diff --git a/Documentation/devicetree/bindings/net/can/nxp,sja1000.yaml b/Documentation/devicetree/bindings/net/can/nxp,sja1000.yaml
index ec0c2168e4b9..6bcfff970117 100644
--- a/Documentation/devicetree/bindings/net/can/nxp,sja1000.yaml
+++ b/Documentation/devicetree/bindings/net/can/nxp,sja1000.yaml
@@ -87,6 +87,7 @@ required:
 
 allOf:
   - $ref: can-controller.yaml#
+  - $ref: /schemas/memory-controllers/mc-peripheral-props.yaml
   - if:
       properties:
         compatible:
diff --git a/drivers/net/can/dummy_can.c b/drivers/net/can/dummy_can.c
index 41953655e3d3..cd23de488edc 100644
--- a/drivers/net/can/dummy_can.c
+++ b/drivers/net/can/dummy_can.c
@@ -241,6 +241,7 @@ static int __init dummy_can_init(void)
 
 	dev->netdev_ops = &dummy_can_netdev_ops;
 	dev->ethtool_ops = &dummy_can_ethtool_ops;
+	dev->flags |= IFF_ECHO; /* enable echo handling */
 	priv = netdev_priv(dev);
 	priv->can.bittiming_const = &dummy_can_bittiming_const;
 	priv->can.bitrate_max = 20 * MEGA /* BPS */;
diff --git a/drivers/net/can/spi/mcp251x.c b/drivers/net/can/spi/mcp251x.c
index fa97adf25b73..bb7782582f40 100644
--- a/drivers/net/can/spi/mcp251x.c
+++ b/drivers/net/can/spi/mcp251x.c
@@ -1214,6 +1214,7 @@ static int mcp251x_open(struct net_device *net)
 {
 	struct mcp251x_priv *priv = netdev_priv(net);
 	struct spi_device *spi = priv->spi;
+	bool release_irq = false;
 	unsigned long flags = 0;
 	int ret;
 
@@ -1257,12 +1258,24 @@ static int mcp251x_open(struct net_device *net)
 	return 0;
 
 out_free_irq:
-	free_irq(spi->irq, priv);
+	/* The IRQ handler might be running, and if so it will be waiting
+	 * for the lock. But free_irq() must wait for the handler to finish
+	 * so calling it here would deadlock.
+	 *
+	 * Setting priv->force_quit will let the handler exit right away
+	 * without any access to the hardware. This make it safe to call
+	 * free_irq() after the lock is released.
+	 */
+	priv->force_quit = 1;
+	release_irq = true;
+
 	mcp251x_hw_sleep(spi);
 out_close:
 	mcp251x_power_enable(priv->transceiver, 0);
 	close_candev(net);
 	mutex_unlock(&priv->mcp_lock);
+	if (release_irq)
+		free_irq(spi->irq, priv);
 	return ret;
 }
 
diff --git a/drivers/net/can/usb/ems_usb.c b/drivers/net/can/usb/ems_usb.c
index 4c219a5b139b..9b25dda7c183 100644
--- a/drivers/net/can/usb/ems_usb.c
+++ b/drivers/net/can/usb/ems_usb.c
@@ -445,6 +445,11 @@ static void ems_usb_read_bulk_callback(struct urb *urb)
 		start = CPC_HEADER_SIZE;
 
 		while (msg_count) {
+			if (start + CPC_MSG_HEADER_LEN > urb->actual_length) {
+				netdev_err(netdev, "format error\n");
+				break;
+			}
+
 			msg = (struct ems_cpc_msg *)&ibuf[start];
 
 			switch (msg->type) {
@@ -474,7 +479,7 @@ static void ems_usb_read_bulk_callback(struct urb *urb)
 			start += CPC_MSG_HEADER_LEN + msg->length;
 			msg_count--;
 
-			if (start > urb->transfer_buffer_length) {
+			if (start > urb->actual_length) {
 				netdev_err(netdev, "format error\n");
 				break;
 			}
diff --git a/drivers/net/can/usb/esd_usb.c b/drivers/net/can/usb/esd_usb.c
index 2892a68f510a..d257440fa01f 100644
--- a/drivers/net/can/usb/esd_usb.c
+++ b/drivers/net/can/usb/esd_usb.c
@@ -272,6 +272,9 @@ struct esd_usb {
 
 	struct usb_anchor rx_submitted;
 
