ctucan_read32(priv, CTUCANFD_DEVICE_ID) & 0xFFFF) != CTUCANFD_ID) {
+			netdev_err(ndev, "CTU_CAN_FD signature not found\n");
+			ret = -ENODEV;
+			goto err_deviceoff;
+		}
+	}
+
+	ret = ctucan_reset(ndev);
+	if (ret < 0)
+		goto err_deviceoff;
+
+	priv->can.clock.freq = can_clk_rate;
+
+	netif_napi_add(ndev, &priv->napi, ctucan_rx_poll, NAPI_POLL_WEIGHT);
+
+	ret = register_candev(ndev);
+	if (ret) {
+		dev_err(dev, "fail to register failed (err=%d)\n", ret);
+		goto err_deviceoff;
+	}
+
+	devm_can_led_init(ndev);
+
+	pm_runtime_put(dev);
+
+	netdev_dbg(ndev, "mem_base=0x%p irq=%d clock=%d, no. of txt buffers:%d\n",
+		   priv->mem_base, ndev->irq, priv->can.clock.freq, priv->ntxbufs);
+
+	return 0;
+
+err_deviceoff:
+	pm_runtime_put(priv->dev);
+err_pmdisable:
+	if (pm_enable_call)
+		pm_runtime_disable(dev);
+err_free:
+	list_del_init(&priv->peers_on_pdev);
+	free_candev(ndev);
+	return ret;
+}
+EXPORT_SYMBOL(ctucan_probe_common);
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("Martin Jerabek <martin.jerabek01@gmail.com>");
+MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>");
+MODULE_AUTHOR("Ondrej Ille <ondrej.ille@gmail.com>");
+MODULE_DESCRIPTION("CTU CAN FD interface");
diff --git a/drivers/net/can/ctucanfd/ctucanfd_kframe.h b/drivers/net/can/ctucanfd/ctucanfd_kframe.h
new file mode 100644
index 000000000000..3491299eaac2
--- /dev/null
+++ b/drivers/net/can/ctucanfd/ctucanfd_kframe.h
@@ -0,0 +1,77 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*******************************************************************************
+ *
+ * CTU CAN FD IP Core
+ *
+ * Copyright (C) 2015-2018 Ondrej Ille <ondrej.ille@gmail.com> FEE CTU
+ * Copyright (C) 2018-2021 Ondrej Ille <ondrej.ille@gmail.com> self-funded
+ * Copyright (C) 2018-2019 Martin Jerabek <martin.jerabek01@gmail.com> FEE CTU
+ * Copyright (C) 2018-2021 Pavel Pisa <pisa@cmp.felk.cvut.cz> FEE CTU/self-funded
+ *
+ * Project advisors:
+ *     Jiri Novak <jnovak@fel.cvut.cz>
+ *     Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Department of Measurement         (http://meas.fel.cvut.cz/)
+ * Faculty of Electrical Engineering (http://www.fel.cvut.cz)
+ * Czech Technical University        (http://www.cvut.cz/)
+ ******************************************************************************/
+
+/* This file is autogenerated, DO NOT EDIT! */
+
+#ifndef __CTU_CAN_FD_CAN_FD_FRAME_FORMAT__
+#define __CTU_CAN_FD_CAN_FD_FRAME_FORMAT__
+
+#include <linux/bits.h>
+
+/* CAN_Frame_format memory map */
+enum ctu_can_fd_can_frame_format {
+	CTUCANFD_FRAME_FORMAT_W       = 0x0,
