[PATCH 5/6] can: usb: etas_es58X: add support for ETAS ES58X CAN USB interfaces

[Vincent Mailhol]

This driver supports the ES581.4, ES582.1 and ES584.1 interfaces from
ETAS GmbH (https://www.etas.com/en/products/es58x.php).

Co-developed-by: Arunachalam Santhanam <arunachalam.santhanam@xxxxxxxxxxxx>
Signed-off-by: Arunachalam Santhanam <arunachalam.santhanam@xxxxxxxxxxxx>
Signed-off-by: Vincent Mailhol <mailhol.vincent@xxxxxxxxxx>
---
 drivers/net/can/usb/Kconfig                 |    9 +
 drivers/net/can/usb/Makefile                |    1 +
 drivers/net/can/usb/etas_es58x/Makefile     |    4 +
 drivers/net/can/usb/etas_es58x/es581_4.c    |  560 ++++
 drivers/net/can/usb/etas_es58x/es581_4.h    |  237 ++
 drivers/net/can/usb/etas_es58x/es58x_core.c | 2725 +++++++++++++++++++
 drivers/net/can/usb/etas_es58x/es58x_core.h |  700 +++++
 drivers/net/can/usb/etas_es58x/es58x_fd.c   |  650 +++++
 drivers/net/can/usb/etas_es58x/es58x_fd.h   |  243 ++
 9 files changed, 5129 insertions(+)
 create mode 100644 drivers/net/can/usb/etas_es58x/Makefile
 create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.c
 create mode 100644 drivers/net/can/usb/etas_es58x/es581_4.h
 create mode 100644 drivers/net/can/usb/etas_es58x/es58x_core.c
 create mode 100644 drivers/net/can/usb/etas_es58x/es58x_core.h
 create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.c
 create mode 100644 drivers/net/can/usb/etas_es58x/es58x_fd.h

diff --git a/drivers/net/can/usb/Kconfig b/drivers/net/can/usb/Kconfig
index 77fa830fe7dd..ee057c05469c 100644
--- a/drivers/net/can/usb/Kconfig
+++ b/drivers/net/can/usb/Kconfig
@@ -20,6 +20,15 @@ config CAN_ESD_USB2
 	  This driver supports the CAN-USB/2 interface
 	  from esd electronic system design gmbh (http://www.esd.eu).
 
+config CAN_ETAS_ES58X
+	tristate "ETAS ES58X CAN/USB interfaces"
+	help
+	  This driver supports the ES581.4, ES582.1 and ES584.1 interfaces
+	  from ETAS GmbH (https://www.etas.com/en/products/es58x.php).
+
+	  To compile this driver as a module, choose M here: the module
+	  will be called etas_es58x.
+
 config CAN_GS_USB
 	tristate "Geschwister Schneider UG interfaces"
 	help
diff --git a/drivers/net/can/usb/Makefile b/drivers/net/can/usb/Makefile
index aa0f17c0b2ed..748cf31a0d53 100644
--- a/drivers/net/can/usb/Makefile
+++ b/drivers/net/can/usb/Makefile
@@ -6,6 +6,7 @@
 obj-$(CONFIG_CAN_8DEV_USB) += usb_8dev.o
 obj-$(CONFIG_CAN_EMS_USB) += ems_usb.o
 obj-$(CONFIG_CAN_ESD_USB2) += esd_usb2.o
+obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x/
 obj-$(CONFIG_CAN_GS_USB) += gs_usb.o
 obj-$(CONFIG_CAN_KVASER_USB) += kvaser_usb/
 obj-$(CONFIG_CAN_MCBA_USB) += mcba_usb.o
diff --git a/drivers/net/can/usb/etas_es58x/Makefile b/drivers/net/can/usb/etas_es58x/Makefile
new file mode 100644
index 000000000000..fbad9316a7e9
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/Makefile
@@ -0,0 +1,4 @@
+# SPDX-License-Identifier: GPL-2.0
+
+obj-$(CONFIG_CAN_ETAS_ES58X) += etas_es58x.o
+etas_es58x-objs ?= es58x_core.o es581_4.o es58x_fd.o
diff --git a/drivers/net/can/usb/etas_es58x/es581_4.c b/drivers/net/can/usb/etas_es58x/es581_4.c
new file mode 100644
index 000000000000..adff51c1cb64
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es581_4.c
@@ -0,0 +1,560 @@
+// SPDX-License-Identifier: GPL-2.0
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es581_4.c: Adds support to ETAS ES581.4.
+ *
+ * Copyright (C) 2019 Robert Bosch Engineering and Business
+ * Solutions. All rights reserved.
+ * Copyright (C) 2020 ETAS K.K.. All rights reserved.
+ */
+
+#include <linux/kernel.h>
+#include <asm/unaligned.h>
+
+#include "es58x_core.h"
+#include "es581_4.h"
+
+/**
+ * es58x_sizeof_rx_tx_msg() - Calculate the actual length of the
+ *	structure of a rx or tx message.
+ * @msg: message of variable length, must have a dlc field.
+ *
+ * Even if RTR frames have actually no payload, the ES58X devices
+ * still expect it.
+ *
+ * Return: length of the message.
+ */
+#define es581_4_sizeof_rx_tx_msg(msg)					\
+({									\
+	typeof(msg) __msg = (msg);					\
+	size_t __msg_len =						\
+		 min_t(u8, can_dlc2len(__msg.dlc), CAN_MAX_DLEN);	\
+	(offsetof(typeof(__msg), data[__msg_len]));			\
+})
+
+static u16 es581_4_get_msg_len(const union es58x_urb_cmd *urb_cmd)
+{
+	return get_unaligned_le16(&urb_cmd->es581_4_urb_cmd.msg_len);
+}
+
+static int es581_4_rx_loopback_msg(struct es58x_device *es58x_dev,
+				   const struct es581_4_urb_cmd
+				   *es581_4_urb_cmd)
+{
+	struct net_device *netdev;
+	const struct es581_4_bulk_rx_loopback_msg *bulk_rx_loopback_msg;
+	const struct es581_4_rx_loopback_msg *rx_loopback_msg;
+	u64 *tstamps = es58x_dev->timestamps;
+	u16 msg_len;
+	u32 first_packet_idx, packet_idx;
+	unsigned int dropped = 0;
+	int i, num_element, ret;
+
+	bulk_rx_loopback_msg = &es581_4_urb_cmd->bulk_rx_loopback_msg;
+	msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len) -
+	    sizeof(bulk_rx_loopback_msg->channel_no);
+	num_element =
+	    es58x_msg_num_element(es58x_dev->dev,
+				  bulk_rx_loopback_msg->rx_loopback_msg,
+				  msg_len);
+	if (unlikely(num_element <= 0))
+		return num_element;
+
+	ret = es58x_get_netdev(es58x_dev, bulk_rx_loopback_msg->channel_no,
+			       &netdev);
+	if (unlikely(ret))
+		return ret;
+
+	rx_loopback_msg = &bulk_rx_loopback_msg->rx_loopback_msg[0];
+	first_packet_idx = get_unaligned_le32(&rx_loopback_msg->packet_idx);
+	packet_idx = first_packet_idx;
+	for (i = 0; i < num_element; i++) {
+		rx_loopback_msg = &bulk_rx_loopback_msg->rx_loopback_msg[i];
+		if (unlikely(get_unaligned_le32(&rx_loopback_msg->packet_idx)
+			     == packet_idx - 1)) {
+			if (net_ratelimit())
+				netdev_warn(netdev,
+					    "Received loopback packet idx %u twice\n",
+					    packet_idx - 1);
+			dropped++;
+			continue;
+		}
+		if (unlikely(get_unaligned_le32(&rx_loopback_msg->packet_idx)
+			     != packet_idx)) {
+			netdev_err(netdev, "Packet idx jumped from %u to %u\n",
+				   packet_idx - 1, rx_loopback_msg->packet_idx);
+			return -EBADMSG;
+		}
+
+		tstamps[i] = get_unaligned_le64(&rx_loopback_msg->timestamp);
+		packet_idx++;
+	}
+
+	netdev->stats.tx_dropped += dropped;
+	return es58x_can_get_echo_skb(netdev, first_packet_idx,
+				      tstamps, num_element - dropped);
+}
+
+static int es581_4_rx_can_msg(struct es58x_device *es58x_dev,
+			      const struct es581_4_urb_cmd *es581_4_urb_cmd,
+			      u16 msg_len)
+{
+	const struct device *dev = es58x_dev->dev;
+	struct net_device *netdev;
+	struct es58x_abstracted_can_frame *es58x_cf = es58x_dev->can_frames;
+	int pkts, num_element, channel_no, ret;
+
+	num_element = es58x_msg_num_element(dev, es581_4_urb_cmd->rx_can_msg,
+					    msg_len);
+	if (unlikely(num_element <= 0))
+		return num_element;
+	channel_no = es581_4_urb_cmd->rx_can_msg[0].channel_no;
+	ret = es58x_get_netdev(es58x_dev, channel_no, &netdev);
+	if (unlikely(ret))
+		return ret;
+
+	for (pkts = 0; pkts < num_element; pkts++) {
+		const struct es581_4_rx_can_msg *rx_can_msg =
+		    &es581_4_urb_cmd->rx_can_msg[pkts];
+
+		if (unlikely(channel_no != rx_can_msg->channel_no)) {
+			netdev_err(netdev,
+				   "%s: channel_no changed from %d to %d\n",
+				   __func__,
+				   channel_no, rx_can_msg->channel_no);
+			return -EBADMSG;
+		}
+		if (unlikely(rx_can_msg->dlc > CANFD_MAX_DLC)) {
+			netdev_err(netdev,
+				   "%s: DLC is %d but maximum should be %d\n",
+				   __func__, rx_can_msg->dlc, CANFD_MAX_DLC);
+			return -EMSGSIZE;
+		}
+
+		es58x_cf[pkts].timestamp =
+		    get_unaligned_le64(&rx_can_msg->timestamp);
+		es58x_cf[pkts].can_id = get_unaligned_le32(&rx_can_msg->can_id);
+		es58x_cf[pkts].is_can_fd = false;
+		es58x_cf[pkts].data = rx_can_msg->data;
+		es58x_cf[pkts].dlc = rx_can_msg->dlc;
+		es58x_cf[pkts].len = can_dlc2len(rx_can_msg->dlc);
+		es58x_cf[pkts].flags = rx_can_msg->flags;
+	}
+
+	ret = es58x_rx_can_msg(netdev, es58x_cf, pkts);
+	memset(es58x_dev->can_frames, 0, sizeof(es58x_dev->can_frames));
+
+	return ret;
+}
+
+static int es581_4_rx_err_msg(struct es58x_device *es58x_dev,
+			      const struct es581_4_rx_err_msg *rx_err_msg)
+{
+	struct net_device *netdev;
+	enum es58x_error error = get_unaligned_le32(&rx_err_msg->error);
+	int ret;
+
+	ret = es58x_get_netdev(es58x_dev, rx_err_msg->channel_no, &netdev);
+	if (unlikely(ret))
+		return ret;
+
+	return es58x_rx_err_msg(netdev, error, 0,
+				get_unaligned_le64(&rx_err_msg->timestamp));
+}
+
+static int es581_4_rx_event_msg(struct es58x_device *es58x_dev,
+				const struct es581_4_rx_event_msg *rx_event_msg)
+{
+	struct net_device *netdev;
+	enum es58x_event event = get_unaligned_le32(&rx_event_msg->event);
+	int ret;
+
+	ret = es58x_get_netdev(es58x_dev, rx_event_msg->channel_no, &netdev);
+	if (unlikely(ret))
+		return ret;
+
+	return es58x_rx_err_msg(netdev, 0, event,
+				get_unaligned_le64(&rx_event_msg->timestamp));
+}
+
+static int es581_4_rx_cmd_ret_u32(struct es58x_device *es58x_dev,
+				  const struct es581_4_urb_cmd *es581_4_urb_cmd,
+				  enum es58x_cmd_ret_type ret_type)
+{
+	struct net_device *netdev;
+	const struct es581_4_rx_dev_ret *rx_dev_ret;
+	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
+	enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32;
+	int ret;
+
+	ret = es58x_check_msg_len(es58x_dev->dev,
+				  es581_4_urb_cmd->rx_dev_ret, msg_len);
+	if (unlikely(ret))
+		return ret;
+
+	rx_dev_ret = &es581_4_urb_cmd->rx_dev_ret;
+
+	ret = es58x_get_netdev(es58x_dev, rx_dev_ret->channel_no, &netdev);
+	if (unlikely(ret))
+		return ret;
+
+	rx_cmd_ret_u32 = get_unaligned_le32(&rx_dev_ret->rx_cmd_ret_le32);
+	return es58x_rx_cmd_ret_u32(netdev, ret_type, rx_cmd_ret_u32);
+}
+
+static int es581_4_tx_ack_msg(struct es58x_device *es58x_dev,
+			      const struct es581_4_urb_cmd *es581_4_urb_cmd)
+{
+	struct net_device *netdev;
+	const struct es581_4_tx_ack_msg *tx_ack_msg;
+	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
+	int ret;
+
+	tx_ack_msg = &es581_4_urb_cmd->tx_ack_msg;
+	ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
+	if (unlikely(ret))
+		return ret;
+
+	if (unlikely(tx_ack_msg->rx_dev_ret_u8 != ES58X_RET_U8_OK))
+		return es58x_rx_dev_ret_u8(es58x_dev->dev,
+					   ES58X_RET_TYPE_TX_MSG,
+					   tx_ack_msg->rx_dev_ret_u8);
+
+	ret = es58x_get_netdev(es58x_dev, tx_ack_msg->channel_no, &netdev);
+	if (unlikely(ret))
+		return ret;
+
+	return
+	    es58x_tx_ack_msg(netdev,
+			     get_unaligned_le16(&tx_ack_msg->tx_free_entries),
+			     ES58X_RET_U32_OK);
+}
+
+static int es581_4_dispatch_rx_cmd(struct es58x_device *es58x_dev,
+				   const struct es581_4_urb_cmd
+				   *es581_4_urb_cmd)
+{
+	const struct device *dev = es58x_dev->dev;
+	u16 msg_len = get_unaligned_le16(&es581_4_urb_cmd->msg_len);
+	enum es581_4_rx_type rx_type = es581_4_urb_cmd->rx_can_msg[0].rx_type;
+	int ret = 0;
+
+	switch (rx_type) {
+	case ES581_4_RX_TYPE_MESSAGE:
+		return es581_4_rx_can_msg(es58x_dev, es581_4_urb_cmd, msg_len);
+
+	case ES581_4_RX_TYPE_ERROR:
+		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_err_msg,
+					  msg_len);
+		if (unlikely(ret < 0))
+			return ret;
+		return es581_4_rx_err_msg(es58x_dev,
+					  &es581_4_urb_cmd->rx_err_msg);
+
+	case ES581_4_RX_TYPE_EVENT:
+		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_event_msg,
+					  msg_len);
+		if (unlikely(ret < 0))
+			return ret;
+		return es581_4_rx_event_msg(es58x_dev,
+					    &es581_4_urb_cmd->rx_event_msg);
+
+	default:
+		dev_err(dev, "%s: Unknown rx_type 0x%02X\n", __func__, rx_type);
+		return -EBADRQC;
+	}
+}
+
+static int es581_4_handle_urb_cmd(struct es58x_device *es58x_dev,
+				  const union es58x_urb_cmd *urb_cmd)
+{
+	const struct es581_4_urb_cmd *es581_4_urb_cmd;
+	const struct device *dev = es58x_dev->dev;
+	u16 msg_len = es581_4_get_msg_len(urb_cmd);
+	int ret;
+
+	es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
+
+	if (unlikely(es581_4_urb_cmd->cmd_type != ES581_4_CAN_COMMAND_TYPE)) {
+		dev_err(dev, "%s: Unknown command type (0x%02X)\n",
+			__func__, es581_4_urb_cmd->cmd_type);
+		return -EBADRQC;
+	}
+
+	switch ((enum es581_4_cmd_id)es581_4_urb_cmd->cmd_id) {
+	case ES581_4_CMD_ID_SET_BITTIMING:
+		return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
+					      ES58X_RET_TYPE_SET_BITTIMING);
+
+	case ES581_4_CMD_ID_ENABLE_CHANNEL:
+		return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
+					      ES58X_RET_TYPE_ENABLE_CHANNEL);
+
+	case ES581_4_CMD_ID_TX_MSG:
+		return es581_4_tx_ack_msg(es58x_dev, es581_4_urb_cmd);
+
+	case ES581_4_CMD_ID_RECEIVE_MSG:
+		return es581_4_dispatch_rx_cmd(es58x_dev, es581_4_urb_cmd);
+
+	case ES581_4_CMD_ID_RESET_RX:
+		ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
+					     ES58X_RET_TYPE_RESET_RX);
+		return ret;
+
+	case ES581_4_CMD_ID_RESET_TX:
+		ret = es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
+					     ES58X_RET_TYPE_RESET_TX);
+		return ret;
+
+	case ES581_4_CMD_ID_DISABLE_CHANNEL:
+		return es581_4_rx_cmd_ret_u32(es58x_dev, es581_4_urb_cmd,
+					      ES58X_RET_TYPE_DISABLE_CHANNEL);
+
+	case ES581_4_CMD_ID_TIMESTAMP:
+		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->timestamp,
+					  msg_len);
+		if (unlikely(ret < 0))
+			return ret;
+		return es58x_rx_timestamp(es58x_dev,
+					  get_unaligned_le64
+					  (&es581_4_urb_cmd->timestamp));
+
+	case ES581_4_CMD_ID_SELF_RECEPTION:
+		return es581_4_rx_loopback_msg(es58x_dev, es581_4_urb_cmd);
+
+	case ES581_4_CMD_ID_DEVICE_ERR_FRAME:
+		ret = es58x_check_msg_len(dev, es581_4_urb_cmd->rx_dev_ret_u8,
+					  msg_len);
+		if (unlikely(ret))
+			return ret;
+		return es58x_rx_dev_ret_u8(es58x_dev->dev,
+					   ES58X_RET_TYPE_DEVICE_ERR_FRAME,
+					   es581_4_urb_cmd->rx_dev_ret_u8);
+
+	default:
+		dev_warn(dev, "%s: Unexpected command ID: 0x%02X\n",
+			 __func__, es581_4_urb_cmd->cmd_id);
+		return -EBADRQC;
+	}
+}
+
+static void es581_4_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
+				    u8 cmd_id, u8 channel_idx, u16 msg_len)
+{
+	struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
+
+	es581_4_urb_cmd->SOF = cpu_to_le16(es581_4_param.tx_start_of_frame);
+	es581_4_urb_cmd->cmd_type = cmd_type;
+	es581_4_urb_cmd->cmd_id = cmd_id;
+	es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
+}
+
+static int es581_4_tx_can_msg(struct es58x_device *es58x_dev, int channel_idx,
+			      u32 packet_idx,
+			      struct es58x_abstracted_can_frame *es58x_cf,
+			      union es58x_urb_cmd *urb_cmd, u32 *urb_cmd_len)
+{
+	struct es581_4_urb_cmd *es581_4_urb_cmd = &urb_cmd->es581_4_urb_cmd;
+	struct es581_4_tx_can_msg *tx_can_msg;
+	u16 msg_len;
+	int ret;
+
+	ret = es58x_check_msg_max_len(es58x_dev->dev,
+				      es581_4_urb_cmd->bulk_tx_can_msg,
+				      es581_4_get_msg_len(urb_cmd) +
+				      sizeof(*tx_can_msg));
+	if (unlikely(ret))
+		return ret;
+
+	if (unlikely(es58x_cf->is_can_fd))
+		return -EMSGSIZE;
+
+	/* Fill message contents. */
+	if (*urb_cmd_len == es58x_dev->param->urb_cmd_header_len) {
+		es581_4_fill_urb_header(urb_cmd, ES581_4_CAN_COMMAND_TYPE,
+					ES581_4_CMD_ID_TX_MSG,
+					channel_idx, *urb_cmd_len);
+		msg_len = 1;
+	} else {
+		msg_len = le16_to_cpu(es581_4_urb_cmd->msg_len);
+	}
+	tx_can_msg = (struct es581_4_tx_can_msg *)
+	    &es581_4_urb_cmd->bulk_tx_can_msg.tx_can_msg_buf[msg_len - 1];
+
+	put_unaligned_le32(es58x_cf->can_id, &tx_can_msg->can_id);
+	put_unaligned_le32(packet_idx, &tx_can_msg->packet_idx);
+	put_unaligned_le16((u16)es58x_cf->flags, &tx_can_msg->flags);
+	tx_can_msg->channel_no = channel_idx + 1;
+	tx_can_msg->dlc = es58x_cf->dlc;
+	memcpy(tx_can_msg->data, es58x_cf->data, es58x_cf->len);
+
+	/* Calculate new sizes. */
+	es581_4_urb_cmd->bulk_tx_can_msg.num_can_msg++;
+	msg_len += es581_4_sizeof_rx_tx_msg(*tx_can_msg);
+	*urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+	es581_4_urb_cmd->msg_len = cpu_to_le16(msg_len);
+
+	return 0;
+}
+
+static void es581_4_print_conf(struct net_device *netdev,
+			       struct es581_4_tx_conf_msg *tx_conf_msg)
+{
+	netdev_vdbg(netdev, "bitrate         = %d\n",
+		    le32_to_cpu(tx_conf_msg->bitrate));
+	netdev_vdbg(netdev, "sample_point    = %d\n",
+		    le32_to_cpu(tx_conf_msg->sample_point));
+	netdev_vdbg(netdev, "samples_per_bit = %d\n",
+		    le32_to_cpu(tx_conf_msg->samples_per_bit));
+	netdev_vdbg(netdev, "bit_time        = %d\n",
+		    le32_to_cpu(tx_conf_msg->bit_time));
+	netdev_vdbg(netdev, "sjw             = %d\n",
+		    le32_to_cpu(tx_conf_msg->sjw));
+	netdev_vdbg(netdev, "sync_edge       = %d\n",
+		    le32_to_cpu(tx_conf_msg->sync_edge));
+	netdev_vdbg(netdev, "physical_media  = %d\n",
+		    le32_to_cpu(tx_conf_msg->physical_media));
+	netdev_vdbg(netdev, "self_reception  = %d\n",
+		    le32_to_cpu(tx_conf_msg->self_reception_mode));
+	netdev_vdbg(netdev, "channel_no      = %d\n", tx_conf_msg->channel_no);
+}
+
+static int es581_4_set_bittiming(struct es58x_device *es58x_dev,
+				 int channel_idx)
+{
+	struct es581_4_tx_conf_msg tx_conf_msg = { 0 };
+	struct net_device *netdev = es58x_dev->netdev[channel_idx];
+	struct es58x_priv *priv = es58x_priv(netdev);
+	struct can_bittiming *bt = &priv->can.bittiming;
+
+	tx_conf_msg.bitrate = cpu_to_le32(bt->bitrate);
+	/* bt->sample_point is in tenth of percent. Convert it to percent. */
+	tx_conf_msg.sample_point = cpu_to_le32(bt->sample_point / 10U);
+	tx_conf_msg.samples_per_bit =
+	    cpu_to_le32(priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES ?
+			ES58X_THREE_SAMPLES_PER_BIT : ES58X_ONE_SAMPLE_PER_BIT);
+	tx_conf_msg.bit_time = cpu_to_le32(can_bit_time(bt));
+	tx_conf_msg.sjw = cpu_to_le32(bt->sjw);
+	tx_conf_msg.sync_edge = cpu_to_le32(ES58X_SINGLE_SYNC_EDGE);
+	//tx_conf_msg.physical_media = cpu_to_le32(ES58X_MEDIA_HIGH_SPEED);
+	tx_conf_msg.physical_media = cpu_to_le32(ES58X_MEDIA_FAULT_TOLERANT);
+	tx_conf_msg.self_reception_mode =
+	    cpu_to_le32(priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK ?
+			ES58X_SELF_RECEPTION_ON : ES58X_SELF_RECEPTION_OFF);
+	tx_conf_msg.channel_no = channel_idx + es581_4_param.channel_idx_offset;
+
+	es581_4_print_conf(netdev, &tx_conf_msg);
+
+	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+			      ES581_4_CMD_ID_SET_BITTIMING, &tx_conf_msg,
+			      sizeof(tx_conf_msg), channel_idx);
+}
+
+static int es581_4_enable_channel(struct es58x_device *es58x_dev,
+				  int channel_idx)
+{
+	u8 msg = channel_idx + 1;
+
+	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+			      ES581_4_CMD_ID_ENABLE_CHANNEL, &msg, sizeof(msg),
+			      channel_idx);
+}
+
+static int es581_4_disable_channel(struct es58x_device *es58x_dev,
+				   int channel_idx)
+{
+	u8 msg = channel_idx + 1;
+
+	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+			      ES581_4_CMD_ID_DISABLE_CHANNEL, &msg, sizeof(msg),
+			      channel_idx);
+}
+
+static int es581_4_reset_rx(struct es58x_device *es58x_dev, int channel_idx)
+{
+	u8 msg = channel_idx + 1;
+
+	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+			      ES581_4_CMD_ID_RESET_RX, &msg, sizeof(msg),
+			      channel_idx);
+}
+
+static int es581_4_reset_tx(struct es58x_device *es58x_dev, int channel_idx)
+{
+	u8 msg = channel_idx + 1;
+
+	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+			      ES581_4_CMD_ID_RESET_TX, &msg, sizeof(msg),
+			      channel_idx);
+}
+
+static int es581_4_get_timestamp(struct es58x_device *es58x_dev)
+{
+	return es58x_send_msg(es58x_dev, ES581_4_CAN_COMMAND_TYPE,
+			      ES581_4_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
+			      0, ES58X_CHANNEL_IDX_NA);
+}
+
+/**
+ * es581_4_bittiming_const - Nominal bittiming constants.
+ *
+ * Nominal bittiming constants for ES581.4 as specified in the
+ * microcontroller datasheet: "Stellaris(R) LM3S5B91 Microcontroller"
+ * table 17-4 "CAN Protocol Ranges" from Texas Instruments.
+ */
+static const struct can_bittiming_const es581_4_bittiming_const = {
+	.name = "LM3S5B91",
+	.tseg1_min = 1,
+	.tseg1_max = 8,
+	.tseg2_min = 1,
+	.tseg2_max = 8,
+	.sjw_max = 4,
+	.brp_min = 1,
+	.brp_max = 128,
+	.brp_inc = 1
+};
+
+const struct es58x_parameters es581_4_param = {
+	.bittiming_const = &es581_4_bittiming_const,
+	.data_bittiming_const = NULL,
+	.bitrate_max = ES58X_MBPS(1),
+	.clock = {.freq = ES58X_MHZ(50)},
+	.ctrlmode_supported =
+	    CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
+	    CAN_CTRLMODE_3_SAMPLES,
+	.tx_start_of_frame = 0xAFAF,
+	.rx_start_of_frame = 0xFAFA,
+	.tx_urb_cmd_max_len = ES581_4_TX_URB_CMD_MAX_LEN,
+	.rx_urb_cmd_max_len = ES581_4_RX_URB_CMD_MAX_LEN,
+	/* Size of internal device TX queue is 330.