+	unsigned int rx_pipe;
+	unsigned int tx_pipe;
+
 	int net_count;
 	u32 version;
 	int rxinitdone;
@@ -537,7 +540,7 @@ static void esd_usb_read_bulk_callback(struct urb *urb)
 	}
 
 resubmit_urb:
-	usb_fill_bulk_urb(urb, dev->udev, usb_rcvbulkpipe(dev->udev, 1),
+	usb_fill_bulk_urb(urb, dev->udev, dev->rx_pipe,
 			  urb->transfer_buffer, ESD_USB_RX_BUFFER_SIZE,
 			  esd_usb_read_bulk_callback, dev);
 
@@ -626,9 +629,7 @@ static int esd_usb_send_msg(struct esd_usb *dev, union esd_usb_msg *msg)
 {
 	int actual_length;
 
-	return usb_bulk_msg(dev->udev,
-			    usb_sndbulkpipe(dev->udev, 2),
-			    msg,
+	return usb_bulk_msg(dev->udev, dev->tx_pipe, msg,
 			    msg->hdr.len * sizeof(u32), /* convert to # of bytes */
 			    &actual_length,
 			    1000);
@@ -639,12 +640,8 @@ static int esd_usb_wait_msg(struct esd_usb *dev,
 {
 	int actual_length;
 
-	return usb_bulk_msg(dev->udev,
-			    usb_rcvbulkpipe(dev->udev, 1),
-			    msg,
-			    sizeof(*msg),
-			    &actual_length,
-			    1000);
+	return usb_bulk_msg(dev->udev, dev->rx_pipe, msg,
+			    sizeof(*msg), &actual_length, 1000);
 }
 
 static int esd_usb_setup_rx_urbs(struct esd_usb *dev)
@@ -677,8 +674,7 @@ static int esd_usb_setup_rx_urbs(struct esd_usb *dev)
 
 		urb->transfer_dma = buf_dma;
 
-		usb_fill_bulk_urb(urb, dev->udev,
-				  usb_rcvbulkpipe(dev->udev, 1),
+		usb_fill_bulk_urb(urb, dev->udev, dev->rx_pipe,
 				  buf, ESD_USB_RX_BUFFER_SIZE,
 				  esd_usb_read_bulk_callback, dev);
 		urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
@@ -903,7 +899,7 @@ static netdev_tx_t esd_usb_start_xmit(struct sk_buff *skb,
 	/* hnd must not be 0 - MSB is stripped in txdone handling */
 	msg->tx.hnd = BIT(31) | i; /* returned in TX done message */
 
-	usb_fill_bulk_urb(urb, dev->udev, usb_sndbulkpipe(dev->udev, 2), buf,
+	usb_fill_bulk_urb(urb, dev->udev, dev->tx_pipe, buf,
 			  msg->hdr.len * sizeof(u32), /* convert to # of bytes */
 			  esd_usb_write_bulk_callback, context);
 
@@ -1298,10 +1294,16 @@ done:
 static int esd_usb_probe(struct usb_interface *intf,
 			 const struct usb_device_id *id)
 {
+	struct usb_endpoint_descriptor *ep_in, *ep_out;
 	struct esd_usb *dev;
 	union esd_usb_msg *msg;
 	int i, err;
 
+	err = usb_find_common_endpoints(intf->cur_altsetting, &ep_in, &ep_out,
+					NULL, NULL);
+	if (err)
+		return err;
+
 	dev = kzalloc_obj(*dev);
 	if (!dev) {
 		err = -ENOMEM;
@@ -1309,6 +1311,8 @@ static int esd_usb_probe(struct usb_interface *intf,
 	}
 
 	dev->udev = interface_to_usbdev(intf);
+	dev->rx_pipe = usb_rcvbulkpipe(dev->udev, ep_in->bEndpointAddress);
+	dev->tx_pipe = usb_sndbulkpipe(dev->udev, ep_out->bEndpointAddress);
 
 	init_usb_anchor(&dev->rx_submitted);
 
diff --git a/drivers/net/can/usb/etas_es58x/es58x_core.c b/drivers/net/can/usb/etas_es58x/es58x_core.c
index 2d248deb69dc..b259f6109808 100644
--- a/drivers/net/can/usb/etas_es58x/es58x_core.c
+++ b/drivers/net/can/usb/etas_es58x/es58x_core.c
@@ -1461,12 +1461,18 @@ static void es58x_read_bulk_callback(struct urb *urb)
 	}
 