+	CTUCANFD_IDENTIFIER_W         = 0x4,
+	CTUCANFD_TIMESTAMP_L_W        = 0x8,
+	CTUCANFD_TIMESTAMP_U_W        = 0xc,
+	CTUCANFD_DATA_1_4_W          = 0x10,
+	CTUCANFD_DATA_5_8_W          = 0x14,
+	CTUCANFD_DATA_61_64_W        = 0x4c,
+};
+
+/* CAN_FD_Frame_format memory region */
+
+/*  FRAME_FORMAT_W registers */
+#define REG_FRAME_FORMAT_W_DLC GENMASK(3, 0)
+#define REG_FRAME_FORMAT_W_RTR BIT(5)
+#define REG_FRAME_FORMAT_W_IDE BIT(6)
+#define REG_FRAME_FORMAT_W_FDF BIT(7)
+#define REG_FRAME_FORMAT_W_BRS BIT(9)
+#define REG_FRAME_FORMAT_W_ESI_RSV BIT(10)
+#define REG_FRAME_FORMAT_W_RWCNT GENMASK(15, 11)
+
+/*  IDENTIFIER_W registers */
+#define REG_IDENTIFIER_W_IDENTIFIER_EXT GENMASK(17, 0)
+#define REG_IDENTIFIER_W_IDENTIFIER_BASE GENMASK(28, 18)
+
+/*  TIMESTAMP_L_W registers */
+#define REG_TIMESTAMP_L_W_TIME_STAMP_L_W GENMASK(31, 0)
+
+/*  TIMESTAMP_U_W registers */
+#define REG_TIMESTAMP_U_W_TIMESTAMP_U_W GENMASK(31, 0)
+
+/*  DATA_1_4_W registers */
+#define REG_DATA_1_4_W_DATA_1 GENMASK(7, 0)
+#define REG_DATA_1_4_W_DATA_2 GENMASK(15, 8)
+#define REG_DATA_1_4_W_DATA_3 GENMASK(23, 16)
+#define REG_DATA_1_4_W_DATA_4 GENMASK(31, 24)
+
+/*  DATA_5_8_W registers */
+#define REG_DATA_5_8_W_DATA_5 GENMASK(7, 0)
+#define REG_DATA_5_8_W_DATA_6 GENMASK(15, 8)
+#define REG_DATA_5_8_W_DATA_7 GENMASK(23, 16)
+#define REG_DATA_5_8_W_DATA_8 GENMASK(31, 24)
+
+/*  DATA_61_64_W registers */
+#define REG_DATA_61_64_W_DATA_61 GENMASK(7, 0)
+#define REG_DATA_61_64_W_DATA_62 GENMASK(15, 8)
+#define REG_DATA_61_64_W_DATA_63 GENMASK(23, 16)
+#define REG_DATA_61_64_W_DATA_64 GENMASK(31, 24)
+
+#endif
diff --git a/drivers/net/can/ctucanfd/ctucanfd_kregs.h b/drivers/net/can/ctucanfd/ctucanfd_kregs.h
new file mode 100644
index 000000000000..edc1c1a24348
--- /dev/null
+++ b/drivers/net/can/ctucanfd/ctucanfd_kregs.h
@@ -0,0 +1,325 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*******************************************************************************
+ *
+ * CTU CAN FD IP Core
+ *
+ * Copyright (C) 2015-2018 Ondrej Ille <ondrej.ille@gmail.com> FEE CTU
+ * Copyright (C) 2018-2021 Ondrej Ille <ondrej.ille@gmail.com> self-funded
+ * Copyright (C) 2018-2019 Martin Jerabek <martin.jerabek01@gmail.com> FEE CTU
+ * Copyright (C) 2018-2021 Pavel Pisa <pisa@cmp.felk.cvut.cz> FEE CTU/self-funded
+ *
+ * Project advisors:
+ *     Jiri Novak <jnovak@fel.cvut.cz>
+ *     Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Department of Measurement         (http://meas.fel.cvut.cz/)
+ * Faculty of Electrical Engineering (http://www.fel.cvut.cz)