+	 *
+	 * However, we witnessed some ES58X_ERR_PROT_CRC errors from
+	 * the device and thus, echo_skb_max was lowered to the
+	 * empirical value of 75 which seems stable.
+	 *
+	 * Root cause of those ES58X_ERR_PROT_CRC errors is still
+	 * unclear.
+	 */
+	.echo_skb_max = 75,
+	/* Empirical value. */
+	.dql_limit_min = ES58X_CAN_FRAME_BYTES_MAX * 50,
+	.tx_bulk_max = ES581_4_TX_BULK_MAX,
+	.urb_cmd_header_len = ES581_4_URB_CMD_HEADER_LEN,
+	.rx_urb_max = ES58X_RX_URBS_MAX,
+	.tx_urb_max = ES58X_TX_URBS_MAX,
+	.channel_idx_offset = 1
+};
+
+const struct es58x_operators es581_4_ops = {
+	.get_msg_len = es581_4_get_msg_len,
+	.handle_urb_cmd = es581_4_handle_urb_cmd,
+	.fill_urb_header = es581_4_fill_urb_header,
+	.tx_can_msg = es581_4_tx_can_msg,
+	.set_bittiming = es581_4_set_bittiming,
+	.enable_channel = es581_4_enable_channel,
+	.disable_channel = es581_4_disable_channel,
+	.reset_rx = es581_4_reset_rx,
+	.reset_tx = es581_4_reset_tx,
+	.get_timestamp = es581_4_get_timestamp
+};
diff --git a/drivers/net/can/usb/etas_es58x/es581_4.h b/drivers/net/can/usb/etas_es58x/es581_4.h
new file mode 100644
index 000000000000..b725027870e3
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es581_4.h
@@ -0,0 +1,237 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es581_4.h: Definitions and declarations specific to ETAS
+ * ES581.4.
+ *
+ * Copyright (C) 2019 Robert Bosch Engineering and Business
+ * Solutions. All rights reserved.
+ * Copyright (C) 2020 ETAS K.K.. All rights reserved.
+ */
+
+#ifndef __ES581_4_H__
+#define __ES581_4_H__
+
+#include <linux/types.h>
+
+#define ES581_4_NUM_CAN_CH		2
+
+#define ES581_4_TX_BULK_MAX		25
+#define ES581_4_RX_BULK_MAX		30
+#define ES581_4_RX_LOOPBACK_BULK_MAX	30
+
+enum es581_4_cmd_type {
+	ES581_4_CAN_COMMAND_TYPE = 0x45
+};
+
+enum es581_4_cmd_id {
+	ES581_4_CMD_ID_OPEN_CHANNEL = 0x01,
+	ES581_4_CMD_ID_CLOSE_CHANNEL = 0x02,
+	ES581_4_CMD_ID_SET_BITTIMING = 0x03,
+	ES581_4_CMD_ID_ENABLE_CHANNEL = 0x04,
+	ES581_4_CMD_ID_TX_MSG = 0x05,
+	ES581_4_CMD_ID_RECEIVE_MSG = 0x06,
+	ES581_4_CMD_ID_WAIT_RECEIVE_MSG = 0x07,
+	ES581_4_CMD_ID_ADD_RX_FILTER = 0x08,
+	ES581_4_CMD_ID_REMOVE_RX_FILTER = 0x09,
+	ES581_4_CMD_ID_RESET_RX = 0x0A,
+	ES581_4_CMD_ID_RESET_TX = 0x0B,
+	ES581_4_CMD_ID_DISABLE_CHANNEL = 0x0C,
+	ES581_4_CMD_ID_TIMESTAMP = 0x0E,
+	ES581_4_CMD_ID_RESET_DEVICE = 0x28,
+	ES581_4_CMD_ID_SELF_RECEPTION = 0x71,
+	ES581_4_CMD_ID_DEVICE_ERR_FRAME = 0x72,
+
+	/* ISO-TP (ISO 15765) commands */
+	ES581_4_CMD_ID_SET_ISO_CONFIG = 0x40,
+	ES581_4_CMD_ID_RECEIVE_ISO_MSGS = 0x41,
+	ES581_4_CMD_ID_TRANSMIT_ISO_MSGS = 0x42,
+	ES581_4_CMD_ID_SET_ISO_FILTER_CONFIG = 0x43,
+	ES581_4_CMD_ID_ENABLE_ISO_CONFIG = 0x44,
+	ES581_4_CMD_ID_GET_ISO_CONFIG = 0x45,
+	ES581_4_CMD_ID_ISO_TX_FAIL = 0x49
+};
+
+enum es581_4_rx_type {
+	ES581_4_RX_TYPE_MESSAGE = 1,
+	ES581_4_RX_TYPE_ERROR = 3,
+	ES581_4_RX_TYPE_EVENT = 4
+};
+
+/**
+ * struct es581_4_isotp_conf_msg - ISO-TP configuration.
+ * @bs: Block size.
+ * @st_min: Minimum separation time.
+ * @bs_tx: Block size for transmission.
+ * @stmin_tx: Minimum separation time for transmission.
+ * @wft_max: maximum number of WAIT frames before the transmission.
+ *
+ * ISO-TP (ISO 15765) configuration. Not implemented yet in this
+ * driver.
+ */
+struct es581_4_isotp_conf_msg {
+	__le16 bs;
+	__le16 st_min;
+	__le16 bs_tx;
+	__le16 st_min_tx;
+	__le16 wft_max;
+} __packed;
+
+/**
+ * struct es581_4_tx_conf_msg - Channel configuration.
+ * @bitrate: Bitrate.
+ * @sample_point: Sample point is in percent [0..100].
+ * @samples_per_bit: type enum es58x_samples_per_bit.
+ * @bit_time: Number of time quanta in one bit.
+ * @sjw: Synchronization Jump Width.
+ * @sync_edge: type enum es58x_sync_edge.
+ * @physical_media: type enum es58x_physical_media.
+ * @self_reception_mode: type enum es58x_self_reception_mode.
+ * @channel_no: Channel number, starting from 1. Not to be confused
+ *	with channed_idx of the ES58X FD which starts from 0.
+ */
+struct es581_4_tx_conf_msg {
+	__le32 bitrate;
+	__le32 sample_point;
+	__le32 samples_per_bit;
+	__le32 bit_time;
+	__le32 sjw;
+	__le32 sync_edge;
+	__le32 physical_media;
+	__le32 self_reception_mode;
+	u8 channel_no;
+} __packed;
+
+struct es581_4_tx_can_msg {
+	__le32 can_id;
+	__le32 packet_idx;
+	__le16 flags;
+	u8 channel_no;
+	u8 dlc;
+	u8 data[CAN_MAX_DLEN];
+} __packed;
+
+/* The ES581.4 allows bulk transfer.  */
+struct es581_4_bulk_tx_can_msg {
+	u8 num_can_msg;
+	/* Using type "u8[]" instead of "struct es581_4_tx_can_msg[]"
+	 * for tx_msg_buf because each member has a flexible size.
+	 */
+	u8 tx_can_msg_buf[ES581_4_TX_BULK_MAX *
+			  sizeof(struct es581_4_tx_can_msg)];
+} __packed;
+
+struct es581_4_rx_loopback_msg {
+	__le64 timestamp;
+	__le32 packet_idx;
+} __packed;
+
+struct es581_4_bulk_rx_loopback_msg {
+	u8 channel_no;
+	struct es581_4_rx_loopback_msg
+	 rx_loopback_msg[ES581_4_RX_LOOPBACK_BULK_MAX];
+} __packed;
+
+/* Normal Rx CAN Message */
+struct es581_4_rx_can_msg {
+	__le64 timestamp;
+	u8 rx_type;		// type enum es581_4_rx_type
+	u8 flags;		// type enum es58x_flag_type
+	u8 channel_no;
+	u8 dlc;
+	__le32 can_id;
+	u8 data[CAN_MAX_DLEN];
+} __packed;
+
+struct es581_4_rx_err_msg {
+	__le64 timestamp;
+	__le16 rx_type;		// type enum es581_4_rx_type
+	__le16 flags;		// type enum es58x_flag_type
+	u8 channel_no;
+	u8 __padding[2];
+	u8 dlc;
+	__le32 tag;		// Related to the CAN filtering. Unused in this module
+	__le32 can_id;
+	__le32 error;		// type enum es58x_error
+	__le32 destination;	// Unused in this module
+} __packed;
+
+struct es581_4_rx_event_msg {
+	__le64 timestamp;
+	__le16 rx_type;		// type enum es58x_flag_type
+	u8 channel_no;
+	u8 __padding;
+	__le32 tag;		// Related to the CAN filtering. Unused in this module
+	__le32 event;		// type enum es58x_event
+	__le32 destination;	// Unused in this module
+} __packed;
+
+struct es581_4_tx_ack_msg {
+	__le16 tx_free_entries;	// Number of remaining free entries in the device TX queue
+	u8 channel_no;
+	u8 rx_dev_ret_u8;	// type enum es58x_dev_ret_code_u8
+} __packed;
+
+struct es581_4_rx_dev_ret {
+	__le32 rx_cmd_ret_le32;
+	u8 channel_no;
+	u8 __padding[3];
+} __packed;
+
+/**
+ * struct es581_4_urb_cmd - Commands received from or sent to the
+ *	ES581.4 device.
+ * @SOF: Start of Frame.
+ * @cmd_type: Command Type (type: enum es581_4_cmd_type). The CRC
+ *	calculation starts at this position.
+ * @cmd_id: Command ID (type: enum es581_4_cmd_id).
+ * @msg_len: Length of the message, excluding CRC (i.e. length of the
+ *	union).
+ * @raw_msg: Message raw payload.
+ * @tx_conf_msg: Channel configuration.
+ * @bulk_tx_can_msg: Tx messages.
+ * @rx_can_msg: Array of Rx messages.
+ * @bulk_rx_loopback_msg: Loopback messages.
+ * @rx_err_msg: Error message.
+ * @rx_event_msg: Event message.
+ * @tx_ack_msg: Tx acknowledgment message.
+ * @timestamp: Timestamp reply.
+ * @rx_cmd_ret_u8: Rx 8 bits return code (type: enum
+ *	es58x_dev_ret_code_u8).
+ * @reserved_for_crc16_do_not_use: The structure ends with a
+ *	CRC16. Because the structures in above union are of variable
+ *	lengths, we can not predict the offset of the CRC in
+ *	advance. Use functions es58x_get_crc() and es58x_set_crc() to
+ *	manipulate it.
+ */
+struct es581_4_urb_cmd {
+	__le16 SOF;
+	u8 cmd_type;
+	u8 cmd_id;
+	__le16 msg_len;
+
+	union {
+		u8 raw_msg[0];
+		struct es581_4_tx_conf_msg tx_conf_msg;
+		struct es581_4_bulk_tx_can_msg bulk_tx_can_msg;
+		struct es581_4_rx_can_msg rx_can_msg[ES581_4_RX_BULK_MAX];
+		struct es581_4_bulk_rx_loopback_msg bulk_rx_loopback_msg;
+		struct es581_4_rx_err_msg rx_err_msg;
+		struct es581_4_rx_event_msg rx_event_msg;
+		struct es581_4_tx_ack_msg tx_ack_msg;
+		struct es581_4_rx_dev_ret rx_dev_ret;
+		__le64 timestamp;
+		u8 rx_dev_ret_u8;
+	} __packed;
+
+	__le16 reserved_for_crc16_do_not_use;
+} __packed;
+
+#define ES581_4_URB_CMD_HEADER_LEN (offsetof(struct es581_4_urb_cmd, raw_msg))
+#define ES581_4_TX_URB_CMD_MAX_LEN					\
+	ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, bulk_tx_can_msg)
+#define ES581_4_RX_URB_CMD_MAX_LEN					\
+	ES58X_SIZEOF_URB_CMD(struct es581_4_urb_cmd, rx_can_msg)
+
+#endif				//__ES581_4_H__
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
new file mode 100644
index 000000000000..e1478d6e93f0
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
@@ -0,0 +1,2725 @@
+// SPDX-License-Identifier: GPL-2.0
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_core.c: Core logic to manage the network devices and the
+ * USB interface.
+ *
+ * Copyright (C) 2019 Robert Bosch Engineering and Business
+ * Solutions. All rights reserved.
+ * Copyright (C) 2020 ETAS K.K.. All rights reserved.
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/usb.h>
+#include <linux/crc16.h>
+#include <linux/spinlock.h>
+#include <asm/unaligned.h>
+
+#include "es58x_core.h"
+
+#define DRV_VERSION "1.03"
+MODULE_AUTHOR("Mailhol Vincent <vincent.mailhol@xxxxxxxx>");
+MODULE_AUTHOR("Arunachalam Santhanam <arunachalam.santhanam@xxxxxxxxxxxx>");
+MODULE_DESCRIPTION("Socket CAN driver for ETAS ES58X USB adapters");
+MODULE_VERSION(DRV_VERSION);
+MODULE_LICENSE("GPL v2");
+
+/* Vendor and product id */
+#define ES58X_MODULE_NAME         "etas_es58x"
+#define ES58X_VENDOR_ID             0x108C
+#define ES581_4_PRODUCT_ID          0x0159
+#define ES582_1_PRODUCT_ID          0x0168
+#define ES584_1_PRODUCT_ID          0x0169
+
+/* Table of devices which work with this driver */
+static const struct usb_device_id es58x_id_table[] = {
+	{USB_DEVICE(ES58X_VENDOR_ID, ES581_4_PRODUCT_ID)},
+	{USB_DEVICE(ES58X_VENDOR_ID, ES582_1_PRODUCT_ID)},
+	{USB_DEVICE(ES58X_VENDOR_ID, ES584_1_PRODUCT_ID)},
+	{}			/* Terminating entry */
+};
+
+MODULE_DEVICE_TABLE(usb, es58x_id_table);
+
+#define es58x_print_hex_dump(buf, len)					\
+	print_hex_dump(KERN_DEBUG,					\
+		       ES58X_MODULE_NAME " " __stringify(buf) ": ",	\
+		       DUMP_PREFIX_NONE, 16, 1, buf, len, false)
+
+#define es58x_print_hex_dump_debug(buf, len)				 \
+	print_hex_dump_debug(ES58X_MODULE_NAME " " __stringify(buf) ": ",\
+			     DUMP_PREFIX_NONE, 16, 1, buf, len, false)
+
+/* The last two bytes of an ES58X command is a CRC16. The first two
+ * bytes (the start of frame) are skipped and the CRC calculation
+ * starts on the third byte.
+ */
+#define ES58X_CRC_CALC_OFFSET	2
+
+/**
+ * es58x_calculate_crc() - Compute the crc16 of a given URB.
+ * @urb_cmd: The URB command for which we want to calculate the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ *	(ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ *
+ * Return: crc16 value.
+ */
+static u16 es58x_calculate_crc(const union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+	u16 crc;
+	ssize_t len = urb_len - ES58X_CRC_CALC_OFFSET - sizeof(crc);
+
+	WARN_ON(len < 0);
+	crc = crc16(0, &urb_cmd->raw_cmd[ES58X_CRC_CALC_OFFSET], len);
+	return crc;
+}
+
+/**
+ * es58x_get_crc() - Get the CRC value of a given URB.
+ * @urb_cmd: The URB command for which we want to get the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ *	(ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ *
+ * Return: crc16 value.
+ */
+static u16 es58x_get_crc(const union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+	u16 crc;
+	__le16 *crc_addr;
+
+	WARN_ON(urb_len - (ssize_t)sizeof(crc) < 0);
+	crc_addr = (__le16 *)&urb_cmd->raw_cmd[urb_len - sizeof(crc)];
+	crc = get_unaligned_le16(crc_addr);
+	return crc;
+}
+
+/**
+ * es58x_set_crc() - Set the CRC value of a given URB.
+ * @urb_cmd: The URB command for which we want to get the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ *	(ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ */
+static void es58x_set_crc(union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+	u16 crc;
+	__le16 *crc_addr;
+
+	crc = es58x_calculate_crc(urb_cmd, urb_len);
+	crc_addr = (__le16 *)&urb_cmd->raw_cmd[urb_len - sizeof(crc)];
+	put_unaligned_le16(crc, crc_addr);
+}
+
+/**
+ * es58x_check_crc() - Validate the CRC value of a given URB.
+ * @urb_cmd: The URB command for which we want to check the CRC.
+ * @urb_len: Length of @urb_cmd. Must be at least bigger than 4
+ *	(ES58X_CRC_CALC_OFFSET + sizeof(crc))
+ *
+ * Return: zero on success, -EBADMSG if the CRC check fails.
+ */
+static int es58x_check_crc(struct es58x_device *es58x_dev,
+			   const union es58x_urb_cmd *urb_cmd, u16 urb_len)
+{
+	u16 calculated_crc = es58x_calculate_crc(urb_cmd, urb_len);
+	u16 expected_crc = es58x_get_crc(urb_cmd, urb_len);
+
+	if (unlikely(expected_crc != calculated_crc)) {
+		dev_err_ratelimited(es58x_dev->dev,
+				    "%s: Bad CRC, urb_len: %d\n",
+				    __func__, urb_len);
+		return -EBADMSG;
+	}
+
+	return 0;
+}
+
+/**
+ * es58x_timestamp_to_ns() - Convert a timestamp value received from a
+ *	ES58X device to nanoseconds.
+ * @timestamp: Timestamp received from a ES58X device.
+ *
+ * The timestamp received from ES58X is expressed in multiple of 0.5
+ * micro seconds. This function converts it in to nanoseconds.
+ *
+ * Return: Timestamp value in nanoseconds.
+ */
+static u64 es58x_timestamp_to_ns(u64 timestamp)
+{
+	const u64 es58x_timestamp_ns_mult_coef = 500ULL;
+
+	return es58x_timestamp_ns_mult_coef * timestamp;
+}
+
+/**
+ * es58x_set_skb_timestamp() - Set the hardware timestamp of an skb.
+ * @netdev: CAN network device.
+ * @skb: socket buffer of a CAN message.
+ * @timestamp: Timestamp received from an ES58X device.
+ *
+ * Used for both received and loopback messages.
+ *
+ * Return: zero on success, -EFAULT if @skb is NULL.
+ */
+static int es58x_set_skb_timestamp(struct net_device *netdev,
+				   struct sk_buff *skb, u64 timestamp)
+{
+	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+	struct skb_shared_hwtstamps *hwts;
+
+	hwts = skb_hwtstamps(skb);
+	/* Ignoring overflow (overflow on 64 bits timestamp with nano
+	 * second precision would occur after more than 500 years).
+	 */
+	hwts->hwtstamp = ns_to_ktime(es58x_timestamp_to_ns(timestamp) +
+				     es58x_dev->realtime_diff_ns);
+
+	return 0;
+}
+
+/**
+ * es58x_rx_timestamp() - Handle a received timestamp.
+ * @es58x_dev: ES58X device.
+ * @timestamp: Timestamp received from a ES58X device.
+ *
+ * Calculate the difference between the ES58X device and the kernel
+ * internal clocks. This difference will be later used as an offset to
+ * convert the timestamps of RX and loopback messages to match the
+ * kernel system time (e.g. convert to UNIX time).
+ *
+ * Return: zero on success.
+ */
+int es58x_rx_timestamp(struct es58x_device *es58x_dev, u64 timestamp)
+{
+	u64 ktime_real_ns = ktime_get_real_ns();
+	u64 device_timestamp = es58x_timestamp_to_ns(timestamp);
+
+	dev_dbg(es58x_dev->dev,
+		"%s: Kernel timestamp when sending urb: %llu, kernel timestamp when urb callback: %llu, diff: %llu\n",
+		__func__, es58x_dev->ktime_req_ns, ktime_real_ns,
+		ktime_real_ns - es58x_dev->ktime_req_ns);
+
+	es58x_dev->realtime_diff_ns =
+	    (es58x_dev->ktime_req_ns + ktime_real_ns) / 2 - device_timestamp;
+	es58x_dev->ktime_req_ns = 0;
+
+	dev_dbg(es58x_dev->dev,
+		"%s: Device timestamp: %llu, diff with kernel: %llu\n",
+		__func__, device_timestamp, es58x_dev->realtime_diff_ns);
+
+	return 0;
+}
+
+/**
+ * es58x_set_realtime_diff_ns() - Calculate difference between the
+ *	clocks of the ES58X device and the kernel
+ * @es58x_dev: ES58X device.
+ *
+ * Request a timestamp from the ES58X device. Once the answer is
+ * received, the timestamp difference will be set by the callback
+ * function es58x_rx_timestamp().
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_set_realtime_diff_ns(struct es58x_device *es58x_dev)
+{
+	if (es58x_dev->ktime_req_ns) {
+		dev_warn(es58x_dev->dev,
+			 "%s: Previous request to set timestamp has not completed yet\n",
+			 __func__);
+		return -EBUSY;
+	}
+
+	es58x_dev->ktime_req_ns = ktime_get_real_ns();
+	return es58x_dev->ops->get_timestamp(es58x_dev);
+}
+
+/**
+ * es58x_is_can_state_active() - Is the network device in an active
+ *	CAN state?
+ * @netdev: CAN network device.
+ *
+ * The device is considered active if it is able to send or receive
+ * CAN frames, that is to say if it is in any of
+ * CAN_STATE_ERROR_ACTIVE, CAN_STATE_ERROR_WARNING or
+ * CAN_STATE_ERROR_PASSIVE states.
+ *
+ * Caution: when recovering from a bus-off,
+ * net/core/dev.c#can_restart() will call
+ * net/core/dev.c#can_flush_echo_skb() without using any kind of
+ * locks. For this reason, it is critical to guaranty that no TX or
+ * loopback operations (i.e. any access to priv->echo_skb[]) can be
+ * done while this function is returning false.
+ *
+ * Return: true if the device is active, else returns false.
+ */
+static bool es58x_is_can_state_active(struct net_device *netdev)
+{
+	return es58x_priv(netdev)->can.state < CAN_STATE_BUS_OFF;
+}
+
+/**
+ * es58x_echo_skb_stop_threshold() - Determine the limit of how many
+ *	skb slots can be taken before we should stop the network
+ *	queue.
+ * @priv: ES58X private parameters related to the network device.
+ *
+ * We need to save enough free skb slots in order to be able to do
+ * bulk send. This function can be used to determine when to wake or
+ * stop the network queue in regard to the number of skb slots already
+ * taken if the loopback FIFO.
+ *
+ * Return: stop threshold limit.
+ */
+static int es58x_echo_skb_stop_threshold(struct es58x_priv *priv)
+{
+	return priv->can.echo_skb_max - priv->es58x_dev->param->tx_bulk_max + 1;
+}
+
+/**
+ * es58x_netif_wake_queue() - Wake-up the network queue if conditions
+ *	are met.
+ * @netdev: CAN network device.
+ *
+ * If the queue is already awoken, do nothing.
+ *
+ * The conditions to wake up the queue are: a.) The device should be
+ * active (e.g. not in bus off state), b.) The network device must be
+ * up, c.) The echo_skb must have enough free slots, d.) Enough idle
+ * URBs should be available.
+ */
+static void es58x_netif_wake_queue(struct net_device *netdev)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	struct es58x_device *es58x_dev = priv->es58x_dev;
+	unsigned long echo_skb_flags, tx_urbs_flags;
+
+	if (!netif_queue_stopped(netdev))
+		return;
+
+	spin_lock_irqsave(&priv->echo_skb_spinlock, echo_skb_flags);
+	if (unlikely(!es58x_is_can_state_active(netdev)))
+		goto echo_skb_unlock;
+	if (netif_running(netdev) &&
+	    priv->num_echo_skb < es58x_echo_skb_stop_threshold(priv)) {
+		/* Confirm that we have at least one idle URB per can
+		 * network device. Otherwise, we might run into race
+		 * conditions in the function es58x_start_xmit() which
+		 * would force us to return NETDEV_TX_BUSY.
+		 */
+		spin_lock_irqsave(&es58x_dev->tx_urbs_idle.lock, tx_urbs_flags);
+		if (atomic_read(&es58x_dev->tx_urbs_idle_cnt) >=
+		    es58x_dev->num_can_ch)
+			netif_wake_queue(netdev);
+		spin_unlock_irqrestore(&es58x_dev->tx_urbs_idle.lock,
+				       tx_urbs_flags);
+	}
+ echo_skb_unlock:
+	spin_unlock_irqrestore(&priv->echo_skb_spinlock, echo_skb_flags);
+}
+
+/**
+ * es58x_netif_wake_all_queues() - Wake-up all the network queues if
+ *	conditions are met.
+ * @es58x_dev: ES58X device.
+ *
+ * Try to wake-up all the queues associated with a ES58X device. This
+ * function should be used when idle URB resources become available.
+ */
+static void es58x_netif_wake_all_queues(struct es58x_device *es58x_dev)
+{
+	int i;
+
+	for (i = 0; i < es58x_dev->num_can_ch; i++)
+		es58x_netif_wake_queue(es58x_dev->netdev[i]);
+}
+
+/**
+ * es58x_netif_stop_all_queues() - Unconditionally stop all the
+ *	network queues.
+ * @es58x_dev: ES58X device.
+ *
+ * Stop all the queues associated with a ES58X device. This
+ * function should be used when idle URB resources become unavailable.
+ */
+static void es58x_netif_stop_all_queues(struct es58x_device *es58x_dev)
+{
+	int i;
+
+	for (i = 0; i < es58x_dev->num_can_ch; i++)
+		if (likely(es58x_dev->netdev[i]))
+			netif_stop_queue(es58x_dev->netdev[i]);
+}
+
+/**
+ * es58x_can_frame_bytes() - Calculate the CAN frame length in bytes
+ *	of a given skb.
+ * @skb: socket buffer of a CAN message.
+ *
+ * Do a rough calculation: bitstuffing is ignored and length in bits
+ * is rounded up to a length in bytes.
+ *
+ * Rationale: this function is to be used for the BQL functions
+ * (__netdev_sent_queue() and netdev_completed_queue()) which expect a
+ * value in bytes. Just using skb->len is insufficient because it will
+ * return the constant value of CAN(FD)_MTU. Doing the bitstuffing
+ * calculation would be too expensive in term of computing resources
+ * for no noticeable gain.
+ *
+ * Open points: a.) the payload of CAN FD frames with BRS flag are
+ * sent at a different bitrate. This might be an issue because the BQL
+ * does not expect such behavior. Currently, the can-utils canbusload
+ * tool does not support CAN-FD yet and so we could not run any
+ * benchmark to measure the impact, b.) The macro ES58X_EFF_BYTES()
+ * and ES58X_SFF_BYTES() are for non-FD CAN. Need to do the addition
+ * for CAN-FD (the value are expected to be close enough so the impact
+ * should be minimal or none).