  resubmit_urb:
+	usb_anchor_urb(urb, &es58x_dev->rx_urbs);
 	ret = usb_submit_urb(urb, GFP_ATOMIC);
+	if (!ret)
+		return;
+
+	usb_unanchor_urb(urb);
+
 	if (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 (ret)
+	} else
 		dev_err_ratelimited(dev,
 				    "Failed resubmitting read bulk urb: %pe\n",
 				    ERR_PTR(ret));
diff --git a/drivers/net/can/usb/f81604.c b/drivers/net/can/usb/f81604.c
index 76578063ac82..f12318268e46 100644
--- a/drivers/net/can/usb/f81604.c
+++ b/drivers/net/can/usb/f81604.c
@@ -413,6 +413,7 @@ static void f81604_read_bulk_callback(struct urb *urb)
 {
 	struct f81604_can_frame *frame = urb->transfer_buffer;
 	struct net_device *netdev = urb->context;
+	struct f81604_port_priv *priv = netdev_priv(netdev);
 	int ret;
 
 	if (!netif_device_present(netdev))
@@ -445,10 +446,15 @@ static void f81604_read_bulk_callback(struct urb *urb)
 	f81604_process_rx_packet(netdev, frame);
 
 resubmit_urb:
+	usb_anchor_urb(urb, &priv->urbs_anchor);
 	ret = usb_submit_urb(urb, GFP_ATOMIC);
+	if (!ret)
+		return;
+	usb_unanchor_urb(urb);
+
 	if (ret == -ENODEV)
 		netif_device_detach(netdev);
-	else if (ret)
+	else
 		netdev_err(netdev,
 			   "%s: failed to resubmit read bulk urb: %pe\n",
 			   __func__, ERR_PTR(ret));
@@ -620,6 +626,12 @@ static void f81604_read_int_callback(struct urb *urb)
 		netdev_info(netdev, "%s: Int URB aborted: %pe\n", __func__,
 			    ERR_PTR(urb->status));
 
+	if (urb->actual_length < sizeof(*data)) {
+		netdev_warn(netdev, "%s: short int URB: %u < %zu\n",
+			    __func__, urb->actual_length, sizeof(*data));
+		goto resubmit_urb;
+	}
+
 	switch (urb->status) {
 	case 0: /* success */
 		break;
@@ -646,10 +658,15 @@ static void f81604_read_int_callback(struct urb *urb)
 		f81604_handle_tx(priv, data);
 
 resubmit_urb:
+	usb_anchor_urb(urb, &priv->urbs_anchor);
 	ret = usb_submit_urb(urb, GFP_ATOMIC);
+	if (!ret)
+		return;
+	usb_unanchor_urb(urb);
+
 	if (ret == -ENODEV)
 		netif_device_detach(netdev);
-	else if (ret)
+	else
 		netdev_err(netdev, "%s: failed to resubmit int urb: %pe\n",
 			   __func__, ERR_PTR(ret));
 }
@@ -874,9 +891,27 @@ static void f81604_write_bulk_callback(struct urb *urb)
 	if (!netif_device_present(netdev))
 		return;
 
-	if (urb->status)
-		netdev_info(netdev, "%s: Tx URB error: %pe\n", __func__,
-			    ERR_PTR(urb->status));
+	if (!urb->status)
+		return;
+
+	switch (urb->status) {
+	case -ENOENT:
+	case -ECONNRESET:
+	case -ESHUTDOWN:
+		return;
+	default:
+		break;
+	}
+
+	if (net_ratelimit())
+		netdev_err(netdev, "%s: Tx URB error: %pe\n", __func__,
+			   ERR_PTR(urb->status));
+
+	can_free_echo_skb(netdev, 0, NULL);
+	netdev->stats.tx_dropped++;
+	netdev->stats.tx_errors++;
+
+	netif_wake_queue(netdev);
 }
 
 static void f81604_clear_reg_work(struct work_struct *work)
diff --git a/drivers/net/can/usb/gs_usb.c b/drivers/net/can/usb/gs_usb.c
index 9d27d6f0c0b5..ec9a7cbbbc69 100644
--- a/drivers/net/can/usb/gs_usb.c
+++ b/drivers/net/can/usb/gs_usb.c
@@ -772,9 +772,8 @@ device_detach:
 	}
 }
 