+ * Czech Technical University        (http://www.cvut.cz/)
+ ******************************************************************************/
+
+/* This file is autogenerated, DO NOT EDIT! */
+
+#ifndef __CTU_CAN_FD_CAN_FD_REGISTER_MAP__
+#define __CTU_CAN_FD_CAN_FD_REGISTER_MAP__
+
+#include <linux/bits.h>
+
+/* CAN_Registers memory map */
+enum ctu_can_fd_can_registers {
+	CTUCANFD_DEVICE_ID             = 0x0,
+	CTUCANFD_VERSION               = 0x2,
+	CTUCANFD_MODE                  = 0x4,
+	CTUCANFD_SETTINGS              = 0x6,
+	CTUCANFD_STATUS                = 0x8,
+	CTUCANFD_COMMAND               = 0xc,
+	CTUCANFD_INT_STAT             = 0x10,
+	CTUCANFD_INT_ENA_SET          = 0x14,
+	CTUCANFD_INT_ENA_CLR          = 0x18,
+	CTUCANFD_INT_MASK_SET         = 0x1c,
+	CTUCANFD_INT_MASK_CLR         = 0x20,
+	CTUCANFD_BTR                  = 0x24,
+	CTUCANFD_BTR_FD               = 0x28,
+	CTUCANFD_EWL                  = 0x2c,
+	CTUCANFD_ERP                  = 0x2d,
+	CTUCANFD_FAULT_STATE          = 0x2e,
+	CTUCANFD_REC                  = 0x30,
+	CTUCANFD_TEC                  = 0x32,
+	CTUCANFD_ERR_NORM             = 0x34,
+	CTUCANFD_ERR_FD               = 0x36,
+	CTUCANFD_CTR_PRES             = 0x38,
+	CTUCANFD_FILTER_A_MASK        = 0x3c,
+	CTUCANFD_FILTER_A_VAL         = 0x40,
+	CTUCANFD_FILTER_B_MASK        = 0x44,
+	CTUCANFD_FILTER_B_VAL         = 0x48,
+	CTUCANFD_FILTER_C_MASK        = 0x4c,
+	CTUCANFD_FILTER_C_VAL         = 0x50,
+	CTUCANFD_FILTER_RAN_LOW       = 0x54,
+	CTUCANFD_FILTER_RAN_HIGH      = 0x58,
+	CTUCANFD_FILTER_CONTROL       = 0x5c,
+	CTUCANFD_FILTER_STATUS        = 0x5e,
+	CTUCANFD_RX_MEM_INFO          = 0x60,
+	CTUCANFD_RX_POINTERS          = 0x64,
+	CTUCANFD_RX_STATUS            = 0x68,
+	CTUCANFD_RX_SETTINGS          = 0x6a,
+	CTUCANFD_RX_DATA              = 0x6c,
+	CTUCANFD_TX_STATUS            = 0x70,
+	CTUCANFD_TX_COMMAND           = 0x74,
+	CTUCANFD_TX_PRIORITY          = 0x78,
+	CTUCANFD_ERR_CAPT             = 0x7c,
+	CTUCANFD_ALC                  = 0x7e,
+	CTUCANFD_TRV_DELAY            = 0x80,
+	CTUCANFD_SSP_CFG              = 0x82,
+	CTUCANFD_RX_FR_CTR            = 0x84,
+	CTUCANFD_TX_FR_CTR            = 0x88,
+	CTUCANFD_DEBUG_REGISTER       = 0x8c,
+	CTUCANFD_YOLO_REG             = 0x90,
+	CTUCANFD_TIMESTAMP_LOW        = 0x94,
+	CTUCANFD_TIMESTAMP_HIGH       = 0x98,
+	CTUCANFD_TXTB1_DATA_1        = 0x100,
+	CTUCANFD_TXTB1_DATA_2        = 0x104,
+	CTUCANFD_TXTB1_DATA_20       = 0x14c,
+	CTUCANFD_TXTB2_DATA_1        = 0x200,
+	CTUCANFD_TXTB2_DATA_2        = 0x204,
+	CTUCANFD_TXTB2_DATA_20       = 0x24c,
+	CTUCANFD_TXTB3_DATA_1        = 0x300,