+ *
+ * Return: length in bytes.
+ */
+static unsigned int es58x_can_frame_bytes(struct sk_buff *skb)
+{
+	struct canfd_frame *cf = (struct canfd_frame *)skb->data;
+	unsigned int data_len = 0;
+
+	if (can_is_canfd_skb(skb)) {
+		data_len = cf->len;
+	} else {
+		/* No payload in case of Remote Transmission Request
+		 * (RTR).
+		 */
+		if (!(cf->can_id & CAN_RTR_FLAG))
+			data_len = min_t(u8, cf->len, CAN_MAX_DLEN);
+	}
+
+	return cf->can_id & CAN_EFF_FLAG ?
+	    ES58X_SFF_BYTES(data_len) : ES58X_EFF_BYTES(data_len);
+}
+
+/**
+ * es58x_add_skb_idx() - Increment an index of the loopback FIFO.
+ * @priv: ES58X private parameters related to the network device.
+ * @idx: address of the index to be incremented.
+ * @a: the increment. Must be positive and less or equal to
+ *	@priv->can.echo_skb_max.
+ *
+ * Do a modulus addition: set *@idx to (*@idx + @a) %
+ * @priv->can.echo_skb_max.
+ *
+ * Rationale: the modulus operator % takes a decent amount of CPU
+ * cycles (c.f. other division functions such as
+ * include/linux/math64.h:iter_div_u64_rem()).
+ */
+static __always_inline void es58x_add_skb_idx(struct es58x_priv *priv,
+					      u16 *idx, u16 a)
+{
+	*idx += a;
+	if (*idx >= priv->can.echo_skb_max)
+		*idx -= priv->can.echo_skb_max;
+}
+
+/**
+ * es58x_can_put_echo_skb() - Add the given @skb to the loopback FIFO.
+ * @skb: socket buffer of a CAN message.
+ * @netdev: CAN network device.
+ * @head_idx: Index
+ *
+ * One of the function used for the local echo of CAN messages. Puts
+ * the @skb in our loopback FIFO, the @skb will be looped back locally
+ * once we receive a confirmation from the device that the CAN frame
+ * was correctly sent.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_can_put_echo_skb(struct sk_buff *skb,
+				  struct net_device *netdev, u32 head_idx)
+{
+	can_put_echo_skb(skb, netdev, head_idx);
+	/* can_put_echo_skb returns void. Confirm in below if that
+	 * assignment is successful.
+	 */
+	if (unlikely(es58x_priv(netdev)->can.echo_skb[head_idx] != skb)) {
+		netdev_crit(netdev, "%s: Could not put echo skb at index %u!\n",
+			    __func__, head_idx);
+		return -EFAULT;
+	}
+
+	skb_tx_timestamp(skb);
+	return 0;
+}
+
+/**
+ * es58x_can_free_echo_skb_tail() - Remove the oldest echo skb of the
+ *	loopback FIFO.
+ * @netdev: CAN network device.
+ *
+ * Naming convention: the tail is the beginning of the FIFO, i.e. the
+ * first skb to have entered the FIFO.
+ */
+static void es58x_can_free_echo_skb_tail(struct net_device *netdev)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	u16 tail_idx = priv->echo_skb_tail_idx;
+	struct sk_buff *skb = priv->can.echo_skb[tail_idx];
+	unsigned long flags;
+
+	netdev_completed_queue(netdev, 1, es58x_can_frame_bytes(skb));
+	can_free_echo_skb(netdev, tail_idx);
+
+	spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+	es58x_add_skb_idx(priv, &priv->echo_skb_tail_idx, 1);
+	priv->num_echo_skb--;
+	spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+	netdev->stats.tx_dropped++;
+}
+
+/**
+ * es58x_can_get_echo_skb_recovery() - Try to re-sync the loopback FIFO.
+ * @netdev: CAN network device.
+ * @packet_idx: Index
+ *
+ * This function should not be called under normal circumstances. In
+ * the unlikely case that one or several URB packages get dropped, the
+ * index will get out of sync. Try to recover by dropping the packets
+ * with older indexes.
+ *
+ * Return: zero if recovery was successful, -EINVAL otherwise.
+ */
+static int es58x_can_get_echo_skb_recovery(struct net_device *netdev,
+					   u32 packet_idx)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	u32 current_packet_idx, first_packet_idx, num_echo_skb;
+	unsigned long flags;
+	int ret = 0;
+
+	netdev->stats.tx_errors++;
+
+	spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+	current_packet_idx = priv->current_packet_idx;
+	num_echo_skb = priv->num_echo_skb;
+	spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+	first_packet_idx = current_packet_idx - num_echo_skb;
+
+	if (net_ratelimit())
+		netdev_warn(netdev,
+			    "Bad loopback packet index: %u. First index: %u, end index %u, num_echo_skb: %02u/%02u\n",
+			    packet_idx, first_packet_idx,
+			    current_packet_idx - 1, num_echo_skb,
+			    priv->can.echo_skb_max);
+
+	if (packet_idx < first_packet_idx) {
+		if (net_ratelimit())
+			netdev_warn(netdev,
+				    "Received loopback is from the past. Ignoring it\n");
+		ret = -EINVAL;
+	} else if ((s32)(packet_idx - current_packet_idx) >= 0LL) {
+		if (net_ratelimit())
+			netdev_err(netdev,
+				   "Received loopback is from the future. Ignoring it\n");
+		ret = -EINVAL;
+	} else {
+		if (net_ratelimit())
+			netdev_warn(netdev,
+				    "Loopback recovery: dropping %u echo skb from index %u to %u\n",
+				    packet_idx - first_packet_idx,
+				    first_packet_idx, packet_idx - 1);
+		while (first_packet_idx != packet_idx) {
+			if (unlikely(num_echo_skb == 0))
+				return -EINVAL;
+			es58x_can_free_echo_skb_tail(netdev);
+			first_packet_idx++;
+			num_echo_skb--;
+		}
+	}
+	return ret;
+}
+
+/**
+ * es58x_can_get_echo_skb() - Get the skb from the loopback FIFO and
+ *	loop it back locally.
+ * @netdev: CAN network device.
+ * @packet_idx: Index of the first packet.
+ * @tstamps: Array of hardware timestamps received from a ES58X device.
+ * @pkts: Number of packets (and so, length of @tstamps).
+ *
+ * Callback function for when we receive a self reception acknowledgment.
+ * Retrieves the skb from the loopback FIFO, sets its hardware timestamp
+ * (the actual time it was sent) and loops it back locally.
+ *
+ * The device has to be active (i.e. network interface UP and not in
+ * bus off state or restarting).
+ *
+ * Packet indexes must be consecutive (i.e. index of first packet is
+ * @packet_idx, index of second packet is @packet_idx + 1 and index of
+ * last packet is @packet_idx + @pkts - 1).
+ *
+ * Return: zero on success.
+ */
+int es58x_can_get_echo_skb(struct net_device *netdev, u32 packet_idx,
+			   u64 *tstamps, unsigned int pkts)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	u16 tail_idx, num_echo_skb_at_start;
+	u32 first_packet_idx;
+	unsigned long flags;
+	unsigned int frames_bytes = 0;
+	int i;
+	int ret = 0;
+
+	if (unlikely(!netif_running(netdev))) {
+		if (net_ratelimit())
+			netdev_info(netdev,
+				    "%s: %s is down, dropping %d loopback packets\n",
+				    __func__, netdev->name, pkts);
+		netdev->stats.tx_dropped++;
+		return 0;
+	} else if (unlikely(!es58x_is_can_state_active(netdev))) {
+		if (net_ratelimit())
+			netdev_dbg(netdev,
+				   "Bus is off or device is restarting. Ignoring %u loopback packets from index %u\n",
+				   pkts, packet_idx);
+		/* stats.tx_dropped will be (or was already)
+		 * incremented by
+		 * drivers/net/can/net/dev.c:can_flush_echo_skb().
+		 */
+		return 0;
+	} else if (unlikely(priv->num_echo_skb == 0)) {
+		if (net_ratelimit())
+			netdev_warn(netdev,
+				    "Received %u loopback packets from index: %u but echo skb queue is empty.\n",
+				    pkts, packet_idx);
+		netdev->stats.tx_dropped += pkts;
+		return 0;
+	}
+
+	spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+	num_echo_skb_at_start = priv->num_echo_skb;
+	first_packet_idx = priv->current_packet_idx - priv->num_echo_skb;
+	if (unlikely(first_packet_idx != packet_idx)) {
+		spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+		ret = es58x_can_get_echo_skb_recovery(netdev, packet_idx);
+		if (ret < 0) {
+			if (net_ratelimit())
+				netdev_warn(netdev,
+					    "Could not find echo skb for loopback packet index: %u\n",
+					    packet_idx);
+			return 0;
+		}
+		spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+		first_packet_idx =
+		    priv->current_packet_idx - priv->num_echo_skb;
+		WARN_ON(first_packet_idx != packet_idx);
+	}
+	tail_idx = priv->echo_skb_tail_idx;
+	if (unlikely(priv->num_echo_skb < pkts)) {
+		int pkts_drop = pkts - priv->num_echo_skb;
+
+		if (net_ratelimit())
+			netdev_err(netdev,
+				   "Received %u loopback packets but have only %d echo skb. Dropping %d echo skb\n",
+				   pkts, priv->num_echo_skb, pkts_drop);
+		netdev->stats.tx_dropped += pkts_drop;
+		pkts -= pkts_drop;
+	}
+	spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+	for (i = 0; i < pkts; i++) {
+		struct sk_buff *skb = priv->can.echo_skb[tail_idx];
+
+		if (likely(skb)) {
+			frames_bytes += es58x_can_frame_bytes(skb);
+			es58x_set_skb_timestamp(netdev, skb, tstamps[i]);
+		}
+		netdev->stats.tx_bytes += can_get_echo_skb(netdev, tail_idx);
+
+		es58x_add_skb_idx(priv, &tail_idx, 1);
+	}
+
+	spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+	es58x_add_skb_idx(priv, &priv->echo_skb_tail_idx, pkts);
+	priv->num_echo_skb -= pkts;
+	spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+	netdev_completed_queue(netdev, pkts, frames_bytes);
+	netdev->stats.tx_packets += pkts;
+
+	priv->err_passive_before_rtx_success = 0;
+	es58x_netif_wake_queue(netdev);
+
+	return ret;
+}
+
+/**
+ * es58x_can_flush_echo_skb() - Reset the loopback FIFO.
+ * @netdev: CAN network device.
+ *
+ * The echo_skb array of struct can_priv will be flushed by
+ * drivers/net/can/dev.c:can_flush_echo_skb(). This function resets
+ * the parameters of the struct es58x_priv of our device and reset the
+ * queue (c.f. BQL).
+ */
+static void es58x_can_flush_echo_skb(struct net_device *netdev)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	unsigned long flags;
+
+	spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+	priv->current_packet_idx = 0;
+	priv->echo_skb_tail_idx = 0;
+	priv->echo_skb_head_idx = 0;
+	priv->num_echo_skb = 0;
+	spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+	netdev_reset_queue(netdev);
+}
+
+/**
+ * es58x_flush_pending_tx_msg() - Reset the buffer for transmission messages.
+ * @netdev: CAN network device.
+ *
+ * es58x_start_xmit() will queue up to tx_bulk_max messages in
+ * &tx_urb buffer and do a bulk send of all messages in one single URB
+ * (c.f. xmit_more flag). When the device recovers from a bus off
+ * state or when the device stops, the tx_urb buffer might still have
+ * pending messages in it and thus need to be flushed.
+ */
+static void es58x_flush_pending_tx_msg(struct net_device *netdev)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	struct es58x_device *es58x_dev = priv->es58x_dev;
+	unsigned long flags;
+	int i;
+
+	spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+	if (priv->tx_urb) {
+		unsigned int frames_bytes = 0;
+		u16 head_idx = priv->echo_skb_head_idx;
+
+		netdev_warn(netdev,
+			    "%s: dropping %d tx_msg that were pending for transmission\n",
+			    __func__, priv->tx_can_msg_cnt);
+		for (i = 0; i < priv->tx_can_msg_cnt; i++) {
+			frames_bytes +=
+			    es58x_can_frame_bytes(priv->can.echo_skb[head_idx]);
+			can_free_echo_skb(netdev, head_idx);
+			es58x_add_skb_idx(priv, &head_idx, 1);
+		}
+		__netdev_sent_queue(netdev, 0, false);
+		netdev_completed_queue(netdev,
+				       priv->tx_can_msg_cnt, frames_bytes);
+		usb_anchor_urb(priv->tx_urb, &priv->es58x_dev->tx_urbs_idle);
+		netdev->stats.tx_dropped += priv->tx_can_msg_cnt;
+
+		atomic_inc(&es58x_dev->tx_urbs_idle_cnt);
+		usb_free_urb(priv->tx_urb);
+	}
+	priv->tx_urb = NULL;
+	priv->tx_can_msg_cnt = 0;
+	spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+}
+
+/**
+ * es58x_tx_ack_msg() - Handle acknowledgment messages.
+ * @netdev: CAN network device.
+ * @tx_free_entries: Number of free entries in the device transmit FIFO.
+ * @rx_cmd_ret_u32: error code as returned by the ES58X device.
+ *
+ * ES58X sends an acknowledgment message after a transmission request
+ * is done. This is mandatory for the ES581.4 but is optional (and
+ * deactivated in this driver) for the ES58X_FD family.
+ *
+ * Under normal circumstances, this function should never throw an
+ * error message.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_tx_ack_msg(struct net_device *netdev, u16 tx_free_entries,
+		     enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+
+	if (unlikely(tx_free_entries <= priv->es58x_dev->param->tx_bulk_max)) {
+		if (net_ratelimit())
+			netdev_err(netdev,
+				   "Only %d entries remaining in device queue, echo_skb_max: %d, num_echo_skb: %d, tx_free_entries + num_echo_skb: %d\n",
+				   tx_free_entries, priv->can.echo_skb_max,
+				   priv->num_echo_skb,
+				   tx_free_entries + priv->num_echo_skb);
+		netif_stop_queue(netdev);
+	}
+
+	return es58x_rx_cmd_ret_u32(netdev, ES58X_RET_TYPE_TX_MSG,
+				    rx_cmd_ret_u32);
+}
+
+/**
+ * es58x_rx_can_msg() - Handle a received a CAN message.
+ * @netdev: CAN network device.
+ * @es58x_can_frames: Array of CAN frames received from a ES58X device.
+ * @pkts: Number of packets (and so, length of @es58x_can_frames).
+ *
+ * Fill up @pkts CAN skbs and post them.
+ *
+ * This function handles the case where the DLC of a non-FD CAN frame
+ * is greater than CAN_MAX_DLEN.
+ *
+ * Return: zero on success.
+ */
+int es58x_rx_can_msg(struct net_device *netdev,
+		     struct es58x_abstracted_can_frame *es58x_can_frames,
+		     unsigned int pkts)
+{
+	struct canfd_frame *cf;
+	struct sk_buff *skb;
+	size_t sanitized_len;
+	int i;
+
+	if (unlikely(!netif_running(netdev))) {
+		if (net_ratelimit())
+			netdev_info(netdev,
+				    "%s: %s is down, dropping %d rx packets\n",
+				    __func__, netdev->name, pkts);
+		netdev->stats.rx_dropped += pkts;
+		return 0;
+	}
+
+	for (i = 0; i < pkts; i++) {
+		struct es58x_abstracted_can_frame *es58x_cf =
+		    &es58x_can_frames[i];
+
+		sanitized_len = can_dlc2len(can_len2dlc(es58x_cf->len));
+		if (!es58x_cf->is_can_fd)
+			sanitized_len = min_t(u8, sanitized_len, CAN_MAX_DLEN);
+		else if (es58x_cf->len != sanitized_len && net_ratelimit())
+			netdev_warn(netdev,
+				    "%s: Received data length %d does not correspond to a valid DLC. It was sanitized to %zu\n",
+				    __func__, es58x_cf->len, sanitized_len);
+
+		if (es58x_cf->is_can_fd)
+			skb = alloc_canfd_skb(netdev, &cf);
+		else
+			skb = alloc_can_skb(netdev, (struct can_frame **)&cf);
+
+		if (!skb) {
+			netdev->stats.rx_dropped += pkts - i;
+			return -ENOMEM;
+		}
+		cf->can_id = es58x_cf->can_id;
+		if (es58x_cf->flags & ES58X_FLAG_EFF)
+			cf->can_id |= CAN_EFF_FLAG;
+		if (es58x_cf->is_can_fd) {
+			cf->len = sanitized_len;
+			if (es58x_cf->flags & ES58X_FLAG_FD_BRS)
+				cf->flags |= CANFD_BRS;
+			if (es58x_cf->flags & ES58X_FLAG_FD_ESI)
+				cf->flags |= CANFD_ESI;
+		} else {
+			((struct can_frame *)cf)->can_dlc = es58x_cf->dlc;
+			if (es58x_cf->flags & ES58X_FLAG_RTR) {
+				cf->can_id |= CAN_RTR_FLAG;
+				sanitized_len = 0;
+			}
+		}
+		memcpy(cf->data, es58x_cf->data, sanitized_len);
+		netdev->stats.rx_packets++;
+		netdev->stats.rx_bytes += sanitized_len;
+
+		es58x_set_skb_timestamp(netdev, skb, es58x_cf->timestamp);
+		netif_rx(skb);
+	}
+
+	es58x_priv(netdev)->err_passive_before_rtx_success = 0;
+
+	return 0;
+}
+
+/**
+ * es58x_rx_err_msg() - Handle a received CAN event or error message.
+ * @netdev: CAN network device.
+ * @error: Error code.
+ * @event: Event code.
+ * @timestamp: Timestamp received from a ES58X device.
+ *
+ * Handle the errors and events received by the ES58X device, create
+ * a CAN error skb and post it.
+ *
+ * In some rare cases the devices might get stucked alternating between
+ * CAN_STATE_ERROR_PASSIVE and CAN_STATE_ERROR_WARNING. To prevent
+ * this behavior, we force a bus off state if the device goes in
+ * CAN_STATE_ERROR_WARNING for ES58X_MAX_CONSECUTIVE_WARN consecutive
+ * times with no successful transmission or reception in between.
+ *
+ * Once the device is in bus off state, the only way to restart it is
+ * through the drivers/net/can/dev.c:can_restart() function. The
+ * device is technically capable to recover by itself under certain
+ * circumstances, however, allowing self recovery would create
+ * complex race conditions with drivers/net/can/dev.c:can_restart()
+ * and thus was not implemented. To activate automatic restart, please
+ * set the restart-ms parameter (e.g. ip link set can0 type can
+ * restart-ms 100).
+ *
+ * If the bus is really instable, this function would try to send a
+ * lot of log messages. Those are rate limited (i.e. you will see
+ * messages such as "net_ratelimit: XXX callbacks suppressed" in
+ * dmesg).
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_rx_err_msg(struct net_device *netdev, enum es58x_error error,
+		     enum es58x_event event, u64 timestamp)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	struct can_priv *can = netdev_priv(netdev);
+	struct can_device_stats *can_stats = &can->can_stats;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+	unsigned long flags;
+
+	if (unlikely(!netif_running(netdev))) {
+		if (net_ratelimit())
+			netdev_info(netdev, "%s: %s is down, dropping packet\n",
+				    __func__, netdev->name);
+		netdev->stats.rx_dropped++;
+		return 0;
+	}
+
+	if (unlikely(error == ES58X_ERR_OK && event == ES58X_EVENT_OK)) {
+		netdev_err(netdev, "%s: Both error and event are zero\n",
+			   __func__);
+		return -EINVAL;
+	}
+
+	skb = alloc_can_err_skb(netdev, &cf);
+	if (!skb)
+		return -ENOMEM;
+
+	switch (error) {
+	case ES58X_ERR_OK:	//0: No error
+		break;
+
+	case ES58X_ERR_PROT_STUFF:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Error BITSUFF\n");
+		cf->data[2] |= CAN_ERR_PROT_STUFF;
+		break;
+
+	case ES58X_ERR_PROT_FORM:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Error FORMAT\n");
+		cf->data[2] |= CAN_ERR_PROT_FORM;
+		break;
+
+	case ES58X_ERR_ACK:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Error ACK\n");
+		cf->can_id |= CAN_ERR_ACK;
+		break;
+
+	case ES58X_ERR_PROT_BIT:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Error BIT\n");
+		cf->data[2] |= CAN_ERR_PROT_BIT;
+		break;
+
+	case ES58X_ERR_PROT_CRC:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Error CRC\n");
+		cf->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
+		break;
+
+	case ES58X_ERR_PROT_BIT1:
+		if (net_ratelimit())
+			netdev_dbg(netdev,
+				   "Error: expected a recessive bit but monitored a dominant one\n");
+		cf->data[2] |= CAN_ERR_PROT_BIT1;
+		break;
+
+	case ES58X_ERR_PROT_BIT0:
+		if (net_ratelimit())
+			netdev_dbg(netdev,
+				   "Error expected a dominant bit but monitored a recessive one\n");
+		cf->data[2] |= CAN_ERR_PROT_BIT0;
+		break;
+
+	case ES58X_ERR_PROT_OVERLOAD:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Error OVERLOAD\n");
+		cf->data[2] |= CAN_ERR_PROT_OVERLOAD;
+		break;
+
+	case ES58X_ERR_PROT_UNSPEC:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Unspecified error\n");
+		cf->can_id |= CAN_ERR_PROT;
+		break;
+
+	default:
+		if (net_ratelimit())
+			netdev_err(netdev,
+				   "%s: Unspecified error code 0x%04X\n",
+				   __func__, (int)error);
+		cf->can_id |= CAN_ERR_PROT;
+		break;
+	}
+
+	switch (event) {
+	case ES58X_EVENT_OK:	//0: No event
+		break;
+
+	case ES58X_ERR_CRTL_ACTIVE:
+		if (can->state == CAN_STATE_BUS_OFF) {
+			netdev_err(netdev,
+				   "%s: state transition: BUS OFF -> ACTIVE\n",
+				   __func__);
+		}
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Event CAN BUS ACTIVE\n");
+		cf->data[1] |= CAN_ERR_CRTL_ACTIVE;
+		can->state = CAN_STATE_ERROR_ACTIVE;
+		break;
+
+	case ES58X_ERR_CRTL_PASSIVE:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Event CAN BUS PASSIVE\n");
+		/* Either TX or RX error count reached passive state
+		 * but we do not know which. Setting both flags by
+		 * default.
+		 */
+		cf->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
+		cf->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
+		if (can->state < CAN_STATE_BUS_OFF)
+			can->state = CAN_STATE_ERROR_PASSIVE;
+		can_stats->error_passive++;
+		if (priv->err_passive_before_rtx_success < U8_MAX)
+			priv->err_passive_before_rtx_success++;
+		break;
+
+	case ES58X_ERR_CRTL_WARNING:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Event CAN BUS WARNING\n");
+		/* Either TX or RX error count reached warning state
+		 * but we do not know which. Setting both flags by
+		 * default.
+		 */
+		cf->data[1] |= CAN_ERR_CRTL_RX_WARNING;
+		cf->data[1] |= CAN_ERR_CRTL_TX_WARNING;
+		if (can->state < CAN_STATE_BUS_OFF)
+			can->state = CAN_STATE_ERROR_WARNING;
+		can_stats->error_warning++;
+		break;
+
+	case ES58X_ERR_BUSOFF:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "Event CAN BUS OFF\n");
+		/* Prevent the network device queue for being woke-up
+		 * by another interrupt while we set the bus to off
+		 * status.
+		 */
+		spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+		netif_stop_queue(netdev);
+		if (can->state != CAN_STATE_BUS_OFF) {
+			can->state = CAN_STATE_BUS_OFF;
+			can_bus_off(netdev);
+		}
+		spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+		cf->can_id |= CAN_ERR_BUSOFF;
+		can_stats->bus_off++;
+		break;
+
+	case ES58X_ERR_SINGLE_WIRE:
+		if (net_ratelimit())
+			netdev_warn(netdev,
+				    "Lost connection on either CAN high or CAN low\n");
+		/* Lost connection on either CAN high or CAN
+		 * low. Setting both flags by default.
+		 */
+		cf->data[4] |= CAN_ERR_TRX_CANH_NO_WIRE;
+		cf->data[4] |= CAN_ERR_TRX_CANL_NO_WIRE;
+		break;
+
+	default:
+		if (net_ratelimit())
+			netdev_err(netdev,
+				   "%s: Unspecified event code 0x%04X\n",
+				   __func__, (int)event);
+		cf->can_id |= CAN_ERR_CRTL;
+		break;
+	}
+
+	if (cf->data[1])
+		cf->can_id |= CAN_ERR_CRTL;
+	if (cf->data[2] || cf->data[3]) {
+		cf->can_id |= CAN_ERR_PROT;
+		can_stats->bus_error++;
+	}
+	if (cf->data[4])
+		cf->can_id |= CAN_ERR_TRX;
+
+	/* driver/net/can/dev.c:can_restart() takes in account error
+	 * messages in the RX stats. Doing same here for
+	 * consistency.
+	 */
+	netdev->stats.rx_packets++;
+	netdev->stats.rx_bytes += cf->can_dlc;
+
+	es58x_set_skb_timestamp(netdev, skb, timestamp);
+	netif_rx(skb);
+
+	if ((event & ES58X_ERR_CRTL_PASSIVE) &&
+	    priv->err_passive_before_rtx_success ==
+	    ES58X_CONSECUTIVE_ERR_PASSIVE_MAX) {
+		netdev_info(netdev,
+			    "Got %d consecutive warning events with no successful rx or tx. Forcing bus-off\n",
+			    priv->err_passive_before_rtx_success);
+		return es58x_rx_err_msg(netdev, ES58X_ERR_OK, ES58X_ERR_BUSOFF,
+					timestamp);
+	}
+
+	return 0;
+}
+
+/* Human readable description of the &enum es58x_cmd_ret_type. */
+static const char *const es58x_cmd_ret_desc[] = {
+	"Set bittiming",
+	"Enable channel",
+	"Disable channel",
+	"Transmit message",
+	"Reset rx",
+	"Reset tx",
+	"Device error"
+};
+
+/**
+ * es58x_rx_dev_ret_u8() - Handle return codes received from the
+ *	ES58X device.
+ * @dev: Device, only used for the dev_XXX() print functions.
+ * @cmd_ret_type: Type of the command which triggered the return code.
+ * @rx_cmd_ret_u8: error code as returned by the ES58X device.
+ *
+ * Handles the 8 bits return code. Those are specific to the ES581.4
+ * device. The return value will eventually be used by
+ * es58x_handle_urb_cmd() function which will take proper actions in
+ * case of critical issues such and memory errors or bad CRC values.