-static int gs_usb_set_bittiming(struct net_device *netdev)
+static int gs_usb_set_bittiming(struct gs_can *dev)
 {
-	struct gs_can *dev = netdev_priv(netdev);
 	struct can_bittiming *bt = &dev->can.bittiming;
 	struct gs_device_bittiming dbt = {
 		.prop_seg = cpu_to_le32(bt->prop_seg),
@@ -791,9 +790,8 @@ static int gs_usb_set_bittiming(struct net_device *netdev)
 				    GFP_KERNEL);
 }
 
-static int gs_usb_set_data_bittiming(struct net_device *netdev)
+static int gs_usb_set_data_bittiming(struct gs_can *dev)
 {
-	struct gs_can *dev = netdev_priv(netdev);
 	struct can_bittiming *bt = &dev->can.fd.data_bittiming;
 	struct gs_device_bittiming dbt = {
 		.prop_seg = cpu_to_le32(bt->prop_seg),
@@ -1057,6 +1055,20 @@ static int gs_can_open(struct net_device *netdev)
 	if (dev->feature & GS_CAN_FEATURE_HW_TIMESTAMP)
 		flags |= GS_CAN_MODE_HW_TIMESTAMP;
 
+	rc = gs_usb_set_bittiming(dev);
+	if (rc) {
+		netdev_err(netdev, "failed to set bittiming: %pe\n", ERR_PTR(rc));
+		goto out_usb_kill_anchored_urbs;
+	}
+
+	if (ctrlmode & CAN_CTRLMODE_FD) {
+		rc = gs_usb_set_data_bittiming(dev);
+		if (rc) {
+			netdev_err(netdev, "failed to set data bittiming: %pe\n", ERR_PTR(rc));
+			goto out_usb_kill_anchored_urbs;
+		}
+	}
+
 	/* finally start device */
 	dev->can.state = CAN_STATE_ERROR_ACTIVE;
 	dm.flags = cpu_to_le32(flags);
@@ -1370,7 +1382,6 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 	dev->can.state = CAN_STATE_STOPPED;
 	dev->can.clock.freq = le32_to_cpu(bt_const.fclk_can);
 	dev->can.bittiming_const = &dev->bt_const;
-	dev->can.do_set_bittiming = gs_usb_set_bittiming;
 
 	dev->can.ctrlmode_supported = CAN_CTRLMODE_CC_LEN8_DLC;
 
@@ -1394,7 +1405,6 @@ static struct gs_can *gs_make_candev(unsigned int channel,
 		 * GS_CAN_FEATURE_BT_CONST_EXT is set.
 		 */
 		dev->can.fd.data_bittiming_const = &dev->bt_const;
-		dev->can.fd.do_set_data_bittiming = gs_usb_set_data_bittiming;
 	}
 
 	if (feature & GS_CAN_FEATURE_TERMINATION) {
diff --git a/drivers/net/can/usb/ucan.c b/drivers/net/can/usb/ucan.c
index c79508b1c43e..0ea0ac75e42f 100644
--- a/drivers/net/can/usb/ucan.c
+++ b/drivers/net/can/usb/ucan.c
@@ -748,7 +748,7 @@ static void ucan_read_bulk_callback(struct urb *urb)
 		len = le16_to_cpu(m->len);
 
 		/* check sanity (length of content) */
-		if (urb->actual_length - pos < len) {
+		if ((len == 0) || (urb->actual_length - pos < len)) {
 			netdev_warn(up->netdev,
 				    "invalid message (short; no data; l:%d)\n",
 				    urb->actual_length);
diff --git a/net/can/bcm.c b/net/can/bcm.c
index b7324e9c955b..fd9fa072881e 100644
--- a/net/can/bcm.c
+++ b/net/can/bcm.c
@@ -1176,6 +1176,7 @@ static int bcm_rx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
 		if (!op)
 			return -ENOMEM;
 
+		spin_lock_init(&op->bcm_tx_lock);
 		op->can_id = msg_head->can_id;
 		op->nframes = msg_head->nframes;
 		op->cfsiz = CFSIZ(msg_head->flags);