+	CTUCANFD_TXTB3_DATA_2        = 0x304,
+	CTUCANFD_TXTB3_DATA_20       = 0x34c,
+	CTUCANFD_TXTB4_DATA_1        = 0x400,
+	CTUCANFD_TXTB4_DATA_2        = 0x404,
+	CTUCANFD_TXTB4_DATA_20       = 0x44c,
+};
+
+/* Control_registers memory region */
+
+/*  DEVICE_ID VERSION registers */
+#define REG_DEVICE_ID_DEVICE_ID GENMASK(15, 0)
+#define REG_DEVICE_ID_VER_MINOR GENMASK(23, 16)
+#define REG_DEVICE_ID_VER_MAJOR GENMASK(31, 24)
+
+/*  MODE SETTINGS registers */
+#define REG_MODE_RST BIT(0)
+#define REG_MODE_BMM BIT(1)
+#define REG_MODE_STM BIT(2)
+#define REG_MODE_AFM BIT(3)
+#define REG_MODE_FDE BIT(4)
+#define REG_MODE_ACF BIT(7)
+#define REG_MODE_TSTM BIT(8)
+#define REG_MODE_RTRLE BIT(16)
+#define REG_MODE_RTRTH GENMASK(20, 17)
+#define REG_MODE_ILBP BIT(21)
+#define REG_MODE_ENA BIT(22)
+#define REG_MODE_NISOFD BIT(23)
+#define REG_MODE_PEX BIT(24)
+#define REG_MODE_TBFBO BIT(25)
+#define REG_MODE_FDRF BIT(26)
+
+/*  STATUS registers */
+#define REG_STATUS_RXNE BIT(0)
+#define REG_STATUS_DOR BIT(1)
+#define REG_STATUS_TXNF BIT(2)
+#define REG_STATUS_EFT BIT(3)
+#define REG_STATUS_RXS BIT(4)
+#define REG_STATUS_TXS BIT(5)
+#define REG_STATUS_EWL BIT(6)
+#define REG_STATUS_IDLE BIT(7)
+#define REG_STATUS_PEXS BIT(8)
+
+/*  COMMAND registers */
+#define REG_COMMAND_RRB BIT(2)
+#define REG_COMMAND_CDO BIT(3)
+#define REG_COMMAND_ERCRST BIT(4)
+#define REG_COMMAND_RXFCRST BIT(5)
+#define REG_COMMAND_TXFCRST BIT(6)
+#define REG_COMMAND_CPEXS BIT(7)
+
+/*  INT_STAT registers */
+#define REG_INT_STAT_RXI BIT(0)
+#define REG_INT_STAT_TXI BIT(1)
+#define REG_INT_STAT_EWLI BIT(2)
+#define REG_INT_STAT_DOI BIT(3)
+#define REG_INT_STAT_FCSI BIT(4)
+#define REG_INT_STAT_ALI BIT(5)
+#define REG_INT_STAT_BEI BIT(6)
+#define REG_INT_STAT_OFI BIT(7)
+#define REG_INT_STAT_RXFI BIT(8)
+#define REG_INT_STAT_BSI BIT(9)
+#define REG_INT_STAT_RBNEI BIT(10)
+#define REG_INT_STAT_TXBHCI BIT(11)
+
+/*  INT_ENA_SET registers */
+#define REG_INT_ENA_SET_INT_ENA_SET GENMASK(11, 0)
+
+/*  INT_ENA_CLR registers */
+#define REG_INT_ENA_CLR_INT_ENA_CLR GENMASK(11, 0)
+
+/*  INT_MASK_SET registers */
+#define REG_INT_MASK_SET_INT_MASK_SET GENMASK(11, 0)
+
+/*  INT_MASK_CLR registers */
+#define REG_INT_MASK_CLR_INT_MASK_CLR GENMASK(11, 0)
+
+/*  BTR registers */
+#define REG_BTR_PROP GENMASK(6, 0)
+#define REG_BTR_PH1 GENMASK(12, 7)
+#define REG_BTR_PH2 GENMASK(18, 13)
+#define REG_BTR_BRP GENMASK(26, 19)
+#define REG_BTR_SJW GENMASK(31, 27)
+
+/*  BTR_FD registers */
+#define REG_BTR_FD_PROP_FD GENMASK(5, 0)
+#define REG_BTR_FD_PH1_FD GENMASK(11, 7)