+ *
+ * In contrast with es58x_rx_cmd_ret_u32(), the network device is
+ * unknown.
+ *
+ * Return: zero on success, return errno when any error occurs.
+ */
+int es58x_rx_dev_ret_u8(struct device *dev,
+			enum es58x_cmd_ret_type cmd_ret_type,
+			enum es58x_dev_ret_code_u8 rx_dev_ret_u8)
+{
+	const char *ret_desc = es58x_cmd_ret_desc[cmd_ret_type];
+
+	compiletime_assert(ARRAY_SIZE(es58x_cmd_ret_desc) ==
+			   ES58X_CMD_RET_TYPE_NUM_ENTRIES,
+			   "Size mismatch between es58x_cmd_ret_desc and enum es58x_cmd_ret_type");
+
+	switch (rx_dev_ret_u8) {
+	case ES58X_RET_U8_OK:
+		dev_dbg_ratelimited(dev, "%s: OK\n", ret_desc);
+		break;
+
+	case ES58X_RET_U8_ERR_UNSPECIFIED_FAILURE:
+		dev_err(dev, "%s: unspecified failure\n", ret_desc);
+		break;
+
+	case ES58X_RET_U8_ERR_NO_MEM:
+		dev_err(dev, "%s: device ran out of memory\n", ret_desc);
+		return -ENOMEM;
+
+	case ES58X_RET_U8_ERR_BAD_CRC:
+		dev_err(dev, "%s: CRC of previous command is incorrect\n",
+			ret_desc);
+		return -EIO;
+
+	default:
+		dev_err(dev, "%s: returned unknown value: 0x%02X\n",
+			ret_desc, rx_dev_ret_u8);
+		break;
+	}
+
+	return 0;
+}
+
+/**
+ * es58x_rx_dev_ret_u32() - Handle return codes received from the
+ *	ES58X device.
+ * @netdev: CAN network device.
+ * @cmd_ret_type: Type of the command which triggered the return code.
+ * @rx_cmd_ret_u32: error code as returned by the ES58X device.
+ *
+ * Handles the 32 bits return code. The return value will eventually
+ * be used by es58x_handle_urb_cmd() function which will take proper
+ * actions in case of critical issues such and memory errors or bad
+ * CRC values.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_rx_cmd_ret_u32(struct net_device *netdev,
+			 enum es58x_cmd_ret_type cmd_ret_type,
+			 enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	const char *ret_desc = es58x_cmd_ret_desc[cmd_ret_type];
+
+	switch (rx_cmd_ret_u32) {
+	case ES58X_RET_U32_OK:
+		switch (cmd_ret_type) {
+		case ES58X_RET_TYPE_ENABLE_CHANNEL:
+			es58x_flush_pending_tx_msg(netdev);
+			es58x_can_flush_echo_skb(netdev);
+			priv->err_passive_before_rtx_success = 0;
+			priv->can.state = CAN_STATE_ERROR_ACTIVE;
+			es58x_netif_wake_queue(netdev);
+			netdev_info(netdev,
+				    "%s (Serial Number %s): CAN%d channel becomes ready\n",
+				    priv->es58x_dev->udev->product,
+				    priv->es58x_dev->udev->serial,
+				    priv->channel_idx + 1);
+			break;
+
+		case ES58X_RET_TYPE_TX_MSG:
+#ifdef VERBOSE_DEBUG
+			if (net_ratelimit())
+				netdev_vdbg(netdev, "%s: OK\n", ret_desc);
+#endif
+			break;
+
+		default:
+			netdev_dbg(netdev, "%s: OK\n", ret_desc);
+			break;
+		}
+		break;
+
+	case ES58X_RET_U32_ERR_UNSPECIFIED_FAILURE:
+		if (cmd_ret_type == ES58X_RET_TYPE_DISABLE_CHANNEL)
+			netdev_dbg(netdev,
+				   "%s: channel is already closed\n", ret_desc);
+		else
+			netdev_err(netdev,
+				   "%s: unspecified failure\n", ret_desc);
+		break;
+
+	case ES58X_RET_U32_ERR_NO_MEM:
+		netdev_err(netdev, "%s: device ran out of memory\n", ret_desc);
+		return -ENOMEM;
+
+	case ES58X_RET_U32_WARN_PARAM_ADJUSTED:
+		netdev_warn(netdev,
+			    "%s: some incompatible parameters have been adjusted\n",
+			    ret_desc);
+		break;
+
+	case ES58X_RET_U32_WARN_TX_MAYBE_REORDER:
+		netdev_warn(netdev,
+			    "%s: TX messages might have been reordered\n",
+			    ret_desc);
+		break;
+
+	case ES58X_RET_U32_ERR_TIMEOUT:
+		netdev_err(netdev, "%s: command timed out\n", ret_desc);
+		break;
+
+	case ES58X_RET_U32_ERR_FIFO_FULL:
+		netdev_warn(netdev, "%s: fifo is full\n", ret_desc);
+		break;
+
+	case ES58X_RET_U32_ERR_BAD_CONFIG:
+		netdev_err(netdev, "%s: bad configuration\n", ret_desc);
+		return -EINVAL;
+
+	case ES58X_RET_U32_ERR_NO_RESOURCE:
+		netdev_err(netdev, "%s: no resource available\n", ret_desc);
+		break;
+
+	default:
+		netdev_err(netdev, "%s returned unknown value: 0x%08X\n",
+			   ret_desc, rx_cmd_ret_u32);
+		break;
+	}
+
+	return 0;
+}
+
+/**
+ * es58x_increment_rx_errors() - Increment the network devices' error
+ *	count.
+ * @es58x_dev: ES58X device.
+ *
+ * If an error occurs on the early stages on receiving an URB command,
+ * we might not be able to figure out on which network device the
+ * error occurred. In such case, we arbitrarily increment the error
+ * count of all the network devices attached to our ES58X device.
+ */
+static void es58x_increment_rx_errors(struct es58x_device *es58x_dev)
+{
+	int i;
+
+	for (i = 0; i < es58x_dev->num_can_ch; i++)
+		if (likely(es58x_dev->netdev[i]))
+			es58x_dev->netdev[i]->stats.rx_errors++;
+}
+
+/**
+ * es58x_handle_urb_cmd() - Handle the URB command
+ * @es58x_dev: ES58X device.
+ * @urb_cmd: The URB command received from the ES58X device, might not
+ *	be aligned.
+ *
+ * Sends the URB command to the device specific function. Manages the
+ * errors throwed back by those functions.
+ */
+static void es58x_handle_urb_cmd(struct es58x_device *es58x_dev,
+				 const union es58x_urb_cmd *urb_cmd)
+{
+	const struct es58x_operators *ops = es58x_dev->ops;
+	size_t cmd_len;
+	int i, ret;
+
+	ret = ops->handle_urb_cmd(es58x_dev, urb_cmd);
+	switch (ret) {
+	case 0:		// OK
+		return;
+
+	case -ENODEV:
+		dev_err_ratelimited(es58x_dev->dev, "Device is not ready\n");
+		break;
+
+	case -EFAULT:
+	case -ENOMEM:
+	case -EIO:
+	default:
+		dev_crit(es58x_dev->dev,
+			 "ops->handle_urb_cmd() returned error %pe, detaching all network devices\n",
+			 ERR_PTR(ret));
+		for (i = 0; i < es58x_dev->num_can_ch; i++)
+			if (es58x_dev->netdev[i])
+				netif_device_detach(es58x_dev->netdev[i]);
+		break;
+
+	case -EINVAL:
+	case -EMSGSIZE:
+	case -EBADRQC:
+	case -EBADMSG:
+	case -ECHRNG:
+		cmd_len = es58x_get_urb_cmd_len(es58x_dev,
+						ops->get_msg_len(urb_cmd));
+		dev_err(es58x_dev->dev,
+			"ops->handle_urb_cmd() returned error %pe",
+			ERR_PTR(ret));
+		es58x_print_hex_dump(urb_cmd, cmd_len);
+		break;
+	}
+
+	/* Because the urb command could not fully be parsed,
+	 * channel_id is not confirmed. Incrementing rx_errors count
+	 * of all channels.
+	 */
+	es58x_increment_rx_errors(es58x_dev);
+}
+
+/**
+ * es58x_check_rx_urb() - Check the length and format of the URB command.
+ * @es58x_dev: ES58X device.
+ * @urb_cmd: The URB command received from the ES58X device, might not
+ *	be aligned.
+ * @urb_actual_len: The actual length of the URB command.
+ *
+ * Check if the first message of the received urb is valid, that is to
+ * say that both the header and the length are coherent.
+ *
+ * Return:
+ * the length of the first message of the URB on success.
+ *
+ * -ENODATA if the URB command is incomplete (in which case, the URB
+ * command should be buffered and combined with the next URB to try to
+ * reconstitute the URB command).
+ *
+ * -EOVERFLOW if the length is bigger than the maximum expected one.
+ *
+ * -EBADRQC if the start of frame does not match the expected value.
+ */
+static signed int es58x_check_rx_urb(struct es58x_device *es58x_dev,
+				     const union es58x_urb_cmd *urb_cmd,
+				     u32 urb_actual_len)
+{
+	const struct device *dev = es58x_dev->dev;
+	const struct es58x_parameters *param = es58x_dev->param;
+	u16 sof, msg_len;
+	signed int urb_cmd_len, ret;
+
+	if (urb_actual_len < param->urb_cmd_header_len) {
+		dev_vdbg(dev,
+			 "%s: Received %d bytes [%*ph]: header incomplete\n",
+			 __func__, urb_actual_len, urb_actual_len,
+			 urb_cmd->raw_cmd);
+		return -ENODATA;
+	}
+
+	sof = get_unaligned_le16(&urb_cmd->sof);
+	if (unlikely(sof != param->rx_start_of_frame)) {
+		dev_err_ratelimited(es58x_dev->dev,
+				    "%s: Expected sequence 0x%04X for start of frame but got 0x%04X.\n",
+				    __func__, param->rx_start_of_frame, sof);
+		return -EBADRQC;
+	}
+
+	msg_len = es58x_dev->ops->get_msg_len(urb_cmd);
+	urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+	if (unlikely(urb_cmd_len > param->rx_urb_cmd_max_len)) {
+		dev_err_ratelimited(es58x_dev->dev,
+				    "%s: Biggest expected size for rx urb_cmd is %u but receive a command of size %d\n",
+				    __func__,
+				    param->rx_urb_cmd_max_len, urb_cmd_len);
+		return -EOVERFLOW;
+	} else if (urb_actual_len < urb_cmd_len) {
+		dev_vdbg(dev, "%s: Received %02d/%02d bytes\n",
+			 __func__, urb_actual_len, urb_cmd_len);
+		return -ENODATA;
+	}
+
+	ret = es58x_check_crc(es58x_dev, urb_cmd, urb_cmd_len);
+	if (unlikely(ret))
+		return ret;
+
+	return urb_cmd_len;
+}
+
+/**
+ * es58x_flush_cmd_buf() - Reset the buffer for URB commands.
+ * @es58x_dev: ES58X device.
+ */
+static void es58x_flush_cmd_buf(struct es58x_device *es58x_dev)
+{
+	memset(&es58x_dev->rx_cmd_buf, 0, es58x_dev->param->rx_urb_cmd_max_len);
+	es58x_dev->rx_cmd_buf_len = 0;
+}
+
+/**
+ * es58x_copy_to_cmd_buf() - Copy an array to the URB command buffer.
+ * @es58x_dev: ES58X device.
+ * @raw_cmd: the buffer we want to copy.
+ * @raw_cmd_len: length of @raw_cmd.
+ *
+ * Concatenates @raw_cmd_len bytes of @raw_cmd to the end of the URB
+ * command buffer.
+ *
+ * Return: zero on success, -EMSGSIZE if not enough space is available
+ * to do the copy.
+ */
+static int es58x_copy_to_cmd_buf(struct es58x_device *es58x_dev,
+				 u8 *raw_cmd, int raw_cmd_len)
+{
+	if (unlikely(es58x_dev->rx_cmd_buf_len + raw_cmd_len >
+		     es58x_dev->param->rx_urb_cmd_max_len))
+		return -EMSGSIZE;
+
+	memcpy(&es58x_dev->rx_cmd_buf.raw_cmd[es58x_dev->rx_cmd_buf_len],
+	       raw_cmd, raw_cmd_len);
+	es58x_dev->rx_cmd_buf_len += raw_cmd_len;
+
+	return 0;
+}
+
+/**
+ * es58x_split_urb_try_recovery() - Try to recover bad URB sequences.
+ * @es58x_dev: ES58X device.
+ * @raw_cmd: pointer to the buffer we want to copy.
+ * @raw_cmd_len: length of @raw_cmd.
+ *
+ * Under some rare conditions, we might get incorrect URBs from the
+ * device. From our observations, one of the valid URB gets replaced
+ * by one from the past. The full root cause is not identified.
+ *
+ * This function looks for the next start of frame in the urb buffer
+ * in order to try to recover.
+ *
+ * Such behavior was not observed on the devices of the ES58X FD
+ * family and only seems to impact the ES581.4.
+ *
+ * Return: the number of bytes dropped on success, -EBADMSG if recovery failed.
+ */
+static int es58x_split_urb_try_recovery(struct es58x_device *es58x_dev,
+					u8 *raw_cmd, size_t raw_cmd_len)
+{
+	union es58x_urb_cmd *urb_cmd;
+	signed int urb_cmd_len;
+	u16 sof;
+	int dropped_bytes = 0;
+
+	es58x_increment_rx_errors(es58x_dev);
+
+	while (raw_cmd_len > sizeof(sof)) {
+		urb_cmd = (union es58x_urb_cmd *)raw_cmd;
+		sof = get_unaligned_le16(&urb_cmd->sof);
+
+		if (sof == es58x_dev->param->rx_start_of_frame) {
+			urb_cmd_len = es58x_check_rx_urb(es58x_dev,
+							 urb_cmd, raw_cmd_len);
+			if ((urb_cmd_len == -ENODATA) || urb_cmd_len > 0) {
+				dev_info_ratelimited(es58x_dev->dev,
+						     "Recovery successful! Dropped %d bytes (urb_cmd_len: %d)\n",
+						     dropped_bytes,
+						     urb_cmd_len);
+				return dropped_bytes;
+			}
+		}
+		raw_cmd++;
+		raw_cmd_len--;
+		dropped_bytes++;
+	}
+
+	dev_warn_ratelimited(es58x_dev->dev, "%s: Recovery failed\n", __func__);
+	return -EBADMSG;
+}
+
+/**
+ * es58x_handle_incomplete_cmd() - Reconstitute an URB command from
+ *	different URB pieces.
+ * @es58x_dev: ES58X device.
+ * @urb: last urb buffer received.
+ *
+ * The device might split the URB commands in an arbitrary amount of
+ * pieces. This function concatenates those in an URB buffer until a
+ * full URB command is reconstituted and consume it.
+ *
+ * Return:
+ * number of bytes consumed from @urb if successful.
+ *
+ * -ENODATA if the URB command is still incomplete.
+ *
+ * -EBADMSG if the URB command is incorrect.
+ */
+static signed int es58x_handle_incomplete_cmd(struct es58x_device *es58x_dev,
+					      struct urb *urb)
+{
+	size_t cpy_len;
+	signed int urb_cmd_len, tmp_cmd_buf_len, ret;
+
+	tmp_cmd_buf_len = es58x_dev->rx_cmd_buf_len;
+	cpy_len = min_t(int, es58x_dev->param->rx_urb_cmd_max_len -
+			es58x_dev->rx_cmd_buf_len, urb->actual_length);
+	ret = es58x_copy_to_cmd_buf(es58x_dev, urb->transfer_buffer, cpy_len);
+	if (unlikely(ret < 0))
+		return ret;
+
+	urb_cmd_len = es58x_check_rx_urb(es58x_dev, &es58x_dev->rx_cmd_buf,
+					 es58x_dev->rx_cmd_buf_len);
+	if (urb_cmd_len == -ENODATA) {
+		return -ENODATA;
+	} else if (unlikely(urb_cmd_len < 0)) {
+		dev_err_ratelimited(es58x_dev->dev,
+				    "Could not reconstitute incomplete command from previous URB, dropping %d bytes\n",
+				    tmp_cmd_buf_len + urb->actual_length);
+		dev_err_ratelimited(es58x_dev->dev,
+				    "Error code: %pe, es58x_dev->rx_cmd_buf_len: %d, urb->actual_length: %u\n",
+				    ERR_PTR(urb_cmd_len),
+				    tmp_cmd_buf_len, urb->actual_length);
+		es58x_print_hex_dump(&es58x_dev->rx_cmd_buf, tmp_cmd_buf_len);
+		es58x_print_hex_dump(urb->transfer_buffer, urb->actual_length);
+		return urb->actual_length;
+	}
+
+	es58x_handle_urb_cmd(es58x_dev, &es58x_dev->rx_cmd_buf);
+	return urb_cmd_len - tmp_cmd_buf_len;	// consumed length
+}
+
+/**
+ * es58x_split_urb() - Cut the received URB in individual URB commands.
+ * @es58x_dev: ES58X device.
+ * @urb: last urb buffer received.
+ *
+ * The device might send urb in bulk format (i.e. several URB commands
+ * concatenated together). This function will split all the commands
+ * contained in the urb.
+ *
+ * Return:
+ * number of bytes consumed from @urb if successful.
+ *
+ * -ENODATA if the URB command is still incomplete.
+ *
+ * -EBADMSG if the URB command is incorrect.
+ */
+static signed int es58x_split_urb(struct es58x_device *es58x_dev,
+				  struct urb *urb)
+{
+	const u8 es58x_is_alive = 0x11;
+	union es58x_urb_cmd *urb_cmd;
+	u8 *raw_cmd = urb->transfer_buffer;
+	ssize_t raw_cmd_len = urb->actual_length;
+	int ret;
+
+	if (es58x_dev->rx_cmd_buf_len != 0) {
+		ret = es58x_handle_incomplete_cmd(es58x_dev, urb);
+		if (ret != -ENODATA)
+			es58x_flush_cmd_buf(es58x_dev);
+		if (ret < 0)
+			return ret;
+
+		raw_cmd += ret;
+		raw_cmd_len -= ret;
+	}
+
+	while (raw_cmd_len > 0) {
+		if (raw_cmd[0] == es58x_is_alive) {
+			raw_cmd++;
+			raw_cmd_len--;
+			continue;
+		}
+		urb_cmd = (union es58x_urb_cmd *)raw_cmd;
+		ret = es58x_check_rx_urb(es58x_dev, urb_cmd, raw_cmd_len);
+		if (ret > 0) {
+			es58x_handle_urb_cmd(es58x_dev, urb_cmd);
+		} else if (ret == -ENODATA) {
+			es58x_copy_to_cmd_buf(es58x_dev, raw_cmd, raw_cmd_len);
+			return -ENODATA;
+		} else if (ret < 0) {
+			ret = es58x_split_urb_try_recovery(es58x_dev, raw_cmd,
+							   raw_cmd_len);
+			if (ret < 0)
+				return ret;
+		}
+		raw_cmd += ret;
+		raw_cmd_len -= ret;
+	}
+
+	return 0;
+}
+
+/**
+ * es58x_read_bulk_callback() - Callback for reading data from device.
+ * @urb: last urb buffer received.
+ *
+ * This function gets eventually called each time an URB is received
+ * from the ES58X device.
+ *
+ * Checks urb status, calls read function and resubmits urb read
+ * operation.
+ */
+static void es58x_read_bulk_callback(struct urb *urb)
+{
+	struct es58x_device *es58x_dev = urb->context;
+	const struct device *dev = es58x_dev->dev;
+	int i, ret;
+
+	switch (urb->status) {
+	case 0:		/* success */
+		break;
+
+	case -EOVERFLOW:
+		dev_err_ratelimited(dev, "%s: error %pe\n",
+				    __func__, ERR_PTR(urb->status));
+		es58x_print_hex_dump_debug(urb->transfer_buffer,
+					   urb->transfer_buffer_length);
+		goto resubmit_urb;
+
+	case -EPROTO:
+		dev_warn_ratelimited(dev, "%s: error %pe. Device unplugged?\n",
+				     __func__, ERR_PTR(urb->status));
+		goto free_urb;
+
+	case -ENOENT:
+	case -EPIPE:
+		dev_err_ratelimited(dev, "%s: error %pe\n",
+				    __func__, ERR_PTR(urb->status));
+		goto free_urb;
+
+	case -ESHUTDOWN:
+		dev_dbg_ratelimited(dev, "%s: error %pe\n",
+				    __func__, ERR_PTR(urb->status));
+		goto free_urb;
+
+	default:
+		dev_err_ratelimited(dev, "%s: error %pe\n",
+				    __func__, ERR_PTR(urb->status));
+		goto resubmit_urb;
+	}
+
+	ret = es58x_split_urb(es58x_dev, urb);
+	if (unlikely((ret != -ENODATA) && ret < 0)) {
+		dev_err(es58x_dev->dev, "es58x_split_urb() returned error %pe",
+			ERR_PTR(ret));
+		es58x_print_hex_dump_debug(urb->transfer_buffer,
+					   urb->actual_length);
+
+		/* Because the urb command could not be parsed,
+		 * channel_id is not confirmed. Incrementing rx_errors
+		 * count of all channels.
+		 */
+		es58x_increment_rx_errors(es58x_dev);
+	}
+
+ resubmit_urb:
+	usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->rx_pipe,
+			  urb->transfer_buffer, urb->transfer_buffer_length,
+			  es58x_read_bulk_callback, es58x_dev);
+
+	ret = usb_submit_urb(urb, GFP_ATOMIC);
+	if (unlikely(ret == -ENODEV)) {
+		for (i = 0; i < es58x_dev->num_can_ch; i++)
+			if (es58x_dev->netdev[i])
+				netif_device_detach(es58x_dev->netdev[i]);
+	} else if (unlikely(ret))
+		dev_err_ratelimited(dev,
+				    "Failed resubmitting read bulk urb: %pe\n",
+				    ERR_PTR(ret));
+	return;
+
+ free_urb:
+	usb_free_coherent(urb->dev, urb->transfer_buffer_length,
+			  urb->transfer_buffer, urb->transfer_dma);
+}
+
+/**
+ * es58x_write_bulk_callback() - Callback after writing data to the device.
+ * @urb: urb buffer which was previously submitted.
+ *
+ * This function gets eventually called each time an URB was sent to
+ * the ES58X device.
+ *
+ * Puts the @urb back to the urbs idle anchor and tries to restart the
+ * network queue.
+ */
+static void es58x_write_bulk_callback(struct urb *urb)
+{
+	struct net_device *netdev = urb->context;
+	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+
+	switch (urb->status) {
+	case 0:		/* success */
+		break;
+
+	case -EOVERFLOW:
+		if (net_ratelimit())
+			netdev_err(netdev, "%s: error %pe\n",
+				   __func__, ERR_PTR(urb->status));
+		es58x_print_hex_dump(urb->transfer_buffer,
+				     urb->transfer_buffer_length);
+		break;
+
+	case -ENOENT:
+		if (net_ratelimit())
+			netdev_dbg(netdev, "%s: error %pe\n",
+				   __func__, ERR_PTR(urb->status));
+		usb_free_coherent(urb->dev,
+				  es58x_dev->param->tx_urb_cmd_max_len,
+				  urb->transfer_buffer, urb->transfer_dma);
+		return;
+
+	default:
+		if (net_ratelimit())
+			netdev_info(netdev, "%s: error %pe\n",
+				    __func__, ERR_PTR(urb->status));
+		break;
+	}
+
+	usb_anchor_urb(urb, &es58x_dev->tx_urbs_idle);
+	/* Wake the queue if it was stopped because of exhaustion of
+	 * urb resources.
+	 */
+	if (atomic_inc_return(&es58x_dev->tx_urbs_idle_cnt) ==
+	    es58x_dev->num_can_ch)
+		es58x_netif_wake_all_queues(es58x_dev);
+}
+
+/**
+ * es58x_alloc_urb() - Allocate memory for an URB and its transfer
+ *	buffer.
+ * @es58x_dev: ES58X device.
+ * @urb: URB to be allocated.
+ * @buf: used to return DMA address of buffer.
+ * @buf_len: requested buffer size.
+ * @mem_flags: affect whether allocation may block.
+ *
+ * Allocates an URB and its @transfer_buffer and set its @transfer_dma
+ * address.
+ *
+ * This function is used at start-up to allocate all of our TX and RX
+ * URBs at once (in order to avoid numerous memory allocations during
+ * run time) and might be used during run time under extremely rare
+ * conditions by @es58x_get_tx_urb() (c.f. comments of this function).
+ *
+ * Return: zero on success, -ENOMEM if no memory is available.
+ */
+static int es58x_alloc_urb(struct es58x_device *es58x_dev, struct urb **urb,
+			   u8 **buf, size_t buf_len, gfp_t mem_flags)
+{
+	*urb = usb_alloc_urb(0, mem_flags);
+	if (unlikely(!*urb)) {
+		dev_err(es58x_dev->dev, "No memory left for URBs\n");
+		return -ENOMEM;
+	}
+
+	*buf = usb_alloc_coherent(es58x_dev->udev, buf_len,
+				  mem_flags, &(*urb)->transfer_dma);
+	if (unlikely(!*buf)) {
+		dev_err(es58x_dev->dev, "No memory left for USB buffer\n");
+		usb_free_urb(*urb);
+		return -ENOMEM;
+	}
+
+	(*urb)->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
+
+	return 0;
+}
+
+/**
+ * es58x_get_tx_urb() - Get an URB for transmission.
+ * @netdev: CAN network device.
+ *
+ * Gets an URB from the idle urbs anchor and stop all network devices'
+ * queue if the idle urbs anchor is nearly empty.
+ *
+ * If the URB anchor is empty, allocates an new URB.
+ *
+ * Under normal circumstances, the network device stop/wake
+ * management should prevent any further request for memory
+ * allocations to occur when trying to send a message.
+ *
+ * Yet, new URB memory allocation might occur after a restart from bus
+ * off status when @es58x_set_mode() tries to disable and re-enable
+ * the device. This would only occur if no idle URBs are available at
+ * the moment (which is highly improbable because
+ * @es58x_write_bulk_callback() should have returned the URBs to the
+ * idle urbs anchor by that point).
+ *
+ * Return: a pointer to an URB on success, NULL if no memory is
+ * available.
+ */
+static struct urb *es58x_get_tx_urb(struct net_device *netdev)
+{
+	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+	struct urb *urb;
+	unsigned long flags;
+	int ret;
+
+	urb = usb_get_from_anchor(&es58x_dev->tx_urbs_idle);
+
+	if (unlikely(!urb)) {
+		size_t tx_buf_len;
+		u8 *buf;
+
+		netdev_warn(netdev,
+			    "%s: Idle TX URB anchor is empty. Allocating an extra URB\n",
+			    __func__);
+		tx_buf_len = es58x_dev->param->tx_urb_cmd_max_len;
+		ret = es58x_alloc_urb(es58x_dev, &urb, &buf, tx_buf_len,
+				      GFP_ATOMIC);
+		if (unlikely(ret))
+			urb = NULL;
+		else
+			usb_fill_bulk_urb(urb, es58x_dev->udev,
+					  es58x_dev->tx_pipe, buf, tx_buf_len,
+					  NULL, NULL);
+	} else {
+		spin_lock_irqsave(&es58x_dev->tx_urbs_idle.lock, flags);
+		if (atomic_dec_return(&es58x_dev->tx_urbs_idle_cnt) <
+		    es58x_dev->num_can_ch)
+			es58x_netif_stop_all_queues(es58x_dev);
+		spin_unlock_irqrestore(&es58x_dev->tx_urbs_idle.lock, flags);
+	}
+
+	return urb;
+}
+
+/**
+ * es58x_submit_urb() - Send data to the device.
+ * @es58x_dev: ES58X device.
+ * @urb: URB to be sent.
+ * @netdev: CAN network device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_submit_urb(struct es58x_device *es58x_dev, struct urb *urb,
+			    struct net_device *netdev)
+{
+	int ret;
+
+	es58x_set_crc(urb->transfer_buffer, urb->transfer_buffer_length);
+	usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->tx_pipe,
+			  urb->transfer_buffer, urb->transfer_buffer_length,
+			  es58x_write_bulk_callback, netdev);
+	usb_anchor_urb(urb, &es58x_dev->tx_urbs_busy);
+	ret = usb_submit_urb(urb, GFP_ATOMIC);
+	if (unlikely(ret)) {
+		netdev_err(netdev, "%s: USB send urb failure: %pe\n",
+			   __func__, ERR_PTR(ret));
+		usb_unanchor_urb(urb);
+		usb_free_coherent(urb->dev,
+				  es58x_dev->param->tx_urb_cmd_max_len,
+				  urb->transfer_buffer, urb->transfer_dma);
+	}
+	usb_free_urb(urb);
+
+	return ret;
+}
+
+/**
+ * es58x_send_msg() - Prepare an URB and submit it.
+ * @es58x_dev: ES58X device.
+ * @cmd_type: Command type.
+ * @cmd_id: Command ID.
+ * @msg: ES58X message to be sent.
+ * @msg_len: Length of @msg.
+ * @channel_idx: Index of the network device.
+ *
+ * Creates an URB command from a given message, sets the header and the
+ * CRC and then submits it.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+int es58x_send_msg(struct es58x_device *es58x_dev, u8 cmd_type, u8 cmd_id,
+		   const void *msg, u16 msg_len, int channel_idx)
+{
+	struct net_device *netdev;
+	union es58x_urb_cmd *urb_cmd;
+	struct urb *urb;
+	int urb_cmd_len;
+
+	if (channel_idx == ES58X_CHANNEL_IDX_NA)
+		netdev = es58x_dev->netdev[0];	//Default to first channel
+	else
+		netdev = es58x_dev->netdev[channel_idx];
+
+	urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+	if (unlikely(urb_cmd_len > es58x_dev->param->tx_urb_cmd_max_len))
+		return -EOVERFLOW;
+
+	urb = es58x_get_tx_urb(netdev);
+	if (unlikely(!urb))
+		return -EBUSY;
+
+	urb_cmd = urb->transfer_buffer;
+	es58x_dev->ops->fill_urb_header(urb_cmd, cmd_type, cmd_id,
+					channel_idx, msg_len);
+	memcpy(&urb_cmd->raw_cmd[es58x_dev->param->urb_cmd_header_len],
+	       msg, msg_len);
+	urb->transfer_buffer_length = urb_cmd_len;
+
+	return es58x_submit_urb(es58x_dev, urb, netdev);
+}
+
+/**
+ * es58x_start() - Start USB device.
+ * @es58x_dev: ES58X device.
+ *
+ * Allocate URBs for transmission and reception and put them in their
+ * respective anchors.
+ *
+ * This function took a lot of inspiration from the other drivers in
+ * drivers/net/can/usb.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_start(struct es58x_device *es58x_dev)
+{
+	const struct device *dev = es58x_dev->dev;
+	const struct es58x_parameters *param = es58x_dev->param;
+	size_t rx_buf_len, tx_buf_len;
+	struct urb *urb;
+	u8 *buf;
+	int i;
+	int ret = -EINVAL;
+
+	rx_buf_len = es58x_dev->rx_max_packet_size;
+	dev_dbg(dev, "%s: Allocation %d rx URBs each of size %zu\n", __func__,
+		param->rx_urb_max, rx_buf_len);
+
+	for (i = 0; i < param->rx_urb_max; i++) {
+		ret = es58x_alloc_urb(es58x_dev, &urb, &buf, rx_buf_len,
+				      GFP_KERNEL);
+		if (unlikely(ret))
+			break;
+
+		usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->rx_pipe,
+				  buf, rx_buf_len, es58x_read_bulk_callback,
+				  es58x_dev);
+		usb_anchor_urb(urb, &es58x_dev->rx_urbs);
+
+		ret = usb_submit_urb(urb, GFP_KERNEL);
+		if (unlikely(ret)) {
+			usb_unanchor_urb(urb);
+			usb_free_coherent(es58x_dev->udev, rx_buf_len,
+					  buf, urb->transfer_dma);
+			usb_free_urb(urb);
+			break;
+		}
+		usb_free_urb(urb);
+	}
+
+	if (unlikely(i == 0)) {
+		dev_err(dev, "%s: Could not setup any rx URBs\n", __func__);
+		return ret;
+	} else if (unlikely(i < param->rx_urb_max)) {
+		dev_warn(dev,
+			 "%s: Could only allocate %d on %d URBs. Rx performance may be slow\n",
+			 __func__, i, param->rx_urb_max);
+	}
+
+	tx_buf_len = es58x_dev->param->tx_urb_cmd_max_len;
+	dev_dbg(dev, "%s: Allocation %d tx URBs each of size %zu\n", __func__,
+		param->tx_urb_max, tx_buf_len);
+
+	for (i = 0; i < param->tx_urb_max; i++) {
+		ret = es58x_alloc_urb(es58x_dev, &urb, &buf, tx_buf_len,
+				      GFP_KERNEL);
+		if (unlikely(ret))
+			break;
+
+		usb_fill_bulk_urb(urb, es58x_dev->udev, es58x_dev->tx_pipe,
+				  buf, tx_buf_len, NULL, NULL);
+		usb_anchor_urb(urb, &es58x_dev->tx_urbs_idle);
+		usb_free_urb(urb);
+	}
+
+	if (unlikely(i == 0)) {
+		dev_err(dev, "%s: Could not setup any tx URBs\n", __func__);
+		return ret;
+	} else if (unlikely(i < param->tx_urb_max)) {
+		dev_warn(dev,
+			 "%s: Could only allocate %d on %d URBs. Tx performance may be slow\n",
+			 __func__, i, param->tx_urb_max);
+	}
+	atomic_set(&es58x_dev->tx_urbs_idle_cnt, i);
+
+	return ret;
+}
+
+/**
+ * es58x_enable_channel() - Enable the network device.
+ * @netdev: CAN network device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_enable_channel(struct net_device *netdev)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	struct es58x_device *es58x_dev = priv->es58x_dev;
+	int ret;
+
+	ret = es58x_dev->ops->enable_channel(es58x_dev, priv->channel_idx);
+	if (unlikely(ret))
+		netdev_err(netdev, "%s: Could not enable the channel: %pe\n",
+			   __func__, ERR_PTR(ret));
+
+	return ret;
+}
+
+/**
+ * es58x_open() - Open and start network device.
+ * @netdev: CAN network device.
+ *
+ * Called when the network transitions to the up state.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_open(struct net_device *netdev)
+{
+	int ret;
+
+	ret = open_candev(netdev);
+	if (unlikely(ret))
+		return ret;
+
+	ret = es58x_enable_channel(netdev);
+	if (unlikely(ret))
+		return ret;
+
+	netif_start_queue(netdev);
+
+	return ret;
+}
+
+/**
+ * es58x_stop() - Disable the network device.
+ * @netdev: CAN network device.
+ *
+ * Called when the network transitions to the down state.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_stop(struct net_device *netdev)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	unsigned long flags;
+
+	spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+	netif_stop_queue(netdev);
+	priv->can.state = CAN_STATE_STOPPED;
+	spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+	es58x_can_flush_echo_skb(netdev);
+	close_candev(netdev);
+
+	es58x_flush_pending_tx_msg(netdev);
+
+	return 0;
+}
+
+/**
+ * es58x_convert_frame_format() - Convert the CAN frame format.
+ * @netdev: CAN network device.
+ * @skb: socket buffer of a CAN message.
+ * @es58x_cf: Abstraction format specific to this driver.
+ *
+ * ES581.4 and the ES58X FD family uses different tx_can_msg
+ * structures (same fields but in different order). This function
+ * converts the &struct can(fd)_frame format to our own abstracted can
+ * frame format once for all. The specific functions of each device
+ * model can then use the pre-computed information from the abstracted
+ * can frame.
+ *
+ * ES58X devices do not support sending error can frames.
+ *
+ * Return: zero on success, -EINVAL if the can frame is an error
+ * message (%CAN_ERR_FLAG is set).
+ */
+static int es58x_convert_frame_format(struct net_device *netdev,
+				      struct sk_buff *skb,
+				      struct es58x_abstracted_can_frame
+				      *es58x_cf)
+{
+	struct canfd_frame *cf = (struct canfd_frame *)skb->data;
+
+	memset(es58x_cf, 0, sizeof(*es58x_cf));
+
+	es58x_cf->is_can_fd = can_is_canfd_skb(skb);
+
+	if (cf->can_id & CAN_ERR_FLAG) {
+		netdev_info(netdev,
+			    "%s: CAN_ERR_FLAG is set but device does not support sending error frames. Dropping message\n",
+			    __func__);
+		return -EINVAL;
+	}
+	if (cf->can_id & CAN_EFF_FLAG) {
+		es58x_cf->flags |= ES58X_FLAG_EFF;
+		es58x_cf->can_id = cf->can_id & CAN_EFF_MASK;
+	} else {
+		es58x_cf->can_id = cf->can_id & CAN_SFF_MASK;
+	}
+	es58x_cf->len = get_can_len(skb);
+	if (es58x_cf->is_can_fd) {
+		es58x_cf->flags |= ES58X_FLAG_FD_DATA;
+		if (cf->flags & CANFD_BRS)
+			es58x_cf->flags |= ES58X_FLAG_FD_BRS;
+		if (cf->flags & CANFD_ESI)
+			es58x_cf->flags |= ES58X_FLAG_FD_ESI;
+		es58x_cf->dlc = min_t(__u8, can_len2dlc(es58x_cf->len),
+				      CANFD_MAX_DLC);
+	} else {
+		es58x_cf->dlc = min_t(__u8, ((struct can_frame *)cf)->can_dlc,
+				      CANFD_MAX_DLC);
+		/* Remote frames are only defined in CAN (non-FD) frames */
+		if (cf->can_id & CAN_RTR_FLAG)
+			es58x_cf->flags |= ES58X_FLAG_RTR;
+	}
+	es58x_cf->data = cf->data;
+
+	return 0;
+}
+
+/**
+ * es58x_xmit_commit() - Send the bulk urb.
+ * @netdev: CAN network device.
+ *
+ * Update the loopback FIFO and do a bulk send.
+ *
+ * Each loopback skb should be put individually with
+ * es58x_can_put_echo_skb(). This function should be called only once
+ * by bulk transmission.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_xmit_commit(struct net_device *netdev)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	unsigned long flags;
+	unsigned int pkts = priv->tx_can_msg_cnt;
+	int ret;
+
+	spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+	if (unlikely(!es58x_is_can_state_active(netdev))) {
+		netdev_warn(netdev,
+			    "%s: Device turned to CAN state: %d while preparing to send. Aborting transmission\n",
+			    __func__, priv->can.state);
+		spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+		return -ENETDOWN;
+	}
+	priv->num_echo_skb += pkts;
+	priv->current_packet_idx += pkts;
+	es58x_add_skb_idx(priv, &priv->echo_skb_head_idx, pkts);
+	if (priv->num_echo_skb >= es58x_echo_skb_stop_threshold(priv))
+		netif_stop_queue(netdev);
+	spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+	ret = es58x_submit_urb(priv->es58x_dev, priv->tx_urb, netdev);
+	if (unlikely(ret)) {
+		netdev_warn(netdev,
+			    "%s: es58x_submit_urb returned failed: %pe priv->num_echo_skb = %u\n",
+			    __func__, ERR_PTR(ret), priv->num_echo_skb);
+		spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+		priv->num_echo_skb -= pkts;
+		priv->current_packet_idx -= pkts;
+		es58x_add_skb_idx(priv, &priv->echo_skb_head_idx,
+				  priv->can.echo_skb_max - pkts);
+		spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+	}
+	priv->tx_urb = NULL;
+
+	return ret;
+}
+
+/**
+ * es58x_start_xmit() - Transmit an skb.
+ * @skb: socket buffer of a CAN message.
+ * @netdev: CAN network device.
+ *
+ * Called when a packet needs to be transmitted.
+ *
+ * This function relies on Byte Queue Limits (BQL). The main benefit
+ * it to increase the throughput by allowing bulk transfers
+ * (c.f. xmit_more flag).
+ *
+ * Queues up to tx_bulk_max messages in &tx_urb buffer and does
+ * a bulk send of all messages in one single URB.
+ *
+ * Return:
+ * NETDEV_TX_OK if we could manage the @skb (either transmit it or
+ * drop it)
+ *
+ * NETDEV_TX_BUSY if the device is busy (this is a bug, the network
+ * device stop/wake management should prevent this return code to
+ * occur).
+ */
+static netdev_tx_t es58x_start_xmit(struct sk_buff *skb,
+				    struct net_device *netdev)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	struct es58x_device *es58x_dev = priv->es58x_dev;
+	struct es58x_abstracted_can_frame es58x_cf = { 0 };
+	unsigned int packet_idx, tx_msg_threshold;
+	u16 skb_idx;
+	u8 channel_idx = priv->channel_idx;
+	bool send_doorbell;
+	int ret;
+
+	if (!priv->tx_urb) {
+		priv->tx_urb = es58x_get_tx_urb(netdev);
+		if (unlikely(!priv->tx_urb))
+			return NETDEV_TX_BUSY;
+		memset(priv->tx_urb->transfer_buffer, 0,
+		       es58x_dev->param->tx_urb_cmd_max_len);
+		priv->tx_urb->transfer_buffer_length =
+		    es58x_dev->param->urb_cmd_header_len;
+		priv->tx_can_msg_cnt = 0;
+		priv->tx_can_msg_is_fd = can_is_canfd_skb(skb);
+	} else if (priv->tx_can_msg_is_fd != can_is_canfd_skb(skb)) {
+		/* Can not send bulk message with mixed CAN and CAN-FD
+		 * frames.
+		 */
+		__netdev_sent_queue(netdev, 0, false);
+		es58x_xmit_commit(netdev);
+		return es58x_start_xmit(skb, netdev);
+	}
+
+	packet_idx = priv->current_packet_idx + priv->tx_can_msg_cnt;
+	skb_idx = priv->echo_skb_head_idx;
+	es58x_add_skb_idx(priv, &skb_idx, priv->tx_can_msg_cnt);
+	ret = es58x_can_put_echo_skb(skb, netdev, skb_idx);
+	if (unlikely(ret))
+		goto xmit_failure;
+	priv->tx_can_msg_cnt++;
+	ret = es58x_convert_frame_format(netdev, skb, &es58x_cf);
+	if (unlikely(ret))
+		goto xmit_failure;
+	ret = es58x_dev->ops->tx_can_msg(es58x_dev, channel_idx,
+					 packet_idx, &es58x_cf,
+					 priv->tx_urb->transfer_buffer,
+					 &priv->tx_urb->transfer_buffer_length);
+	if (unlikely(ret))
+		goto xmit_failure;
+
+	send_doorbell = __netdev_sent_queue(netdev, es58x_can_frame_bytes(skb),
+					    netdev_xmit_more());
+	tx_msg_threshold = min_t(unsigned int,
+				 es58x_dev->param->tx_bulk_max,
+				 priv->can.echo_skb_max - priv->num_echo_skb);
+	if (send_doorbell || priv->tx_can_msg_cnt >= tx_msg_threshold) {
+		ret = es58x_xmit_commit(netdev);
+		if (unlikely(ret))
+			goto xmit_failure;
+	}
+
+	return NETDEV_TX_OK;
+
+ xmit_failure:
+	netdev->stats.tx_errors++;
+	es58x_flush_pending_tx_msg(netdev);
+	netdev_err(netdev, "%s: send message failure: %pe\n",
+		   __func__, ERR_PTR(ret));
+	return NETDEV_TX_OK;
+}
+
+static const struct net_device_ops es58x_netdev_ops = {
+	.ndo_open = es58x_open,
+	.ndo_stop = es58x_stop,
+	.ndo_start_xmit = es58x_start_xmit
+};
+
+/**
+ * es58x_set_bittiming() - Configure all the nominal bit timing
+ *	parameters.
+ * @netdev: CAN network device.
+ *
+ * Only relevant for ES581.4 (the ES58X FD family sets the bittiming
+ * parameters at the same time as the channel gets enabled).
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_set_bittiming(struct net_device *netdev)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	struct es58x_device *es58x_dev = priv->es58x_dev;
+	int ret;
+
+	/* Make sure that channel is closed before sending configuration. */
+	ret = es58x_dev->ops->disable_channel(es58x_dev, priv->channel_idx);
+	if (unlikely(ret))
+		netdev_err(netdev, "%s: Could not disable the channel: %pe\n",
+			   __func__, ERR_PTR(ret));
+	ret = es58x_dev->ops->set_bittiming(es58x_dev, priv->channel_idx);
+	if (unlikely(ret))
+		netdev_err(netdev, "%s: Could not set bittiming: %pe\n",
+			   __func__, ERR_PTR(ret));
+
+	return ret;
+}
+
+/**
+ * es58x_set_data_bittiming() - Configure all the data bit timing parameters.
+ * @netdev: CAN network device.
+ *
+ * Dummy function: ES58X FD family sets the bittiming
+ * parameters at the same time as the channel gets enabled.
+ *
+ * Return: zero.
+ */
+static int es58x_set_data_bittiming(struct net_device *netdev)
+{
+	return 0;
+}
+
+/**
+ * es58x_reset() - Reset one channel of the device.
+ * @netdev: CAN network device.
+ *
+ * Race conditions might appear when trying to use the reset_rx()
+ * and reset_tx() methods (e.g. loopback packets might remain in the
+ * queue causing some use after free issues in
+ * es58x_can_get_echo_skb()). Disabling and reenabling the channel is
+ * safer.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_reset(struct net_device *netdev)
+{
+	int ret = 0;
+
+	if (es58x_is_can_state_active(netdev))
+		es58x_priv(netdev)->can.do_set_mode(netdev, CAN_MODE_STOP);
+	WARN_ON(!netif_queue_stopped(netdev));
+
+	ret = es58x_set_bittiming(netdev);
+	if (unlikely(ret))
+		goto failure;
+	ret = es58x_enable_channel(netdev);
+	if (unlikely(ret))
+		goto failure;
+
+	return ret;
+
+ failure:
+	netdev_err(netdev, "%s: reset failure: %pe\n", __func__, ERR_PTR(ret));
+	return ret;
+}
+
+/**
+ * es58x_set_mode() - Change network device mode.
+ * @netdev: CAN network device.
+ * @mode: either %CAN_MODE_START, %CAN_MODE_STOP or %CAN_MODE_SLEEP
+ *
+ * This function is used by drivers/net/can/dev.c:can_restart() to
+ * recover from a bus off state. Thus only the only value expected for
+ * @mode is %CAN_MODE_START. None the less, other modes were
+ * implemented as well.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_set_mode(struct net_device *netdev, enum can_mode mode)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	struct can_priv *can = netdev_priv(netdev);
+	unsigned long flags;
+
+	netdev_dbg(netdev, "%s: Switching to can_mode %d\n", __func__, mode);
+
+	switch (mode) {
+	case CAN_MODE_START:
+		switch (can->state) {
+		case CAN_STATE_BUS_OFF:
+			return es58x_reset(netdev);
+
+		case CAN_STATE_STOPPED:
+		case CAN_STATE_SLEEPING:
+			es58x_netif_wake_queue(netdev);
+			can->state = CAN_STATE_ERROR_ACTIVE;
+			return 0;
+
+		case CAN_STATE_ERROR_ACTIVE:
+		case CAN_STATE_ERROR_WARNING:
+		case CAN_STATE_ERROR_PASSIVE:
+		default:
+			return 0;
+		}
+
+	case CAN_MODE_STOP:
+	case CAN_MODE_SLEEP:
+		spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+		netif_stop_queue(netdev);
+		can->state = (mode == CAN_MODE_STOP) ?
+		    CAN_STATE_STOPPED : CAN_STATE_SLEEPING;
+		spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+		return 0;
+
+	default:
+		netdev_err(netdev, "%s: Invalid can_mode value: %d\n",
+			   __func__, mode);
+		return -EOPNOTSUPP;
+	}
+}
+
+/**
+ * es58x_init_priv() - Initialize private parameters.
+ * @es58x_dev: ES58X device.
+ * @priv: ES58X private parameters related to the network device.
+ * @channel_idx: Index of the network device.
+ */
+static void es58x_init_priv(struct es58x_device *es58x_dev,
+			    struct es58x_priv *priv, int channel_idx)
+{
+	const struct es58x_parameters *param = es58x_dev->param;
+
+	priv->es58x_dev = es58x_dev;
+	priv->channel_idx = channel_idx;
+	priv->tx_urb = NULL;
+	priv->tx_can_msg_cnt = 0;
+	spin_lock_init(&priv->echo_skb_spinlock);
+
+	priv->can.bittiming_const = param->bittiming_const;
+	priv->can.do_set_bittiming = es58x_set_bittiming;
+	if (param->ctrlmode_supported & CAN_CTRLMODE_FD) {
+		priv->can.data_bittiming_const = param->data_bittiming_const;
+		priv->can.do_set_data_bittiming = es58x_set_data_bittiming;
+	}
+	priv->can.bitrate_max = param->bitrate_max;
+	priv->can.clock = param->clock;
+
+	priv->can.state = CAN_STATE_STOPPED;
+
+	priv->can.ctrlmode_supported = param->ctrlmode_supported;
+	priv->can.do_get_berr_counter = NULL;	/* Not supported */
+	/* Hardware loopback is always enabled. */
+	/* TODO: is it even possible to modify this value? I couldn't
+	 * find any functions in the kernel that would turn
+	 * CAN_CTRLMODE_LOOPBACK flag on or off.
+	 */
+	priv->can.ctrlmode = CAN_CTRLMODE_LOOPBACK;
+
+	priv->can.do_set_mode = es58x_set_mode;
+}
+
+/**
+ * es58x_init_netdev() - Initialize the network device.
+ * @es58x_dev: ES58X device.
+ * @channel_idx: Index of the network device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_init_netdev(struct es58x_device *es58x_dev, int channel_idx)
+{
+	struct net_device *netdev;
+	struct device *dev = es58x_dev->dev;
+	int ret;
+
+	netdev = alloc_candev(sizeof(struct es58x_priv),
+			      es58x_dev->param->echo_skb_max);
+	if (!netdev) {
+		dev_err(dev, "Could not allocate candev\n");
+		return -ENOMEM;
+	}
+	SET_NETDEV_DEV(netdev, dev);
+	es58x_dev->netdev[channel_idx] = netdev;
+	es58x_init_priv(es58x_dev, es58x_priv(netdev), channel_idx);
+
+	netdev->netdev_ops = &es58x_netdev_ops;
+	netdev->flags |= IFF_ECHO;	/* we support local echo */
+
+	ret = register_candev(netdev);
+	if (unlikely(ret))
+		return ret;
+	netdev_dbg(netdev, "%s: Registered channel %s\n",
+		   es58x_dev->udev->product, netdev->name);
+
+	netdev_get_tx_queue(netdev, 0)->dql.min_limit =
+	    es58x_dev->param->dql_limit_min;
+
+	return ret;
+}
+
+/**
+ * es58x_get_product_info() - Get the product information and print them.
+ * @es58x_dev: ES58X device.
+ *
+ * Do a synchronous call to get the product information.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_get_product_info(struct es58x_device *es58x_dev)
+{
+	struct usb_device *udev = es58x_dev->udev;
+	const int es58x_prod_info_idx = 6;
+	/* Empirical tests show a prod_info length of maximum 83,
+	 * below should be more than enough.
+	 */
+	const size_t prod_info_len = 127;
+	char *prod_info;
+	int ret;
+
+	prod_info = kmalloc(prod_info_len, GFP_KERNEL);
+	if (unlikely(!prod_info))
+		return -ENOMEM;
+
+	ret = usb_string(udev, es58x_prod_info_idx, prod_info, prod_info_len);
+	if (unlikely(ret < 0)) {
+		dev_err(es58x_dev->dev,
+			"%s: Could not read the product info: %pe\n",
+			__func__, ERR_PTR(ret));
+		return ret;
+	} else if (unlikely(ret >= prod_info_len - 1)) {
+		dev_warn(es58x_dev->dev,
+			 "%s: Buffer is too small, result might be truncated\n",
+			 __func__);
+	}
+	dev_info(es58x_dev->dev, "Product info: %s\n", prod_info);
+	kfree(prod_info);
+
+	return 0;
+}
+
+/**
+ * es58x_init_es58x_dev() - Initialize the ES58X device.
+ * @intf: USB interface
+ * @p_es58x_dev: pointer to the address of the ES58X device.
+ *
+ * Return: zero on success, errno when any error occurs.