+#define REG_BTR_FD_PH2_FD GENMASK(17, 13)
+#define REG_BTR_FD_BRP_FD GENMASK(26, 19)
+#define REG_BTR_FD_SJW_FD GENMASK(31, 27)
+
+/*  EWL ERP FAULT_STATE registers */
+#define REG_EWL_EW_LIMIT GENMASK(7, 0)
+#define REG_EWL_ERP_LIMIT GENMASK(15, 8)
+#define REG_EWL_ERA BIT(16)
+#define REG_EWL_ERP BIT(17)
+#define REG_EWL_BOF BIT(18)
+
+/*  REC TEC registers */
+#define REG_REC_REC_VAL GENMASK(8, 0)
+#define REG_REC_TEC_VAL GENMASK(24, 16)
+
+/*  ERR_NORM ERR_FD registers */
+#define REG_ERR_NORM_ERR_NORM_VAL GENMASK(15, 0)
+#define REG_ERR_NORM_ERR_FD_VAL GENMASK(31, 16)
+
+/*  CTR_PRES registers */
+#define REG_CTR_PRES_CTPV GENMASK(8, 0)
+#define REG_CTR_PRES_PTX BIT(9)
+#define REG_CTR_PRES_PRX BIT(10)
+#define REG_CTR_PRES_ENORM BIT(11)
+#define REG_CTR_PRES_EFD BIT(12)
+
+/*  FILTER_A_MASK registers */
+#define REG_FILTER_A_MASK_BIT_MASK_A_VAL GENMASK(28, 0)
+
+/*  FILTER_A_VAL registers */
+#define REG_FILTER_A_VAL_BIT_VAL_A_VAL GENMASK(28, 0)
+
+/*  FILTER_B_MASK registers */
+#define REG_FILTER_B_MASK_BIT_MASK_B_VAL GENMASK(28, 0)
+
+/*  FILTER_B_VAL registers */
+#define REG_FILTER_B_VAL_BIT_VAL_B_VAL GENMASK(28, 0)
+
+/*  FILTER_C_MASK registers */
+#define REG_FILTER_C_MASK_BIT_MASK_C_VAL GENMASK(28, 0)
+
+/*  FILTER_C_VAL registers */
+#define REG_FILTER_C_VAL_BIT_VAL_C_VAL GENMASK(28, 0)
+
+/*  FILTER_RAN_LOW registers */
+#define REG_FILTER_RAN_LOW_BIT_RAN_LOW_VAL GENMASK(28, 0)
+
+/*  FILTER_RAN_HIGH registers */
+#define REG_FILTER_RAN_HIGH_BIT_RAN_HIGH_VAL GENMASK(28, 0)
+
+/*  FILTER_CONTROL FILTER_STATUS registers */
+#define REG_FILTER_CONTROL_FANB BIT(0)
+#define REG_FILTER_CONTROL_FANE BIT(1)
+#define REG_FILTER_CONTROL_FAFB BIT(2)
+#define REG_FILTER_CONTROL_FAFE BIT(3)
+#define REG_FILTER_CONTROL_FBNB BIT(4)
+#define REG_FILTER_CONTROL_FBNE BIT(5)
+#define REG_FILTER_CONTROL_FBFB BIT(6)
+#define REG_FILTER_CONTROL_FBFE BIT(7)
+#define REG_FILTER_CONTROL_FCNB BIT(8)
+#define REG_FILTER_CONTROL_FCNE BIT(9)
+#define REG_FILTER_CONTROL_FCFB BIT(10)
+#define REG_FILTER_CONTROL_FCFE BIT(11)
+#define REG_FILTER_CONTROL_FRNB BIT(12)
+#define REG_FILTER_CONTROL_FRNE BIT(13)
+#define REG_FILTER_CONTROL_FRFB BIT(14)
+#define REG_FILTER_CONTROL_FRFE BIT(15)
+#define REG_FILTER_CONTROL_SFA BIT(16)
+#define REG_FILTER_CONTROL_SFB BIT(17)
+#define REG_FILTER_CONTROL_SFC BIT(18)
+#define REG_FILTER_CONTROL_SFR BIT(19)
+
+/*  RX_MEM_INFO registers */
+#define REG_RX_MEM_INFO_RX_BUFF_SIZE GENMASK(12, 0)
+#define REG_RX_MEM_INFO_RX_MEM_FREE GENMASK(28, 16)
+
+/*  RX_POINTERS registers */
+#define REG_RX_POINTERS_RX_WPP GENMASK(11, 0)