+ */
+static int es58x_init_es58x_dev(struct usb_interface *intf,
+				struct es58x_device **p_es58x_dev)
+{
+	struct device *dev = &intf->dev;
+	struct es58x_device *es58x_dev;
+	const struct es58x_parameters *param;
+	const struct es58x_operators *ops;
+	struct usb_device *udev = interface_to_usbdev(intf);
+	struct usb_endpoint_descriptor *ep_in, *ep_out;
+	const u16 usb_id_product = le16_to_cpu(udev->descriptor.idProduct);
+	u8 num_can_ch;
+	int ret;
+
+	dev_info(dev,
+		 "Starting %s %s (Serial Number %s) driver version " DRV_VERSION "\n",
+		 udev->manufacturer, udev->product, udev->serial);
+
+	ret = usb_find_common_endpoints(intf->cur_altsetting, &ep_in, &ep_out,
+					NULL, NULL);
+	if (unlikely(ret))
+		return ret;
+
+	switch (usb_id_product) {
+	case ES581_4_PRODUCT_ID:	// 2 non-FD CAN channels
+		param = &es581_4_param;
+		ops = &es581_4_ops;
+		num_can_ch = ES581_4_NUM_CAN_CH;
+		break;
+
+	case ES582_1_PRODUCT_ID:	// 2 CAN(-FD) channels
+		param = &es58x_fd_param;
+		ops = &es58x_fd_ops;
+		num_can_ch = ES582_1_NUM_CAN_CH;
+		break;
+
+	case ES584_1_PRODUCT_ID:	// 1 CAN(-FD) and 1 LIN channel
+		param = &es58x_fd_param;
+		ops = &es58x_fd_ops;
+		num_can_ch = ES584_1_NUM_CAN_CH;
+		break;
+
+	default:
+		return -ENODEV;
+	}
+	if (unlikely(num_can_ch > ARRAY_SIZE(es58x_dev->netdev) ||
+		     num_can_ch >= param->echo_skb_max))
+		return -ECHRNG;
+
+	es58x_dev = kzalloc(ES58X_SIZEOF_ES58X_DEVICE(param), GFP_KERNEL);
+	if (unlikely(!es58x_dev))
+		return -ENOMEM;
+
+	es58x_dev->param = param;
+	es58x_dev->ops = ops;
+	es58x_dev->num_can_ch = num_can_ch;
+	es58x_dev->dev = dev;
+	es58x_dev->udev = udev;
+
+	init_usb_anchor(&es58x_dev->rx_urbs);
+	init_usb_anchor(&es58x_dev->tx_urbs_idle);
+	init_usb_anchor(&es58x_dev->tx_urbs_busy);
+	usb_set_intfdata(intf, es58x_dev);
+
+	es58x_dev->rx_pipe = usb_rcvbulkpipe(es58x_dev->udev,
+					     ep_in->bEndpointAddress);
+	es58x_dev->tx_pipe = usb_sndbulkpipe(es58x_dev->udev,
+					     ep_out->bEndpointAddress);
+	es58x_dev->rx_max_packet_size = le16_to_cpu(ep_in->wMaxPacketSize);
+
+	*p_es58x_dev = es58x_dev;
+
+	return 0;
+}
+
+/**
+ * es58x_probe() - Initialize the USB device.
+ * @intf: USB interface
+ * @id: USB device ID
+ *
+ * Return: zero on success, -ENODEV if the interface is not supported
+ * or errno when any other error occurs.
+ */
+static int es58x_probe(struct usb_interface *intf,
+		       const struct usb_device_id *id)
+{
+	struct es58x_device *es58x_dev;
+	int ch_idx, ret;
+
+	/* ES58X FD has some interface protocols unsupported by this driver. */
+	if (intf->cur_altsetting->desc.bInterfaceProtocol != 0) {
+		dev_dbg(&intf->dev, "Interface protocol %d is not supported\n",
+			intf->cur_altsetting->desc.bInterfaceProtocol);
+		return -ENODEV;
+	}
+
+	ret = es58x_init_es58x_dev(intf, &es58x_dev);
+	if (unlikely(ret))
+		return ret;
+
+	ret = es58x_get_product_info(es58x_dev);
+	if (unlikely(ret))
+		goto cleanup_es58x_dev;
+
+	for (ch_idx = 0; ch_idx < es58x_dev->num_can_ch; ch_idx++) {
+		ret = es58x_init_netdev(es58x_dev, ch_idx);
+		if (unlikely(ret))
+			goto cleanup_candev;
+	}
+
+	ret = es58x_start(es58x_dev);
+	if (unlikely(ret))
+		goto cleanup_candev;
+
+	es58x_set_realtime_diff_ns(es58x_dev);
+
+	return ret;
+
+ cleanup_candev:
+	for (ch_idx = 0; ch_idx < es58x_dev->num_can_ch; ch_idx++)
+		if (es58x_dev->netdev[ch_idx]) {
+			unregister_candev(es58x_dev->netdev[ch_idx]);
+			free_candev(es58x_dev->netdev[ch_idx]);
+		}
+ cleanup_es58x_dev:
+	kfree(es58x_dev);
+
+	return ret;
+}
+
+/**
+ * es58x_disconnect() - Disconnect the USB device.
+ * @intf: USB interface
+ *
+ * Called by the usb core when driver is unloaded or device is
+ * removed.
+ */
+static void es58x_disconnect(struct usb_interface *intf)
+{
+	struct es58x_device *es58x_dev = usb_get_intfdata(intf);
+	struct net_device *netdev;
+	struct urb *urb;
+	int i;
+
+	dev_info(&intf->dev, "Disconnecting %s %s\n",
+		 es58x_dev->udev->manufacturer, es58x_dev->udev->product);
+
+	for (i = 0; i < es58x_dev->num_can_ch; i++) {
+		netdev = es58x_dev->netdev[i];
+		if (unlikely(!netdev))
+			continue;
+		netdev_dbg(netdev, "Unregistering %s\n", netdev->name);
+		unregister_candev(netdev);
+		netdev_dbg(netdev, "Freeing %s\n", netdev->name);
+		es58x_dev->netdev[i] = NULL;
+		free_candev(netdev);
+	}
+
+	dev_dbg(&intf->dev, "Killing TX busy anchored urbs\n");
+	if (!usb_wait_anchor_empty_timeout(&es58x_dev->tx_urbs_busy, 1000)) {
+		dev_err(&intf->dev, "%s: Timeout, some TX urbs still remain\n",
+			__func__);
+		usb_kill_anchored_urbs(&es58x_dev->tx_urbs_busy);
+	}
+
+	dev_dbg(&intf->dev, "Freeing TX idle anchored urbs\n");
+	while ((urb = usb_get_from_anchor(&es58x_dev->tx_urbs_idle)) != NULL) {
+		usb_free_coherent(urb->dev,
+				  es58x_dev->param->tx_urb_cmd_max_len,
+				  urb->transfer_buffer, urb->transfer_dma);
+		usb_free_urb(urb);
+		atomic_dec(&es58x_dev->tx_urbs_idle_cnt);
+	}
+	if (atomic_read(&es58x_dev->tx_urbs_idle_cnt) > 0)
+		dev_err(&intf->dev,
+			"All idle urbs were freed but tx_urb_idle_cnt is %u\n",
+			atomic_read(&es58x_dev->tx_urbs_idle_cnt));
+
+	dev_dbg(&intf->dev, "Unlinking RX anchored urbs\n");
+	usb_kill_anchored_urbs(&es58x_dev->rx_urbs);
+
+	dev_dbg(&intf->dev, "Freeing %s\n", es58x_dev->udev->product);
+	kfree(es58x_dev);
+	dev_dbg(&intf->dev, "Setting USB interface to NULL\n");
+	usb_set_intfdata(intf, NULL);
+}
+
+static struct usb_driver es58x_driver = {
+	.name = ES58X_MODULE_NAME,
+	.probe = es58x_probe,
+	.disconnect = es58x_disconnect,
+	.id_table = es58x_id_table,
+};
+
+module_usb_driver(es58x_driver);
+
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.h b/drivers/net/can/usb/etas_es58x/es58x_core.h
new file mode 100644
index 000000000000..7480c1a97e77
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.h
@@ -0,0 +1,700 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_core.h: All common definitions and declarations.
+ *
+ * Copyright (C) 2019 Robert Bosch Engineering and Business
+ * Solutions. All rights reserved.
+ * Copyright (C) 2020 ETAS K.K.. All rights reserved.
+ */
+
+#ifndef __ES58X_COMMON_H__
+#define __ES58X_COMMON_H__
+
+#include <linux/types.h>
+#include <linux/usb.h>
+#include <linux/netdevice.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+
+#include "es581_4.h"
+#include "es58x_fd.h"
+
+/* Size of a CAN Standard Frame (rounded up and ignoring bitsuffing). */
+#define ES58X_SFF_BYTES(data_len) (round_up(47, 8) / 8 + (data_len))
+/* Size of a CAN Extended Frame (rounded up and ignoring bitsuffing). */
+#define ES58X_EFF_BYTES(data_len) (round_up(67, 8) / 8 + (data_len))
+/* Maximum size of a CAN frame (rounded up and ignoring bitsuffing). */
+#define ES58X_CAN_FRAME_BYTES_MAX ES58X_EFF_BYTES(CAN_MAX_DLEN)
+/* Maximum size of a CAN-FD frame (rough estimation because
+ * ES58X_SFF_BYTES() and ES58X_EFF_BYTES() macros are using the
+ * constant values for CAN not CAN-FD).
+ */
+#define ES58X_CANFD_FRAME_BYTES_MAX ES58X_EFF_BYTES(CANFD_MAX_DLEN)
+
+/* Driver constants */
+#define ES58X_RX_URBS_MAX         5	// Empirical value
+#define ES58X_TX_URBS_MAX         8	// Empirical value
+
+#define ES58X_MAX(param)				\
+	(ES581_4_##param > ES58X_FD_##param ?		\
+		ES581_4_##param : ES58X_FD_##param)
+#define ES58X_TX_BULK_MAX ES58X_MAX(TX_BULK_MAX)
+#define ES58X_RX_BULK_MAX ES58X_MAX(RX_BULK_MAX)
+#define ES58X_RX_LOOPBACK_BULK_MAX ES58X_MAX(RX_LOOPBACK_BULK_MAX)
+#define ES58X_NUM_CAN_CH_MAX ES58X_MAX(NUM_CAN_CH)
+
+/* Use this when channel index is irrelevant (e.g. device
+ * timestamp).
+ */
+#define ES58X_CHANNEL_IDX_NA 0xFF
+#define ES58X_EMPTY_MSG NULL
+
+/* Threshold on consecutive CAN_STATE_ERROR_PASSIVE. If we receive
+ * ES58X_CONSECUTIVE_ERR_PASSIVE_MAX times the event
+ * ES58X_ERR_CRTL_PASSIVE in a row without any successful Rx or Tx,
+ * we force the device to switch to CAN_STATE_BUS_OFF state.
+ */
+#define ES58X_CONSECUTIVE_ERR_PASSIVE_MAX 254
+
+enum es58x_self_reception_mode {
+	ES58X_SELF_RECEPTION_OFF = 0,
+	ES58X_SELF_RECEPTION_ON = 1
+};
+
+enum es58x_physical_media {
+	ES58X_MEDIA_HIGH_SPEED = 1,
+	ES58X_MEDIA_FAULT_TOLERANT = 2
+};
+
+enum es58x_samples_per_bit {
+	ES58X_ONE_SAMPLE_PER_BIT = 1,
+
+	/* Some CAN controllers do not support three samples per
+	 * bit. In this case the default value of one sample per bit
+	 * is used, even if the configuration is set to
+	 * ES58X_THREE_SAMPLES_PER_BIT.
+	 */
+	ES58X_THREE_SAMPLES_PER_BIT = 2
+};
+
+enum es58x_sync_edge {
+	/* ISO CAN specification defines the use of a single edge
+	 * synchronization. The synchronization should be done on
+	 * recessive to dominant level change.
+	 */
+	ES58X_SINGLE_SYNC_EDGE = 1,
+
+	/* In addition to the ISO CAN specification, a double
+	 * synchronization is also supported: recessive to dominant
+	 * level change and dominant to recessive level change.
+	 */
+	ES58X_DUAL_SYNC_EDGE = 2
+};
+
+/**
+ * enum es58x_flag_type - CAN flags for RX/TX messages.
+ * @ES58X_FLAG_EFF: Extended Frame Format (EFF).
+ * @ES58X_FLAG_RTR: Remote Transmission Request (RTR).
+ * @ES58X_FLAG_SELFRECEPTION: The message is a Self reception frame
+ *	(not used yet in this implementation).
+ * @ES58X_FLAG_FD_BRS: Bit rate switch (BRS): second bitrate for
+ *	payload data.
+ * @ES58X_FLAG_FD_MSG_TRUNCATED: FD message was truncated and padded
+ *	(not used).
+ * @ES58X_FLAG_FD_ESI: Error State Indicator (ESI): tell if the
+ *	transmitting node is in error passive mode.
+ * @ES58X_FLAG_FD_DATA: CAN FD frame.
+ */
+enum es58x_flag_type {
+	ES58X_FLAG_EFF = BIT(0),
+	ES58X_FLAG_RTR = BIT(1),
+	ES58X_FLAG_SELFRECEPTION = BIT(2),
+	ES58X_FLAG_FD_BRS = BIT(3),
+	ES58X_FLAG_FD_MSG_TRUNCATED = BIT(4),
+	ES58X_FLAG_FD_ESI = BIT(5),
+	ES58X_FLAG_FD_DATA = BIT(6)
+};
+
+/**
+ * enum es58x_error - CAN error detection.
+ * @ES58X_ERR_OK: No errors.
+ * @ES58X_ERR_PROT_STUFF: Bit stuffing error: more than 5 consecutive
+ *	equal bits.
+ * @ES58X_ERR_PROT_FORM: Frame format error.
+ * @ES58X_ERR_ACK: Received no ACK on transmission.
+ * @ES58X_ERR_PROT_BIT: Single bit error.
+ * @ES58X_ERR_PROT_CRC: Incorrect 15, 17 or 21 bits CRC.
+ * @ES58X_ERR_PROT_BIT1: Unable to send recessive bit: tried to send
+ *	recessive bit 1 but monitored dominant bit 0.
+ * @ES58X_ERR_PROT_BIT0: Unable to send dominant bit: tried to send
+ *	dominant bit 0 but monitored recessive bit 1.
+ * @ES58X_ERR_PROT_OVERLOAD: Bus overload.
+ * @ES58X_ERR_PROT_UNSPEC: Unspecified.
+ *
+ * Please refer to ISO 11898-1:2015, section 10.11 "Error detection"
+ * and section 10.13 "Overload signaling" for additional details.
+ */
+enum es58x_error {
+	ES58X_ERR_OK = 0,
+	ES58X_ERR_PROT_STUFF = BIT(0),
+	ES58X_ERR_PROT_FORM = BIT(1),
+	ES58X_ERR_ACK = BIT(2),
+	ES58X_ERR_PROT_BIT = BIT(3),
+	ES58X_ERR_PROT_CRC = BIT(4),
+	ES58X_ERR_PROT_BIT1 = BIT(5),
+	ES58X_ERR_PROT_BIT0 = BIT(6),
+	ES58X_ERR_PROT_OVERLOAD = BIT(7),
+	ES58X_ERR_PROT_UNSPEC = BIT(31)
+};
+
+/**
+ * enum es58x_event - CAN error codes returned by the device.
+ * @ES58X_EVENT_OK: No errors.
+ * @ES58X_ERR_CRTL_ACTIVE: Active state: both TR and RX error count is
+ *	less than 128.
+ * @ES58X_ERR_CRTL_PASSIVE: Passive state: either TX or RX error count
+ *	is greater than 127.
+ * @ES58X_ERR_CRTL_WARNING: Warning state: either TX or RX error count
+ *	is greater than 96.
+ * @ES58X_ERR_BUSOFF: Bus off.
+ * @ES58X_ERR_SINGLE_WIRE: Lost connection on either CAN high or CAN low.
+ *
+ * Please refer to ISO 11898-1:2015, section 12.1.4 "Rules of fault
+ * confinement" for additional details.
+ */
+enum es58x_event {
+	ES58X_EVENT_OK = 0,
+	ES58X_ERR_CRTL_ACTIVE = BIT(0),
+	ES58X_ERR_CRTL_PASSIVE = BIT(1),
+	ES58X_ERR_CRTL_WARNING = BIT(2),
+	ES58X_ERR_BUSOFF = BIT(3),
+	ES58X_ERR_SINGLE_WIRE = BIT(4)
+};
+
+/**
+ * enum es58x_dev_ret_code_u8 - Device error codes, 8 bit format.
+ *
+ * Specific to ES581.4.
+ */
+enum es58x_dev_ret_code_u8 {
+	ES58X_RET_U8_OK = 0x00,
+	ES58X_RET_U8_ERR_UNSPECIFIED_FAILURE = 0x80,
+	ES58X_RET_U8_ERR_NO_MEM = 0x81,
+	ES58X_RET_U8_ERR_BAD_CRC = 0x99
+};
+
+/**
+ * enum es58x_dev_ret_code_u32 - Device error codes, 32 bit format.
+ */
+enum es58x_cmd_ret_code_u32 {
+	ES58X_RET_U32_OK = 0x00000000UL,
+	ES58X_RET_U32_ERR_UNSPECIFIED_FAILURE = 0x80000000UL,
+	ES58X_RET_U32_ERR_NO_MEM = 0x80004001UL,
+	ES58X_RET_U32_WARN_PARAM_ADJUSTED = 0x40004000UL,
+	ES58X_RET_U32_WARN_TX_MAYBE_REORDER = 0x40004001UL,
+	ES58X_RET_U32_ERR_TIMEOUT = 0x80000008UL,
+	ES58X_RET_U32_ERR_FIFO_FULL = 0x80003002UL,
+	ES58X_RET_U32_ERR_BAD_CONFIG = 0x80004000UL,
+	ES58X_RET_U32_ERR_NO_RESOURCE = 0x80004002UL
+};
+
+enum es58x_cmd_ret_type {
+	ES58X_RET_TYPE_SET_BITTIMING,
+	ES58X_RET_TYPE_ENABLE_CHANNEL,
+	ES58X_RET_TYPE_DISABLE_CHANNEL,
+	ES58X_RET_TYPE_TX_MSG,
+	ES58X_RET_TYPE_RESET_RX,
+	ES58X_RET_TYPE_RESET_TX,
+	ES58X_RET_TYPE_DEVICE_ERR_FRAME,
+	ES58X_CMD_RET_TYPE_NUM_ENTRIES
+};
+
+/**
+ * struct es58x_abstracted_can_frame - Common structure to hold can
+ *	frame information.
+ * @timestamp: Hardware time stamp (only relevant in rx branches).
+ * @data: CAN payload.
+ * @can_id: CAN ID.
+ * @is_can_fd: false: non-FD CAN, true: CAN-FD.
+ * @flags: Please refer to enum es58x_flag_type.
+ * @dlc: Data Length Code (raw value). When using standard (non-FD)
+ *	CAN, ES58X devices allow to send DLC bigger than 8
+ *	(i.e. values 9 to 15 reserved for CAN-FD) as specified in ISO
+ *	11898-1:2015 section 8.4.2.4 "DLC field". In such case, the
+ *	@dlc field will contain whatever value was obtained when
+ *	sending or receiving but the @len field will contain the
+ *	sanitized length of the @data field (i.e. not more than
+ *	CAN_MAX_DLEN for standard CAN). To be able to send/receive
+ *	such "out of range" DLC values, you would need to modify the
+ *	first occurrence of the if conditions "cfd->len >
+ *	CAN_MAX_DLEN" into "cfd->len > CANFD_MAX_DLC" in functions
+ *	net/can/af_can.c:can_send() and net/can/af_can.c:can_rcv().
+ * @len: Length of @data field (sanitized in es58x_core.c).
+ *
+ * ES581.4 and the ES58X FD family uses different tx_can_msg
+ * structures (same fields but in different order). This abstracted
+ * structure allows to calculate the parameters once for all. The
+ * specific functions of each device model can then use the
+ * pre-computed information from this abstracted can frame.
+ */
+struct es58x_abstracted_can_frame {
+	u64 timestamp;
+	const u8 *data;
+	canid_t can_id;
+	bool is_can_fd;
+	u8 flags;
+	u8 dlc;
+	u8 len;
+};
+
+union es58x_urb_cmd {
+	u8 raw_cmd[0];
+	struct es581_4_urb_cmd es581_4_urb_cmd;
+	struct es58x_fd_urb_cmd es58x_fd_urb_cmd;
+	struct {		// Common header parts of all variants
+		__le16 sof;
+		u8 cmd_type;
+		u8 cmd_id;
+	} __packed;
+};
+
+/**
+ * struct es58x_priv - All information specific to a can channel.
+ * @can: struct can_priv must be the first member (Socket CAN relies
+ *	on the fact that function netdev_priv() returns a pointer to
+ *	a struct can_priv).
+ * @es58x_dev: pointer to the corresponding ES58X device.
+ * @echo_skb_spinlock: Spinlock to protect the access to the echo skb
+ *	FIFO.
+ * @current_packet_idx: Keeps track of the packet indexes.
+ * @echo_skb_tail_idx: beginning of the echo skb FIFO, i.e. index of
+ *	the first element.
+ * @echo_skb_head_idx: end of the echo skb FIFO plus one, i.e. first
+ *	free index.
+ * @num_echo_skb: actual number of elements in the FIFO. Thus, the end
+ *	of the FIFO is echo_skb_head = (echo_skb_tail_idx +
+ *	num_echo_skb) % can.echo_skb_max.
+ * @tx_urb: Used as a buffer to concatenate the TX messages and to do
+ *	a bulk send. Please refer to es58x_start_xmit() for more
+ *	details.
+ * @tx_can_msg_is_fd: false: all messages in @tx_urb are non-FD CAN,
+ *	true: all messages in @tx_urb are CAN-FD. Rationale: ES58X FD
+ *	devices do not allow to mix standard and FD CAN in one single
+ *	bulk transmission.
+ * @tx_can_msg_cnt: Number of messages in @tx_urb.
+ * @err_passive_before_rtx_success: The ES58X device might enter in a
+ *	state in which it keeps alternating between error passive
+ *	and active state. This counter keeps track of the number of
+ *	error passive and if it gets bigger than
+ *	ES58X_CONSECUTIVE_ERR_PASSIVE_MAX, es58x_rx_err_msg() will
+ *	force the status to bus-off.
+ * @channel_idx: Channel index, starts at zero.
+ */
+struct es58x_priv {
+	struct can_priv can;
+	struct es58x_device *es58x_dev;
+
+	spinlock_t echo_skb_spinlock;	// Comments: c.f. supra
+	u32 current_packet_idx;
+	u16 echo_skb_tail_idx;
+	u16 echo_skb_head_idx;
+	u16 num_echo_skb;
+
+	struct urb *tx_urb;
+	bool tx_can_msg_is_fd;
+	u8 tx_can_msg_cnt;
+
+	u8 err_passive_before_rtx_success;
+
+	u8 channel_idx;
+};
+
+/**
+ * struct es58x_parameters - Constant parameters of a given hardware
+ *	variant.
+ * @can_bittiming_const: Nominal bittimming parameters (used for
+ *	non-FD CAN and arbitration field of CAN-FD).
+ * @data_bittiming_const: Data bittiming parameters (used for CAN-FD
+ *	payload)
+ * @bitrate_max: Maximum bitrate supported by the device.
+ * @clock: CAN clock parameters.
+ * @ctrlmode_supported: List of supported modes. Please refer to
+ *	can/netlink.h file for additional details.
+ * @tx_start_of_frame: Magic number at the beginning of each TX URB
+ *	command.
+ * @rx_start_of_frame: Magic number at the beginning of each RX URB
+ *	command.
+ * @tx_urb_cmd_max_len: Maximum length of a TX URB command.
+ * @rx_urb_cmd_max_len: Maximum length of a RX URB command.
+ * @echo_skb_max: Maximum number of echo SKB. This value must not
+ *	exceed the maximum size of the device internal TX FIFO
+ *	length. This parameter is used to control the network queue
+ *	wake/stop logic.
+ * @dql_limit_min: Dynamic Queue Limits (DQL) absolute minimum limit
+ *	of bytes allowed to be queued on this network device transmit
+ *	queue. Used by the Byte Queue Limits (BQL) to determine how
+ *	frequently the xmit_more flag will be set to true in
+ *	es58x_start_xmit(). Set this value higher to optimize for
+ *	throughput but be aware that it might have a negative impact
+ *	on the latency! This value can also be set dynamically. Please
+ *	refer to Documentation/ABI/testing/sysfs-class-net-queues for
+ *	more details.
+ * @tx_bulk_max: Maximum number of Tx messages that can be sent in one
+ *	single URB packet.
+ * @urb_cmd_header_len: Length of the URB command header.
+ * @rx_urb_max: Number of RX URB to be allocated during device probe.
+ * @tx_urb_max: Number of TX URB to be allocated during device probe.
+ * @channel_idx_offset: Some of the ES58x starts channel numbering
+ *	from 0 (ES58X FD), others from 1 (ES581.4).
+ */
+struct es58x_parameters {
+	const struct can_bittiming_const *bittiming_const;
+	const struct can_bittiming_const *data_bittiming_const;
+	u32 bitrate_max;
+	struct can_clock clock;
+	u32 ctrlmode_supported;
+	u16 tx_start_of_frame;
+	u16 rx_start_of_frame;
+	u16 tx_urb_cmd_max_len;
+	u16 rx_urb_cmd_max_len;
+	u16 echo_skb_max;
+	u16 dql_limit_min;
+	u8 tx_bulk_max;
+	u8 urb_cmd_header_len;
+	u8 rx_urb_max;
+	u8 tx_urb_max;
+	u8 channel_idx_offset;
+};
+
+/**
+ * struct es58x_operators - Function pointers used to encode/decode
+ *	the TX/RX messages.
+ * @get_msg_len: Get field msg_len of the urb_cmd. The offset of
+ *	msg_len inside urb_cmd depends of the device model.
+ * @handle_urb_cmd: Handle URB command received from the device and
+ *	manage the return code from device.
+ * @fill_urb_header: Fill the header of urb_cmd.
+ * @tx_can_msg: Encode a TX CAN message and add it to the bulk buffer
+ *	cmd_buf of es58x_dev.
+ * @set_bittiming: Encode the bittiming information and send it.
+ * @enable_channel: Start the CAN channel with index channel_idx.
+ * @disable_channel: Stop the CAN channel with index channel_idx.
+ * @reset_rx: Reset the RX queue of the ES58X device.
+ * @reset_tx: Reset the TX queue of the ES58X device.
+ * @get_timestamp: Request a timestamp from the ES58X device.
+ */
+struct es58x_operators {
+	u16 (*get_msg_len)(const union es58x_urb_cmd *urb_cmd);
+	int (*handle_urb_cmd)(struct es58x_device *es58x_dev,
+			      const union es58x_urb_cmd *urb_cmd);
+	void (*fill_urb_header)(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
+				u8 cmd_id, u8 channel_idx, u16 cmd_len);
+	int (*tx_can_msg)(struct es58x_device *es58x_dev, int channel_idx,
+			  u32 packet_idx,
+			   struct es58x_abstracted_can_frame *es58x_frame,
+			   union es58x_urb_cmd *urb_cmd, u32 *urb_cmd_len);
+	int (*set_bittiming)(struct es58x_device *es58x_dev, int channel_idx);
+	int (*enable_channel)(struct es58x_device *es58x_dev,
+			      int channel_idx);
+	int (*disable_channel)(struct es58x_device *es58x_dev,
+			       int channel_idx);
+	int (*reset_rx)(struct es58x_device *es58x_dev, int channel_idx);
+	int (*reset_tx)(struct es58x_device *es58x_dev, int channel_idx);
+	int (*get_timestamp)(struct es58x_device *es58x_dev);
+};
+
+/**
+ * struct es58x_device - All information specific to an ES58X device.
+ * @dev: Device information.
+ * @udev: USB device information.
+ * @netdev: Array of our CAN channels.
+ * @param: The constant parameters.
+ * @ops: Operators.
+ * @rx_pipe: USB reception pipe.
+ * @tx_pipe: USB transmission pipe.
+ * @rx_urbs: Anchor for received URBs.
+ * @tx_urbs_busy: Anchor for TX URBs which were send to the device.
+ * @tx_urbs_idle: Anchor for TX USB which are idle. This driver
+ *	allocates the memory for the URBs during the probe. When a TX
+ *	URB is needed, it can be taken from this anchor. The network
+ *	queue wake/stop logic should prevent this URB from getting
+ *	empty. Please refer to es58x_get_tx_urb() for more details.
+ * @tx_urbs_idle_cnt: number of urbs in @tx_urbs_idle.
+ * @ktime_req_ns: kernel timestamp when es58x_set_realtime_diff_ns()
+ *	was called.
+ * @realtime_diff_ns: difference in nanoseconds between the clocks of
+ *	the ES58X device and the kernel.
+ * @timestamps: a temporary buffer to store the time stamps before
+ *	feeding them to es58x_can_get_echo_skb(). Can only be used
+ *	in rx branches.
+ * @can_frames: a temporary buffer to store the can frames before
+ *	feeding them to es58x_rx_can_msg(). Can only be used in rx
+ *	branches.
+ * @rx_max_packet_size: Maximum length of bulk-in URB.
+ * @num_can_ch: Number of CAN channel (i.e. number of elements of @netdev).
+ * @rx_cmd_buf_len: Length of @rx_cmd_buf.
+ * @rx_cmd_buf: The device might split the URB commands in an
+ *	arbitrary amount of pieces. This buffer is used to concatenate
+ *	all those pieces. Can only be used in rx branches. This field
+ *	has to be the last one of the structure because it is has a
+ *	flexible size (c.f. ES58X_SIZEOF_ES58X_DEVICE() macro).
+ */
+struct es58x_device {
+	struct device *dev;
+	struct usb_device *udev;
+	struct net_device *netdev[ES58X_NUM_CAN_CH_MAX];
+
+	const struct es58x_parameters *param;
+	const struct es58x_operators *ops;
+
+	int rx_pipe;
+	int tx_pipe;
+
+	struct usb_anchor rx_urbs;
+	struct usb_anchor tx_urbs_busy;
+	struct usb_anchor tx_urbs_idle;
+	atomic_t tx_urbs_idle_cnt;
+
+	u64 ktime_req_ns;
+	s64 realtime_diff_ns;
+
+	union {
+		u64 timestamps[ES58X_RX_LOOPBACK_BULK_MAX];
+		struct es58x_abstracted_can_frame can_frames[ES58X_RX_BULK_MAX];
+	};
+
+	u16 rx_max_packet_size;
+	u8 num_can_ch;
+
+	u16 rx_cmd_buf_len;
+	union es58x_urb_cmd rx_cmd_buf;
+};
+
+/**
+ * ES58X_SIZEOF_ES58X_DEVICE() - Calculate the maximum length of
+ *	struct es58x_device.
+ * @es58x_dev_param: The constant parameters of the device.
+ *
+ * The length of struct es58x_device depends on the length of its last
+ * field: rx_cmd_buf. This macro allows to optimize size for memory
+ * allocation.
+ *
+ * Return: length of struct es58x_device.
+ */
+#define ES58X_SIZEOF_ES58X_DEVICE(es58x_dev_param)			\
+	(offsetof(struct es58x_device, rx_cmd_buf) +			\
+		(es58x_dev_param)->rx_urb_cmd_max_len)
+
+/* Megabit per second (multiply x per one million) */
+#define ES58X_MBPS(x) (1000000UL * (x))
+/* Megahertz (multiply x per one million) */
+#define ES58X_MHZ(x)  (1000000UL * (x))
+
+/**
+ * es58x_check_msg_len() - Check the size of a received message.
+ * @dev: Device, used to print error messages.
+ * @msg: Received message, must not be a pointer.
+ * @actual_len: Length of the message as advertised in the command header.
+ *
+ * Must be a macro in order to retrieve the actual size using
+ * sizeof(). Can be use with any of the messages which have a fixed
+ * length. Check for an exact match of the size.
+ *
+ * Return: zero on success, -EMSGSIZE if @actual_len differs from the
+ * expected length.
+ */
+#define es58x_check_msg_len(dev, msg, actual_len)			\
+({									\
+	size_t __expected_len = sizeof(msg);				\
+	size_t __actual_len = (actual_len);				\
+	int __res = 0;							\
+	if (unlikely(__expected_len != __actual_len)) {			\
+		dev_err(dev,						\
+			"%s: Length of %s is %zu but received command is %zu.\n",		\
+			__func__, __stringify(msg),			\
+			__expected_len, __actual_len);			\
+		__res = -EMSGSIZE;					\
+	}								\
+	__res;								\
+})
+
+/**
+ * es58x_check_msg_max_len() - Check the maximum size of a received message.
+ * @dev: Device, used to print error messages.
+ * @msg: Received message, must not be a pointer.
+ * @actual_len: Length of the message as advertised in the command header.
+ *
+ * Must be a macro in order to retrieve the actual size using
+ * sizeof(). To be used with the messages of variable sizes. Only
+ * check that the message is not bigger than the maximum expected
+ * size.
+ *
+ * Return: zero on success, -EOVERFLOW if @actual_len is greater than
+ * the expected length.
+ */
+#define es58x_check_msg_max_len(dev, msg, actual_len)			\
+({									\
+	size_t __actual_len = (actual_len);				\
+	size_t __expected_len = sizeof(msg);				\
+	int __res = 0;							\
+	if (unlikely(__actual_len > __expected_len)) {			\
+		dev_err(dev,						\
+			"%s: Maximum length for %s is %zu but received command is %zu.\n",	\
+			__func__, __stringify(msg),			\
+			__expected_len, __actual_len);			\
+		__res = -EOVERFLOW;					\
+	}								\
+	__res;								\
+})
+
+/**
+ * es58x_msg_num_element() - Check size and give the number of
+ *	elements in a message of array type.
+ * @dev: Device, used to print error messages.
+ * @msg: Received message, must be an array.
+ * @actual_len: Length of the message as advertised in the command
+ *	header.
+ *
+ * Must be a macro in order to retrieve the actual size using
+ * sizeof(). To be used on message of array type. Array's element has
+ * to be of fixed size (else use es58x_check_msg_max_len()). Check
+ * that the total length is an exact multiple of the length of a
+ * single element.
+ *
+ * Return: number of elements in the array on success, -EOVERFLOW if
+ * @actual_len is greater than the expected length, -EMSGSIZE if
+ * @actual_len is not a multiple of a single element.
+ */
+#define es58x_msg_num_element(dev, msg, actual_len)			\
+({									\
+	const struct device *__dev = (dev);				\
+	size_t __actual_len = (actual_len);				\
+	size_t __elem_len = sizeof((msg)[0]) + __must_be_array(msg);	\
+	size_t __actual_num_elem = __actual_len / __elem_len;		\
+	size_t __expected_num_elem = sizeof(msg) / __elem_len;		\
+	int __res = __actual_num_elem;					\
+	if (unlikely(__actual_num_elem == 0)) {				\
+		dev_err(__dev,						\
+			"%s: Minimum length for %s is %zu but received command is %zu.\n",	\
+			__func__, __stringify(msg),			\
+			__elem_len, __actual_len);			\
+		__res = -EMSGSIZE;					\
+	} else if (unlikely((__actual_len % __elem_len) != 0)) {	\
+		dev_err(__dev,						\
+			"%s: Received command length: %zu is not a multiple of %s[0]: %zu\n",	\
+			__func__, __actual_len,				\
+			__stringify(msg), __elem_len);			\
+		__res = -EMSGSIZE;					\
+	} else if (unlikely(__actual_num_elem >	__expected_num_elem)) {	\
+		dev_err(__dev,						\
+			"%s: Array %s is supposed to have %zu elements each of size %zu...\n",	\
+			__func__, __stringify(msg),			\
+			__expected_num_elem, __elem_len);		\
+		dev_err(__dev,						\
+			"... But received command has %zu elements (total length %zu).\n",	\
+			__actual_num_elem, __actual_len);		\
+		__res = -EOVERFLOW;					\
+	}								\
+	__res;								\
+})
+
+/**
+ * es58x_priv() - Get the priv member and cast it to struct es58x_priv.
+ * @netdev: CAN network device.
+ *
+ * Return: ES58X device.
+ */
+static inline struct es58x_priv *es58x_priv(struct net_device *netdev)
+{
+	return (struct es58x_priv *)netdev_priv(netdev);
+}
+
+/**
+ * ES58X_SIZEOF_URB_CMD() - Calculate the maximum length of an urb
+ *	command for a given message field name.
+ * @es58x_urb_cmd_type: type (either "struct es581_4_urb_cmd" or
+ *	"struct es58x_fd_urb_cmd").
+ * @msg_field: name of the message field.
+ *
+ * Return: length of the urb command.
+ */
+#define ES58X_SIZEOF_URB_CMD(es58x_urb_cmd_type, msg_field)		\
+	(offsetof(es58x_urb_cmd_type, raw_msg)				\
+		+ sizeof_field(es58x_urb_cmd_type, msg_field)		\
+		+ sizeof_field(es58x_urb_cmd_type,			\
+			reserved_for_crc16_do_not_use))
+
+/**
+ * es58x_get_urb_cmd_len() - Calculate the actual length of an urb
+ *	command for a given message length.
+ * @es58x_dev: ES58X device.
+ * @msg_len: Length of the message.
+ *
+ * Add the header and CRC lengths to the message length.
+ *
+ * Return: length of the urb command.
+ */
+static inline size_t es58x_get_urb_cmd_len(struct es58x_device *es58x_dev,
+					   u16 msg_len)
+{
+	/* URB Length = URB header len + Message len + sizeof crc16 */
+	return es58x_dev->param->urb_cmd_header_len + msg_len + sizeof(u16);
+}
+
+/**
+ * es58x_get_netdev() - Get the network device.
+ * @es58x_dev: ES58X device.
+ * @channel_no: The channel number as advertised in the urb command.
+ * @netdev: CAN network device.
+ *
+ * ES581.4 starts the numbering on channels from 1, ES58X FD family
+ * starts it from 0. This method does the sanity check.
+ *
+ * Return: zero on success, -ECHRNG if the received channel number is
+ * out of range and -ENODEV if the network device is not yet
+ * configured.
+ */
+static inline int es58x_get_netdev(struct es58x_device *es58x_dev,
+				   int channel_no, struct net_device **netdev)
+{
+	int channel_idx = channel_no - es58x_dev->param->channel_idx_offset;
+
+	*netdev = NULL;
+	if (unlikely(channel_idx < 0 || channel_idx >= es58x_dev->num_can_ch))
+		return -ECHRNG;
+
+	*netdev = es58x_dev->netdev[channel_idx];
+	if (unlikely(!netdev || !netif_device_present(*netdev)))
+		return -ENODEV;
+
+	return 0;
+}
+
+int es58x_can_get_echo_skb(struct net_device *netdev, u32 packet_idx,
+			   u64 *tstamps, unsigned int pkts);
+int es58x_tx_ack_msg(struct net_device *netdev, u16 tx_free_entries,
+		     enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32);
+int es58x_rx_can_msg(struct net_device *netdev,
+		     struct es58x_abstracted_can_frame *es58x_cf,
+		     unsigned int pkts);
+int es58x_rx_err_msg(struct net_device *netdev, enum es58x_error error,
+		     enum es58x_event event, u64 timestamp);
+int es58x_rx_timestamp(struct es58x_device *es58x_dev, u64 timestamp);
+int es58x_rx_dev_ret_u8(struct device *dev,
+			enum es58x_cmd_ret_type cmd_ret_type,
+			enum es58x_dev_ret_code_u8 rx_dev_ret_u8);
+int es58x_rx_cmd_ret_u32(struct net_device *netdev,
+			 enum es58x_cmd_ret_type cmd_ret_type,
+			 enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32);
+int es58x_send_msg(struct es58x_device *es58x_dev, u8 cmd_type, u8 cmd_id,
+		   const void *msg, u16 cmd_len, int channel_idx);
+
+extern const struct es58x_parameters es581_4_param;
+extern const struct es58x_operators es581_4_ops;
+
+extern const struct es58x_parameters es58x_fd_param;
+extern const struct es58x_operators es58x_fd_ops;
+
+#endif				//__ES58X_COMMON_H__
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.c b/drivers/net/can/usb/etas_es58x/es58x_fd.c
new file mode 100644
index 000000000000..976a840494af
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.c
@@ -0,0 +1,650 @@
+// SPDX-License-Identifier: GPL-2.0
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_fd.c: Adds support to ETAS ES582.1 and ES584.1 (naming
+ * convention: we use the term "ES58X FD" when referring to those two
+ * variants together).
+ *
+ * Copyright (C) 2019 Robert Bosch Engineering and Business
+ * Solutions. All rights reserved.
+ * Copyright (C) 2020 ETAS K.K.. All rights reserved.
+ */
+
+#include <linux/kernel.h>
+#include <asm/unaligned.h>
+
+#include "es58x_core.h"
+#include "es58x_fd.h"
+
+/**
+ * es58x_sizeof_rx_tx_msg() - Calculate the actual length of the
+ *	structure of a rx or tx message.
+ * @msg: message of variable length, must have a dlc and a len fields.
+ *
+ * Even if RTR frames have actually no payload, the ES58X devices
+ * still expect it.
+ *
+ * Return: length of the message.
+ */
+#define es58x_fd_sizeof_rx_tx_msg(msg)					\
+({									\
+	typeof(msg) __msg = (msg);					\
+	size_t __msg_len = __msg.flags & ES58X_FLAG_FD_DATA ?		\
+		 min_t(u8, __msg.len, CANFD_MAX_DLEN) :			\
+		 min_t(u8, can_dlc2len(__msg.dlc), CAN_MAX_DLEN);	\
+	(offsetof(typeof(__msg), data[__msg_len]));			\
+})
+
+static enum es58x_fd_cmd_type es58x_fd_cmd_type(struct net_device *netdev)
+{
+	u32 ctrlmode = es58x_priv(netdev)->can.ctrlmode;
+
+	return ctrlmode & (CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO) ?
+	    ES58X_FD_CMD_TYPE_CANFD : ES58X_FD_CMD_TYPE_CAN;
+}
+
+static u16 es58x_fd_get_msg_len(const union es58x_urb_cmd *urb_cmd)
+{
+	return get_unaligned_le16(&urb_cmd->es58x_fd_urb_cmd.msg_len);
+}
+
+static int es58x_fd_rx_loopback_msg(struct net_device *netdev,
+				    const struct es58x_fd_urb_cmd
+				    *es58x_fd_urb_cmd)
+{
+	struct es58x_priv *priv = es58x_priv(netdev);
+	const struct es58x_fd_rx_loopback_msg *rx_loopback_msg;
+	struct es58x_device *es58x_dev = priv->es58x_dev;
+	u64 *tstamps = es58x_dev->timestamps;
+	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+	int i, num_element;
+	u32 first_packet_idx, packet_idx;
+	unsigned long flags;
+
+	const u32 mask = ~(u32)((typeof(rx_loopback_msg->packet_idx))(~0U));
+
+	num_element = es58x_msg_num_element(es58x_dev->dev,
+					    es58x_fd_urb_cmd->rx_loopback_msg,
+					    msg_len);
+	if (unlikely(num_element < 0))
+		return num_element;
+	rx_loopback_msg = es58x_fd_urb_cmd->rx_loopback_msg;
+
+	spin_lock_irqsave(&priv->echo_skb_spinlock, flags);
+	first_packet_idx = priv->current_packet_idx - priv->num_echo_skb;
+	spin_unlock_irqrestore(&priv->echo_skb_spinlock, flags);
+
+	packet_idx = (first_packet_idx & mask) | rx_loopback_msg[0].packet_idx;
+	for (i = 0; i < num_element; i++) {
+		if (unlikely((u8)packet_idx != rx_loopback_msg[i].packet_idx)) {
+			netdev_err(netdev, "Packet idx jumped from %u to %u\n",
+				   (u8)packet_idx - 1,
+				   rx_loopback_msg[i].packet_idx);
+			return -EBADMSG;
+		}
+
+		tstamps[i] = get_unaligned_le64(&rx_loopback_msg[i].timestamp);
+		packet_idx++;
+	}
+
+	return es58x_can_get_echo_skb(netdev, first_packet_idx,
+				      tstamps, num_element);
+}
+
+static int es58x_fd_rx_can_msg(struct net_device *netdev,
+			       const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+	const u8 *rx_can_msg_buf = es58x_fd_urb_cmd->rx_can_msg_buf;
+	struct es58x_abstracted_can_frame *es58x_cf = es58x_dev->can_frames;
+	u16 rx_can_msg_buf_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+	int pkts, ret;
+
+	ret = es58x_check_msg_max_len(es58x_dev->dev,
+				      es58x_fd_urb_cmd->rx_can_msg_buf,
+				      rx_can_msg_buf_len);
+	if (unlikely(ret))
+		return ret;
+
+	for (pkts = 0; rx_can_msg_buf_len > 0; pkts++) {
+		const struct es58x_fd_rx_can_msg *rx_can_msg =
+		    (const struct es58x_fd_rx_can_msg *)rx_can_msg_buf;
+		bool is_can_fd = !!(rx_can_msg->flags & ES58X_FLAG_FD_DATA);
+		/* rx_can_msg_len is the length of the rx_can_msg
+		 * buffer. Not to be confused with rx_can_msg->len
+		 * which is the length of the CAN payload
+		 * rx_can_msg->data.
+		 */
+		u16 rx_can_msg_len = es58x_fd_sizeof_rx_tx_msg(*rx_can_msg);
+
+		if (unlikely(rx_can_msg_len > rx_can_msg_buf_len)) {
+			netdev_err(netdev,
+				   "%s: Expected a rx_can_msg of size %d but only %d bytes are left in rx_can_msg_buf\n",
+				   __func__,
+				   rx_can_msg_len, rx_can_msg_buf_len);
+			return -EMSGSIZE;
+		}
+		if (unlikely(rx_can_msg->len > CANFD_MAX_DLEN)) {
+			netdev_err(netdev,
+				   "%s: Data length is %d but maximum should be %d\n",
+				   __func__, rx_can_msg->len, CANFD_MAX_DLEN);
+			return -EMSGSIZE;
+		}
+
+		es58x_cf[pkts].timestamp =
+		    get_unaligned_le64(&rx_can_msg->timestamp);
+		es58x_cf[pkts].can_id = get_unaligned_le32(&rx_can_msg->can_id);
+		es58x_cf[pkts].is_can_fd = is_can_fd;
+		es58x_cf[pkts].data = rx_can_msg->data;
+		if (is_can_fd) {
+			es58x_cf[pkts].len = rx_can_msg->len;
+			es58x_cf[pkts].dlc = can_len2dlc(es58x_cf[pkts].len);
+		} else {
+			es58x_cf[pkts].dlc = rx_can_msg->dlc;
+			es58x_cf[pkts].len = can_dlc2len(rx_can_msg->dlc);
+		}
+		es58x_cf[pkts].flags = rx_can_msg->flags;
+
+		rx_can_msg_buf_len -= rx_can_msg_len;
+		rx_can_msg_buf += rx_can_msg_len;
+	}
+
+	ret = es58x_rx_can_msg(netdev, es58x_cf, pkts);
+	memset(es58x_dev->can_frames, 0, sizeof(es58x_dev->can_frames));
+
+	return ret;
+}
+
+static int es58x_fd_rx_event_msg(struct net_device *netdev,
+				 const struct es58x_fd_urb_cmd
+				 *es58x_fd_urb_cmd)
+{
+	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+	const struct es58x_fd_rx_event_msg *rx_event_msg;
+	int ret;
+
+	ret = es58x_check_msg_len(es58x_dev->dev, *rx_event_msg, msg_len);
+	if (unlikely(ret))
+		return ret;
+
+	rx_event_msg = &es58x_fd_urb_cmd->rx_event_msg;
+
+	return es58x_rx_err_msg(netdev, rx_event_msg->error_code,
+				rx_event_msg->event_code,
+				get_unaligned_le64(&rx_event_msg->timestamp));
+}
+
+static int es58x_fd_rx_cmd_ret_u32(struct net_device *netdev,
+				   const struct es58x_fd_urb_cmd
+				   *es58x_fd_urb_cmd,
+				   enum es58x_cmd_ret_type cmd_ret_type)
+{
+	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+	enum es58x_cmd_ret_code_u32 rx_cmd_ret_u32;
+	int ret;
+
+	ret = es58x_check_msg_len(es58x_dev->dev,
+				  es58x_fd_urb_cmd->rx_cmd_ret_le32, msg_len);
+	if (unlikely(ret))
+		return ret;
+
+	rx_cmd_ret_u32 = get_unaligned_le32(&es58x_fd_urb_cmd->rx_cmd_ret_le32);
+
+	return es58x_rx_cmd_ret_u32(netdev, cmd_ret_type, rx_cmd_ret_u32);
+}
+
+static int es58x_fd_tx_ack_msg(struct net_device *netdev,
+			       const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+	struct es58x_device *es58x_dev = es58x_priv(netdev)->es58x_dev;
+	const struct es58x_fd_tx_ack_msg *tx_ack_msg;
+	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+	int ret;
+
+	tx_ack_msg = &es58x_fd_urb_cmd->tx_ack_msg;
+	ret = es58x_check_msg_len(es58x_dev->dev, *tx_ack_msg, msg_len);
+	if (unlikely(ret))
+		return ret;
+
+	return
+	    es58x_tx_ack_msg(netdev,
+			     get_unaligned_le16(&tx_ack_msg->tx_free_entries),
+			     get_unaligned_le32(&tx_ack_msg->rx_cmd_ret_le32));
+}
+
+static int es58x_fd_can_cmd_id(struct es58x_device *es58x_dev,
+			       const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd)
+{
+	struct net_device *netdev;
+	int ret;
+
+	ret = es58x_get_netdev(es58x_dev, es58x_fd_urb_cmd->channel_idx,
+			       &netdev);
+	if (unlikely(ret))
+		return ret;
+
+	switch ((enum es58x_fd_can_cmd_id)es58x_fd_urb_cmd->cmd_id) {
+	case ES58X_FD_CMD_ID_ENABLE_CHANNEL:
+		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+					       ES58X_RET_TYPE_ENABLE_CHANNEL);
+
+	case ES58X_FD_CMD_ID_DISABLE_CHANNEL:
+		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+					       ES58X_RET_TYPE_DISABLE_CHANNEL);
+
+	case ES58X_FD_CMD_ID_TX_MSG:
+		return es58x_fd_tx_ack_msg(netdev, es58x_fd_urb_cmd);
+
+	case ES58X_FD_CMD_ID_MSG_SELFRX_ACK:
+		return es58x_fd_rx_loopback_msg(netdev, es58x_fd_urb_cmd);
+
+	case ES58X_FD_CMD_ID_RECEIVE_MSG:
+		return es58x_fd_rx_can_msg(netdev, es58x_fd_urb_cmd);
+
+	case ES58X_FD_CMD_ID_RESET_RX:
+		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+					       ES58X_RET_TYPE_RESET_RX);
+
+	case ES58X_FD_CMD_ID_RESET_TX:
+		return es58x_fd_rx_cmd_ret_u32(netdev, es58x_fd_urb_cmd,
+					       ES58X_RET_TYPE_RESET_TX);
+
+	case ES58X_FD_CMD_ID_ERROR_OR_EVENT_MSG:
+		return es58x_fd_rx_event_msg(netdev, es58x_fd_urb_cmd);
+
+	default:
+		return -EBADRQC;
+	}
+}
+
+static int es58x_fd_device_cmd_id(struct es58x_device *es58x_dev,
+				  const struct es58x_fd_urb_cmd
+				  *es58x_fd_urb_cmd)
+{
+	u16 msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+	u64 timestamp;
+	int ret;
+
+	switch ((enum es58x_fd_device_cmd_id)es58x_fd_urb_cmd->cmd_id) {
+	case ES58X_FD_CMD_ID_TIMESTAMP:
+		ret = es58x_check_msg_len(es58x_dev->dev,
+					  es58x_fd_urb_cmd->timestamp, msg_len);
+		if (unlikely(ret))
+			return ret;
+		timestamp = get_unaligned_le64(&es58x_fd_urb_cmd->timestamp);
+		return es58x_rx_timestamp(es58x_dev, timestamp);
+
+	default:
+		return -EBADRQC;
+	}
+}
+
+static int es58x_fd_handle_urb_cmd(struct es58x_device *es58x_dev,
+				   const union es58x_urb_cmd *urb_cmd)
+{
+	const struct es58x_fd_urb_cmd *es58x_fd_urb_cmd;
+	const struct device *dev = es58x_dev->dev;
+	int ret;
+
+	es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+
+	switch ((enum es58x_fd_cmd_type)es58x_fd_urb_cmd->cmd_type) {
+	case ES58X_FD_CMD_TYPE_CAN:
+	case ES58X_FD_CMD_TYPE_CANFD:
+		ret = es58x_fd_can_cmd_id(es58x_dev, es58x_fd_urb_cmd);
+		break;
+
+	case ES58X_FD_CMD_TYPE_DEVICE:
+		ret = es58x_fd_device_cmd_id(es58x_dev, es58x_fd_urb_cmd);
+		break;
+
+	default:
+		ret = -EBADRQC;
+		break;
+	}
+
+	if (ret == -EBADRQC)
+		dev_err(dev,
+			"%s: Unknown command type (0x%02X) and command ID (0x%02X) combination\n",
+			__func__, es58x_fd_urb_cmd->cmd_type,
+			es58x_fd_urb_cmd->cmd_id);
+
+	return ret;
+}
+
+static void es58x_fd_fill_urb_header(union es58x_urb_cmd *urb_cmd, u8 cmd_type,
+				     u8 cmd_id, u8 channel_idx, u16 msg_len)
+{
+	struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+
+	es58x_fd_urb_cmd->SOF = cpu_to_le16(es58x_fd_param.tx_start_of_frame);
+	es58x_fd_urb_cmd->cmd_type = cmd_type;
+	es58x_fd_urb_cmd->cmd_id = cmd_id;
+	es58x_fd_urb_cmd->channel_idx = channel_idx;
+	es58x_fd_urb_cmd->msg_len = cpu_to_le16(msg_len);
+}
+
+static int es58x_fd_tx_can_msg(struct es58x_device *es58x_dev,
+			       int channel_idx, u32 packet_idx,
+			       struct es58x_abstracted_can_frame *es58x_cf,
+			       union es58x_urb_cmd *urb_cmd, u32 *urb_cmd_len)
+{
+	struct es58x_fd_urb_cmd *es58x_fd_urb_cmd = &urb_cmd->es58x_fd_urb_cmd;
+	struct es58x_fd_tx_can_msg *tx_can_msg;
+	u16 msg_len;
+	int ret;
+
+	ret = es58x_check_msg_max_len(es58x_dev->dev,
+				      es58x_fd_urb_cmd->tx_can_msg_buf,
+				      es58x_fd_get_msg_len(urb_cmd) +
+				      sizeof(*tx_can_msg));
+	if (unlikely(ret))
+		return ret;
+
+	msg_len = get_unaligned_le16(&es58x_fd_urb_cmd->msg_len);
+	tx_can_msg = (struct es58x_fd_tx_can_msg *)
+	    &es58x_fd_urb_cmd->tx_can_msg_buf[msg_len];
+
+	/* Fill message contents. */
+	if (*urb_cmd_len == es58x_dev->param->urb_cmd_header_len)
+		es58x_fd_fill_urb_header(urb_cmd, es58x_cf->is_can_fd ?