+#define REG_RX_POINTERS_RX_RPP GENMASK(27, 16)
+
+/*  RX_STATUS RX_SETTINGS registers */
+#define REG_RX_STATUS_RXE BIT(0)
+#define REG_RX_STATUS_RXF BIT(1)
+#define REG_RX_STATUS_RXMOF BIT(2)
+#define REG_RX_STATUS_RXFRC GENMASK(14, 4)
+#define REG_RX_STATUS_RTSOP BIT(16)
+
+/*  RX_DATA registers */
+#define REG_RX_DATA_RX_DATA GENMASK(31, 0)
+
+/*  TX_STATUS registers */
+#define REG_TX_STATUS_TX1S GENMASK(3, 0)
+#define REG_TX_STATUS_TX2S GENMASK(7, 4)
+#define REG_TX_STATUS_TX3S GENMASK(11, 8)
+#define REG_TX_STATUS_TX4S GENMASK(15, 12)
+
+/*  TX_COMMAND registers */
+#define REG_TX_COMMAND_TXCE BIT(0)
+#define REG_TX_COMMAND_TXCR BIT(1)
+#define REG_TX_COMMAND_TXCA BIT(2)
+#define REG_TX_COMMAND_TXB1 BIT(8)
+#define REG_TX_COMMAND_TXB2 BIT(9)
+#define REG_TX_COMMAND_TXB3 BIT(10)
+#define REG_TX_COMMAND_TXB4 BIT(11)
+
+/*  TX_PRIORITY registers */
+#define REG_TX_PRIORITY_TXT1P GENMASK(2, 0)
+#define REG_TX_PRIORITY_TXT2P GENMASK(6, 4)
+#define REG_TX_PRIORITY_TXT3P GENMASK(10, 8)
+#define REG_TX_PRIORITY_TXT4P GENMASK(14, 12)
+
+/*  ERR_CAPT ALC registers */
+#define REG_ERR_CAPT_ERR_POS GENMASK(4, 0)
+#define REG_ERR_CAPT_ERR_TYPE GENMASK(7, 5)
+#define REG_ERR_CAPT_ALC_BIT GENMASK(20, 16)
+#define REG_ERR_CAPT_ALC_ID_FIELD GENMASK(23, 21)
+
+/*  TRV_DELAY SSP_CFG registers */
+#define REG_TRV_DELAY_TRV_DELAY_VALUE GENMASK(6, 0)
+#define REG_TRV_DELAY_SSP_OFFSET GENMASK(23, 16)
+#define REG_TRV_DELAY_SSP_SRC GENMASK(25, 24)
+
+/*  RX_FR_CTR registers */
+#define REG_RX_FR_CTR_RX_FR_CTR_VAL GENMASK(31, 0)
+
+/*  TX_FR_CTR registers */
+#define REG_TX_FR_CTR_TX_FR_CTR_VAL GENMASK(31, 0)
+
+/*  DEBUG_REGISTER registers */
+#define REG_DEBUG_REGISTER_STUFF_COUNT GENMASK(2, 0)
+#define REG_DEBUG_REGISTER_DESTUFF_COUNT GENMASK(5, 3)
+#define REG_DEBUG_REGISTER_PC_ARB BIT(6)
+#define REG_DEBUG_REGISTER_PC_CON BIT(7)
+#define REG_DEBUG_REGISTER_PC_DAT BIT(8)
+#define REG_DEBUG_REGISTER_PC_STC BIT(9)
+#define REG_DEBUG_REGISTER_PC_CRC BIT(10)
+#define REG_DEBUG_REGISTER_PC_CRCD BIT(11)
+#define REG_DEBUG_REGISTER_PC_ACK BIT(12)
+#define REG_DEBUG_REGISTER_PC_ACKD BIT(13)
+#define REG_DEBUG_REGISTER_PC_EOF BIT(14)
+#define REG_DEBUG_REGISTER_PC_INT BIT(15)
+#define REG_DEBUG_REGISTER_PC_SUSP BIT(16)
+#define REG_DEBUG_REGISTER_PC_OVR BIT(17)
+#define REG_DEBUG_REGISTER_PC_SOF BIT(18)
+
+/*  YOLO_REG registers */
+#define REG_YOLO_REG_YOLO_VAL GENMASK(31, 0)
+
+/*  TIMESTAMP_LOW registers */
+#define REG_TIMESTAMP_LOW_TIMESTAMP_LOW GENMASK(31, 0)
+
+/*  TIMESTAMP_HIGH registers */
+#define REG_TIMESTAMP_HIGH_TIMESTAMP_HIGH GENMASK(31, 0)
+
+#endif