+					 ES58X_FD_CMD_TYPE_CANFD :
+					 ES58X_FD_CMD_TYPE_CAN,
+					 ES58X_FD_CMD_ID_TX_MSG_NO_ACK,
+					 channel_idx, *urb_cmd_len);
+	tx_can_msg->packet_idx = packet_idx;
+	put_unaligned_le32(es58x_cf->can_id, &tx_can_msg->can_id);
+	tx_can_msg->flags = (u8)es58x_cf->flags;
+	if (es58x_cf->is_can_fd)
+		tx_can_msg->len = es58x_cf->len;
+	else
+		tx_can_msg->dlc = es58x_cf->dlc;
+	memcpy(tx_can_msg->data, es58x_cf->data, tx_can_msg->len);
+
+	/* Calculate new sizes */
+	msg_len += es58x_fd_sizeof_rx_tx_msg(*tx_can_msg);
+	*urb_cmd_len = es58x_get_urb_cmd_len(es58x_dev, msg_len);
+	put_unaligned_le16(msg_len, &es58x_fd_urb_cmd->msg_len);
+
+	return 0;
+}
+
+/* ES58X uses the same command to set the bittiming parameters and
+ * enable the channel. The modification is done in
+ * es58x_fd_enable_channel().
+ */
+static int es58x_fd_set_bittiming(struct es58x_device *es58x_dev,
+				  int channel_idx)
+{
+	return 0;
+}
+
+static void es58x_fd_print_bittiming(struct net_device *netdev,
+				     struct es58x_fd_bittiming
+				     *es58x_fd_bittiming, char *type)
+{
+	netdev_vdbg(netdev, "bitrate %s    = %d\n", type,
+		    le32_to_cpu(es58x_fd_bittiming->bitrate));
+	netdev_vdbg(netdev, "tseg1 %s      = %d\n", type,
+		    le16_to_cpu(es58x_fd_bittiming->tseg1));
+	netdev_vdbg(netdev, "tseg2 %s      = %d\n", type,
+		    le16_to_cpu(es58x_fd_bittiming->tseg2));
+	netdev_vdbg(netdev, "brp %s        = %d\n", type,
+		    le16_to_cpu(es58x_fd_bittiming->brp));
+	netdev_vdbg(netdev, "sjw %s        = %d\n", type,
+		    le16_to_cpu(es58x_fd_bittiming->sjw));
+}
+
+static void es58x_fd_print_conf(struct net_device *netdev,
+				struct es58x_fd_tx_conf_msg *tx_conf_msg)
+{
+	es58x_fd_print_bittiming(netdev, &tx_conf_msg->nominal_bittiming,
+				 "nominal");
+	netdev_vdbg(netdev, "samples_per_bit    = %d\n",
+		    tx_conf_msg->samples_per_bit);
+	netdev_vdbg(netdev, "sync_edge          = %d\n",
+		    tx_conf_msg->sync_edge);
+	netdev_vdbg(netdev, "physical_media     = %d\n",
+		    tx_conf_msg->physical_media);
+	netdev_vdbg(netdev, "self_reception     = %d\n",
+		    tx_conf_msg->self_reception_mode);
+	netdev_vdbg(netdev, "ctrlmode           = %d\n", tx_conf_msg->ctrlmode);
+	netdev_vdbg(netdev, "canfd_enabled      = %d\n",
+		    tx_conf_msg->canfd_enabled);
+	if (tx_conf_msg->canfd_enabled) {
+		es58x_fd_print_bittiming(netdev,
+					 &tx_conf_msg->data_bittiming, "data");
+		netdev_vdbg(netdev,
+			    "Transmitter Delay Compensation        = %d\n",
+			    tx_conf_msg->tdc);
+		netdev_vdbg(netdev,
+			    "Transmitter Delay Compensation Offset = %d\n",
+			    le16_to_cpu(tx_conf_msg->tdco));
+		netdev_vdbg(netdev,
+			    "Transmitter Delay Compensation Filter = %d\n",
+			    le16_to_cpu(tx_conf_msg->tdcf));
+	}
+}
+
+static void es58x_fd_convert_bittiming(struct es58x_fd_bittiming *es58x_fd_bt,
+				       struct can_bittiming *bt)
+{
+	/* The actual value set in the hardware registers is one less
+	 * than the functional value.
+	 */
+	const int offset = 1;
+
+	es58x_fd_bt->bitrate = cpu_to_le32(bt->bitrate);
+	es58x_fd_bt->tseg1 =
+	    cpu_to_le16(bt->prop_seg + bt->phase_seg1 - offset);
+	es58x_fd_bt->tseg2 = cpu_to_le16(bt->phase_seg2 - offset);
+	es58x_fd_bt->brp = cpu_to_le16(bt->brp - offset);
+	es58x_fd_bt->sjw = cpu_to_le16(bt->sjw - offset);
+}
+
+static int es58x_fd_enable_channel(struct es58x_device *es58x_dev,
+				   int channel_idx)
+{
+	struct net_device *netdev = es58x_dev->netdev[channel_idx];
+	struct es58x_priv *priv = es58x_priv(netdev);
+	struct es58x_fd_tx_conf_msg tx_conf_msg = { 0 };
+	u32 ctrlmode;
+	bool is_can_fd = false;
+	size_t conf_len = 0;
+
+	es58x_fd_convert_bittiming(&tx_conf_msg.nominal_bittiming,
+				   &priv->can.bittiming);
+	ctrlmode = priv->can.ctrlmode;
+
+	tx_conf_msg.samples_per_bit =
+	    ctrlmode & CAN_CTRLMODE_3_SAMPLES ?
+	    ES58X_THREE_SAMPLES_PER_BIT : ES58X_ONE_SAMPLE_PER_BIT;
+	tx_conf_msg.sync_edge = ES58X_SINGLE_SYNC_EDGE;
+	tx_conf_msg.physical_media = ES58X_MEDIA_HIGH_SPEED;
+	tx_conf_msg.self_reception_mode =
+	    ctrlmode & CAN_CTRLMODE_LOOPBACK ?
+	    ES58X_SELF_RECEPTION_ON : ES58X_SELF_RECEPTION_OFF;
+
+	tx_conf_msg.ctrlmode |=
+	    ctrlmode & CAN_CTRLMODE_LISTENONLY ?
+	    ES58X_CTRLMODE_PASSIVE : ES58X_CTRLMODE_ACTIVE;
+
+	conf_len = ES58X_FD_CAN_CONF_LEN;
+	if (ctrlmode & CAN_CTRLMODE_FD) {
+		tx_conf_msg.ctrlmode |= ES58X_CTRLMODE_FD_ISO_FORMAT;
+		is_can_fd = true;
+	} else if (ctrlmode & CAN_CTRLMODE_FD_NON_ISO) {
+		tx_conf_msg.ctrlmode |= ES58X_CTRLMODE_FD_NONISO_FORMAT;
+		is_can_fd = true;
+	}
+	if (is_can_fd) {
+		struct can_bittiming *dbt = &priv->can.data_bittiming;
+		int tdco = 0;
+
+		conf_len = ES58X_FD_CANFD_CONF_LEN;
+
+		tx_conf_msg.canfd_enabled = !!is_can_fd;
+		es58x_fd_convert_bittiming(&tx_conf_msg.data_bittiming, dbt);
+
+		/* As specified in ISO 11898-1 section 11.3.3
+		 * "Transmitter delay compensation" (TDC) is only
+		 * applicable if data BRP is one or two.
+		 */
+		tx_conf_msg.tdc = (dbt->brp == 1) || (dbt->brp == 2);
+		if (tx_conf_msg.tdc) {
+			/* Set the Transmitter Delay Compensation
+			 * offset as the duration (in time quanta)
+			 * from the start of the bit to the sample
+			 * point.
+			 */
+			tdco = can_bit_time(dbt) * dbt->sample_point / 1000;
+		}
+		tx_conf_msg.tdco = cpu_to_le16(min_t(u16, 127, tdco));
+		tx_conf_msg.tdcf = cpu_to_le16(0);
+	}
+	es58x_fd_print_conf(netdev, &tx_conf_msg);
+
+	return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
+			      ES58X_FD_CMD_ID_ENABLE_CHANNEL,
+			      &tx_conf_msg, conf_len, channel_idx);
+}
+
+static int es58x_fd_disable_channel(struct es58x_device *es58x_dev,
+				    int channel_idx)
+{
+	/* The type (ES58X_FD_CMD_TYPE_CAN or ES58X_FD_CMD_TYPE_CANFD) does
+	 * not matter here.
+	 */
+	return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_CAN,
+			      ES58X_FD_CMD_ID_DISABLE_CHANNEL, ES58X_EMPTY_MSG,
+			      0, channel_idx);
+}
+
+static int es58x_fd_reset_rx(struct es58x_device *es58x_dev, int channel_idx)
+{
+	struct net_device *netdev;
+	int ret;
+
+	ret = es58x_get_netdev(es58x_dev, channel_idx, &netdev);
+	if (unlikely(ret))
+		return ret;
+
+	return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
+			      ES58X_FD_CMD_ID_RESET_RX, ES58X_EMPTY_MSG,
+			      0, channel_idx);
+}
+
+static int es58x_fd_reset_tx(struct es58x_device *es58x_dev, int channel_idx)
+{
+	struct net_device *netdev;
+	int ret;
+
+	ret = es58x_get_netdev(es58x_dev, channel_idx, &netdev);
+	if (unlikely(ret))
+		return ret;
+
+	return es58x_send_msg(es58x_dev, es58x_fd_cmd_type(netdev),
+			      ES58X_FD_CMD_ID_RESET_TX, ES58X_EMPTY_MSG,
+			      0, channel_idx);
+}
+
+static int es58x_fd_get_timestamp(struct es58x_device *es58x_dev)
+{
+	return es58x_send_msg(es58x_dev, ES58X_FD_CMD_TYPE_DEVICE,
+			      ES58X_FD_CMD_ID_TIMESTAMP, ES58X_EMPTY_MSG,
+			      0, ES58X_CHANNEL_IDX_NA);
+}
+
+/**
+ * es58x_fd_nom_bittiming_const - Nominal bittiming constants.
+ *
+ * Nominal bittiming constants for ES582.1 and ES584.1 as specified in
+ * the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
+ * section 49.6.8 "MCAN Nominal Bit Timing and Prescaler Register"
+ * from Microchip.
+ *
+ * The values from the specification are the hardware register
+ * values. To convert them to the functional values, all ranges were
+ * incremented by 1 (e.g. range [0..n-1] changed to [1..n]).
+ */
+static const struct can_bittiming_const es58x_fd_nom_bittiming_const = {
+	.name = "ATSAMV71Q21 nom.",	//nominal
+	.tseg1_min = 2,
+	.tseg1_max = 256,
+	.tseg2_min = 2,
+	.tseg2_max = 128,
+	.sjw_max = 128,
+	.brp_min = 1,
+	.brp_max = 512,
+	.brp_inc = 1
+};
+
+/**
+ * es58x_fd_data_bittiming_const - Data bittiming constants.
+ *
+ * Data bittiming constants for ES582.1 and ES584.1 as specified in
+ * the microcontroller datasheet: "SAM E701/S70/V70/V71 Family"
+ * section 49.6.4 "MCAN Data Bit Timing and Prescaler Register" from
+ * Microchip.
+ */
+static const struct can_bittiming_const es58x_fd_data_bittiming_const = {
+	.name = "ATSAMV71Q21 data",
+	.tseg1_min = 2,
+	.tseg1_max = 32,
+	.tseg2_min = 1,
+	.tseg2_max = 16,
+	.sjw_max = 8,
+	.brp_min = 1,
+	.brp_max = 32,
+	.brp_inc = 1
+};
+
+const struct es58x_parameters es58x_fd_param = {
+	.bittiming_const = &es58x_fd_nom_bittiming_const,
+	.data_bittiming_const = &es58x_fd_data_bittiming_const,
+	.bitrate_max = ES58X_MBPS(8),
+	.clock = {.freq = ES58X_MHZ(80)},
+	.ctrlmode_supported = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY |
+	    CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO,
+	.tx_start_of_frame = 0xCEFA,	// FACE in little endian
+	.rx_start_of_frame = 0xFECA,	// CAFE in little endian
+	.tx_urb_cmd_max_len = ES58X_FD_TX_URB_CMD_MAX_LEN,
+	.rx_urb_cmd_max_len = ES58X_FD_RX_URB_CMD_MAX_LEN,
+	/* Size of internal device TX queue is 500.
+	 *
+	 * However, when reaching value around 278, the device's busy
+	 * LED turns on and thus maximum value of 500 is never reached
+	 * in practice. Also, when this value is too high, some error
+	 * on the rx_loopback_msg were witnessed when the device is
+	 * recovering from bus off.
+	 *
+	 * For above reasons, a value that would prevent the device
+	 * from becoming busy was chosen. In practice, BQL would
+	 * prevent the value from even getting closer to below
+	 * maximum, so no impact on performance was measured.
+	 */
+	.echo_skb_max = U8_MAX,
+	/* Empirical value. */
+	.dql_limit_min = ES58X_CAN_FRAME_BYTES_MAX * 15,
+	.tx_bulk_max = ES58X_FD_TX_BULK_MAX,
+	.urb_cmd_header_len = ES58X_FD_URB_CMD_HEADER_LEN,
+	.rx_urb_max = ES58X_RX_URBS_MAX,
+	.tx_urb_max = ES58X_TX_URBS_MAX,
+	.channel_idx_offset = 0
+};
+
+const struct es58x_operators es58x_fd_ops = {
+	.get_msg_len = es58x_fd_get_msg_len,
+	.handle_urb_cmd = es58x_fd_handle_urb_cmd,
+	.fill_urb_header = es58x_fd_fill_urb_header,
+	.tx_can_msg = es58x_fd_tx_can_msg,
+	.set_bittiming = es58x_fd_set_bittiming,
+	.enable_channel = es58x_fd_enable_channel,
+	.disable_channel = es58x_fd_disable_channel,
+	.reset_rx = es58x_fd_reset_rx,
+	.reset_tx = es58x_fd_reset_tx,
+	.get_timestamp = es58x_fd_get_timestamp
+};
diff --git a/drivers/net/can/usb/etas_es58x/es58x_fd.h b/drivers/net/can/usb/etas_es58x/es58x_fd.h
new file mode 100644
index 000000000000..25df0dd9a677
--- /dev/null
+++ b/drivers/net/can/usb/etas_es58x/es58x_fd.h
@@ -0,0 +1,243 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+
+/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
+ *
+ * File es58x_fd.h: Definitions and declarations specific to ETAS
+ * ES582.1 and ES584.1 (naming convention: we use the term "ES58X FD"
+ * when referring to those two variants together).
+ *
+ * Copyright (C) 2019 Robert Bosch Engineering and Business
+ * Solutions. All rights reserved.
+ * Copyright (C) 2020 ETAS K.K.. All rights reserved.
+ */
+
+#ifndef __ES58X_FD_H__
+#define __ES58X_FD_H__
+
+#include <linux/types.h>
+
+#define ES582_1_NUM_CAN_CH		2
+#define ES584_1_NUM_CAN_CH		1
+#define ES58X_FD_NUM_CAN_CH		2
+
+#define ES58X_FD_TX_BULK_MAX		100
+#define ES58X_FD_RX_BULK_MAX		100
+#define ES58X_FD_RX_LOOPBACK_BULK_MAX   100
+
+enum es58x_fd_cmd_type {
+	ES58X_FD_CMD_TYPE_HSP = 0x02,
+	ES58X_FD_CMD_TYPE_CAN = 0x03,
+	ES58X_FD_CMD_TYPE_CANFD = 0x04,
+	ES58X_FD_CMD_TYPE_ISO_TP = 0x05,
+	ES58X_FD_CMD_TYPE_SEQ = 0x06,
+	ES58X_FD_CMD_TYPE_DEVICE = 0xFF
+};
+
+/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */
+enum es58x_fd_can_cmd_id {
+	ES58X_FD_CMD_ID_ENABLE_CHANNEL = 0x01,
+	ES58X_FD_CMD_ID_DISABLE_CHANNEL = 0x02,
+	ES58X_FD_CMD_ID_TX_MSG = 0x05,
+	ES58X_FD_CMD_ID_GET_FIFO_STATUS = 0x06,
+	ES58X_FD_CMD_ID_MSG_SELFRX_ACK = 0x07,
+	ES58X_FD_CMD_ID_RECEIVE_MSG = 0x10,
+	ES58X_FD_CMD_ID_ERROR_OR_EVENT_MSG = 0x11,
+	ES58X_FD_CMD_ID_RESET_RX = 0x20,
+	ES58X_FD_CMD_ID_RESET_TX = 0x21,
+	ES58X_FD_CMD_ID_TX_MSG_NO_ACK = 0x55
+};
+
+/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */
+enum es58x_fd_device_cmd_id {
+	ES58X_FD_CMD_ID_GETTIMETICKS = 0x01,
+	ES58X_FD_CMD_ID_TIMESTAMP = 0x02
+};
+
+/**
+ * enum es58x_fd_ctrlmode - Controller mode.
+ * @ES58X_CTRLMODE_ACTIVE: send and receive messages
+ * @ES58X_CTRLMODE_PASSIVE: only receive messages (monitor). Do not
+ *	send anything, not even the acknowledgment bit.
+ * @ES58X_CTRLMODE_FD_ISO_FORMAT: CAN FD frame format according to
+ *	ISO11898-1.
+ * @ES58X_CTRLMODE_FD_NONISO_FORMAT: CAN FD frame format according to
+ *	Bosch CAN FD Specification V1.0
+ * @ES58X_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to behave
+ *	when CAN FD reserved bit is monitored as dominant. (c.f. ISO
+ *	11898-1:2015, section 10.4.2.4 "Control field", paragraph "r0
+ *	bit"). 0 (not disable = enable): send error frame. 1
+ *	(disable): goes into bus integration mode (c.f. below).
+ * @ES58X_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge
+ *	filtering is disabled. 1: Edge filtering is enabled. Two
+ *	consecutive dominant bits required to detect an edge for hard
+ *	synchronization.
+ */
+enum es58x_fd_ctrlmode {
+	ES58X_CTRLMODE_ACTIVE = 0,
+	ES58X_CTRLMODE_PASSIVE = BIT(0),
+	ES58X_CTRLMODE_FD_ISO_FORMAT = BIT(4),
+	ES58X_CTRLMODE_FD_NONISO_FORMAT = BIT(5),
+	ES58X_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING = BIT(6),
+	ES58X_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION = BIT(7)
+};
+
+struct es58x_fd_bittiming {
+	__le32 bitrate;
+	__le16 tseg1;		// range: [tseg1_min-1..tseg1_max-1]
+	__le16 tseg2;		// range: [tseg2_min-1..tseg2_max-1]
+	__le16 brp;		// range: [brp_min-1..brp_max-1]
+	__le16 sjw;		// range: [0..sjw_max-1]
+} __packed;
+
+/**
+ * struct es58x_fd_tx_conf_msg - Channel configuration.
+ * @nominal_bittiming: Nominal bittiming.
+ * @samples_per_bit: type enum es58x_samples_per_bit.
+ * @sync_edge: type enum es58x_sync_edge.
+ * @physical_media: type enum es58x_physical_media.
+ * @self_reception_mode: type enum es58x_self_reception_mode.
+ * @ctrlmode: type enum es58x_fd_ctrlmode.
+ * @canfd_enabled: boolean (0: CAN only, 1: CAN and/or CANFD).
+ * @data_bittiming: Bittiming for flexible data-rate transmission
+ * @tdc: Transmitter Delay Compensation. boolean (0: disabled, 1:
+ *	enabled).
+ * @tdco: Transmitter Delay Compensation Offset. Offset value, in time
+ *	quanta, defining the distance between the measured delay from
+ *	CANTX to CANRX and the secondary sample point. Valid values: 0
+ *	to 127.
+ * @tdcf: Transmitter Delay Compensation Filter window. Defines the
+ *	minimum value for the SSP (Secondary Sample Point) position,
+ *	in time quanta. The feature is enabled when TDCF is configured
+ *	to a value greater than TDCO. Valid values: 0 to 127.
+ *
+ * Please refer to the microcontroller datasheet: "SAM
+ * E701/S70/V70/V71 Family" section 49 "Controller Area Network
+ * (MCAN)" for additional information.
+ */
+struct es58x_fd_tx_conf_msg {
+	struct es58x_fd_bittiming nominal_bittiming;
+	u8 samples_per_bit;
+	u8 sync_edge;
+	u8 physical_media;
+	u8 self_reception_mode;
+	u8 ctrlmode;
+	u8 canfd_enabled;
+	struct es58x_fd_bittiming data_bittiming;
+	u8 tdc;
+	__le16 tdco;
+	__le16 tdcf;
+} __packed;
+
+#define ES58X_FD_CAN_CONF_LEN					\
+	(offsetof(struct es58x_fd_tx_conf_msg, canfd_enabled))
+#define ES58X_FD_CANFD_CONF_LEN (sizeof(struct es58x_fd_tx_conf_msg))
+
+struct es58x_fd_tx_can_msg {
+	u8 packet_idx;
+	__le32 can_id;
+	u8 flags;
+	union {
+		u8 dlc;		// Only if cmd_id is ES58X_FD_CMD_TYPE_CAN
+		u8 len;		// Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD
+	} __packed;
+	u8 data[CANFD_MAX_DLEN];
+} __packed;
+
+#define ES58X_FD_CAN_TX_LEN						\
+	(offsetof(struct es58x_fd_tx_can_msg, data[CAN_MAX_DLEN]))
+#define ES58X_FD_CANFD_TX_LEN (sizeof(struct es58x_fd_tx_can_msg))
+
+struct es58x_fd_rx_can_msg {
+	__le64 timestamp;
+	__le32 can_id;
+	u8 flags;
+	union {
+		u8 dlc;		// Only if cmd_id is ES58X_FD_CMD_TYPE_CAN
+		u8 len;		// Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD
+	} __packed;
+	u8 data[CANFD_MAX_DLEN];
+} __packed;
+
+#define ES58X_FD_CAN_RX_LEN						\
+	(offsetof(struct es58x_fd_rx_can_msg, data[CAN_MAX_DLEN]))
+#define ES58X_FD_CANFD_RX_LEN (sizeof(struct es58x_fd_rx_can_msg))
+
+struct es58x_fd_rx_loopback_msg {
+	__le64 timestamp;
+	u8 packet_idx;
+} __packed;
+
+struct es58x_fd_rx_event_msg {
+	__le64 timestamp;
+	__le32 can_id;
+	u8 flags;		// type enum es58x_flag_type
+	u8 error_type;		// 0: event, 1: error
+	u8 error_code;
+	u8 event_code;
+} __packed;
+
+struct es58x_fd_tx_ack_msg {
+	__le32 rx_cmd_ret_le32;	// type enum es58x_cmd_ret_code_u32
+	__le16 tx_free_entries;	// Number of remaining free entries in the device TX queue
+} __packed;
+
+/**
+ * struct es58x_fd_urb_cmd - Commands received from or sent to the
+ *	ES58X FD device.
+ * @SOF: Start of Frame.
+ * @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC
+ *	calculation starts at this position.
+ * @cmd_id: Command ID (type: enum es58x_fd_cmd_id).
+ * @channel_idx: Channel index starting at 0.
+ * @msg_len: Length of the message, excluding CRC (i.e. length of the
+ *	union).
+ * @raw_msg: Message raw payload.
+ * @tx_conf_msg: Channel configuration.
+ * @tx_can_msg_buf: Concatenation of Tx messages. Type is "u8[]"
+ *	instead of "struct es58x_fd_tx_msg[]" because the structure
+ *	has a flexible size.
+ * @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead
+ *	of "struct es58x_fd_rx_msg[]" because the structure has a
+ *	flexible size.
+ * @rx_loopback_msg: Array of loopback messages.
+ * @rx_event_msg: Error or event message.
+ * @tx_ack_msg: Tx acknowledgment message.
+ * @timestamp: Timestamp reply.
+ * @rx_cmd_ret_le32: Rx 32 bits return code (type: enum
+ *	es58x_cmd_ret_code_u32).
+ * @reserved_for_crc16_do_not_use: The structure ends with a
+ *	CRC16. Because the structures in above union are of variable
+ *	lengths, we can not predict the offset of the CRC in
+ *	advance. Use functions es58x_get_crc() and es58x_set_crc() to
+ *	manipulate it.
+ */
+struct es58x_fd_urb_cmd {
+	__le16 SOF;
+	u8 cmd_type;
+	u8 cmd_id;
+	u8 channel_idx;
+	__le16 msg_len;
+
+	union {
+		u8 raw_msg[0];
+		struct es58x_fd_tx_conf_msg tx_conf_msg;
+		u8 tx_can_msg_buf[ES58X_FD_TX_BULK_MAX * ES58X_FD_CANFD_TX_LEN];
+		u8 rx_can_msg_buf[ES58X_FD_RX_BULK_MAX * ES58X_FD_CANFD_RX_LEN];
+		struct es58x_fd_rx_loopback_msg
+		 rx_loopback_msg[ES58X_FD_RX_LOOPBACK_BULK_MAX];
+		struct es58x_fd_rx_event_msg rx_event_msg;
+		struct es58x_fd_tx_ack_msg tx_ack_msg;
+		__le64 timestamp;
+		__le32 rx_cmd_ret_le32;
+	} __packed;
+
+	__le16 reserved_for_crc16_do_not_use;
+} __packed;
+
+#define ES58X_FD_URB_CMD_HEADER_LEN (offsetof(struct es58x_fd_urb_cmd, raw_msg))
+#define ES58X_FD_TX_URB_CMD_MAX_LEN					\
+	ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, tx_can_msg_buf)
+#define ES58X_FD_RX_URB_CMD_MAX_LEN					\
+	ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, rx_can_msg_buf)
+
+#endif				//__ES58X_FD_H__
-- 
2.26.2