diff --git a/drivers/net/can/dev/netlink.c b/drivers/net/can/dev/netlink.c
index 80425636049d..f05745c96b9c 100644
--- a/drivers/net/can/dev/netlink.c
+++ b/drivers/net/can/dev/netlink.c
@@ -2,6 +2,7 @@
 /* Copyright (C) 2005 Marc Kleine-Budde, Pengutronix
  * Copyright (C) 2006 Andrey Volkov, Varma Electronics
  * Copyright (C) 2008-2009 Wolfgang Grandegger <wg@grandegger.com>
+ * Copyright (C) 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
  */
 
 #include <linux/can/dev.h>
@@ -19,6 +20,19 @@ static const struct nla_policy can_policy[IFLA_CAN_MAX + 1] = {
 	[IFLA_CAN_DATA_BITTIMING] = { .len = sizeof(struct can_bittiming) },
 	[IFLA_CAN_DATA_BITTIMING_CONST]	= { .len = sizeof(struct can_bittiming_const) },
 	[IFLA_CAN_TERMINATION] = { .type = NLA_U16 },
+	[IFLA_CAN_TDC] = { .type = NLA_NESTED },
+};
+
+static const struct nla_policy can_tdc_policy[IFLA_CAN_TDC_MAX + 1] = {
+	[IFLA_CAN_TDC_TDCV_MIN] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCV_MAX] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCO_MIN] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCO_MAX] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCF_MIN] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCF_MAX] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCV] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCO] = { .type = NLA_U32 },
+	[IFLA_CAN_TDC_TDCF] = { .type = NLA_U32 },
 };
 
 static int can_validate(struct nlattr *tb[], struct nlattr *data[],
@@ -30,6 +44,7 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 	 * - nominal/arbitration bittiming
 	 * - data bittiming
 	 * - control mode with CAN_CTRLMODE_FD set
+	 * - TDC parameters are coherent (details below)
 	 */
 
 	if (!data)
@@ -37,8 +52,43 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 
 	if (data[IFLA_CAN_CTRLMODE]) {
 		struct can_ctrlmode *cm = nla_data(data[IFLA_CAN_CTRLMODE]);
+		u32 tdc_flags = cm->flags & CAN_CTRLMODE_TDC_MASK;
 
 		is_can_fd = cm->flags & cm->mask & CAN_CTRLMODE_FD;
+
+		/* CAN_CTRLMODE_TDC_{AUTO,MANUAL} are mutually exclusive */
+		if (tdc_flags == CAN_CTRLMODE_TDC_MASK)
+			return -EOPNOTSUPP;
+		/* If one of the CAN_CTRLMODE_TDC_* flag is set then
+		 * TDC must be set and vice-versa
+		 */
+		if (!!tdc_flags != !!data[IFLA_CAN_TDC])
+			return -EOPNOTSUPP;
+		/* If providing TDC parameters, at least TDCO is
+		 * needed. TDCV is needed if and only if
+		 * CAN_CTRLMODE_TDC_MANUAL is set
+		 */
+		if (data[IFLA_CAN_TDC]) {
+			struct nlattr *tb_tdc[IFLA_CAN_TDC_MAX + 1];
+			int err;
+
+			err = nla_parse_nested(tb_tdc, IFLA_CAN_TDC_MAX,
+					       data[IFLA_CAN_TDC],
+					       can_tdc_policy, extack);
+			if (err)
+				return err;
+
+			if (tb_tdc[IFLA_CAN_TDC_TDCV]) {
+				if (tdc_flags & CAN_CTRLMODE_TDC_AUTO)
+					return -EOPNOTSUPP;
+			} else {
+				if (tdc_flags & CAN_CTRLMODE_TDC_MANUAL)
+					return -EOPNOTSUPP;
+			}
+
+			if (!tb_tdc[IFLA_CAN_TDC_TDCO])
+				return -EOPNOTSUPP;
+		}
 	}
 
 	if (is_can_fd) {
@@ -46,7 +96,7 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 			return -EOPNOTSUPP;
 	}
 
-	if (data[IFLA_CAN_DATA_BITTIMING]) {
+	if (data[IFLA_CAN_DATA_BITTIMING] || data[IFLA_CAN_TDC]) {
 		if (!is_can_fd)
 			return -EOPNOTSUPP;
 	}
@@ -54,11 +104,62 @@ static int can_validate(struct nlattr *tb[], struct nlattr *data[],
 	return 0;
 }
 
+static int can_tdc_changelink(struct net_device *dev, const struct nlattr *nla,
+			      struct netlink_ext_ack *extack)
+{
+	struct nlattr *tb_tdc[IFLA_CAN_TDC_MAX + 1];
+	struct can_priv *priv = netdev_priv(dev);
+	struct can_tdc *tdc = &priv->tdc;
+	const struct can_tdc_const *tdc_const = priv->tdc_const;
+	int err;
+
+	if (!tdc_const || !can_tdc_is_enabled(priv))
+		return -EOPNOTSUPP;
+
+	if (dev->flags & IFF_UP)
+		return -EBUSY;
+
+	err = nla_parse_nested(tb_tdc, IFLA_CAN_TDC_MAX, nla,
+			       can_tdc_policy, extack);
+	if (err)
+		return err;
+
+	if (tb_tdc[IFLA_CAN_TDC_TDCV]) {
+		u32 tdcv = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCV]);
+
+		if (tdcv < tdc_const->tdcv_min || tdcv > tdc_const->tdcv_max)
+			return -EINVAL;
+
+		tdc->tdcv = tdcv;
+	}
+
+	if (tb_tdc[IFLA_CAN_TDC_TDCO]) {
+		u32 tdco = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCO]);
+
+		if (tdco < tdc_const->tdco_min || tdco > tdc_const->tdco_max)
+			return -EINVAL;
+
+		tdc->tdco = tdco;
+	}
+
+	if (tb_tdc[IFLA_CAN_TDC_TDCF]) {
+		u32 tdcf = nla_get_u32(tb_tdc[IFLA_CAN_TDC_TDCF]);
+
+		if (tdcf < tdc_const->tdcf_min || tdcf > tdc_const->tdcf_max)
+			return -EINVAL;
+
+		tdc->tdcf = tdcf;
+	}
+
+	return 0;
+}
+
 static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 			  struct nlattr *data[],
 			  struct netlink_ext_ack *extack)
 {
 	struct can_priv *priv = netdev_priv(dev);
+	u32 tdc_mask = 0;
 	int err;
 
 	/* We need synchronization with dev->stop() */
@@ -138,7 +239,11 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 			dev->mtu = CAN_MTU;
 			memset(&priv->data_bittiming, 0,
 			       sizeof(priv->data_bittiming));
+			memset(&priv->tdc, 0, sizeof(priv->tdc));
+			priv->ctrlmode &= ~CAN_CTRLMODE_TDC_MASK;
 		}
+
+		tdc_mask = cm->mask & CAN_CTRLMODE_TDC_MASK;
 	}
 
 	if (data[IFLA_CAN_RESTART_MS]) {
@@ -189,8 +294,6 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 
 		memcpy(&priv->data_bittiming, &dbt, sizeof(dbt));
 
-		can_calc_tdco(dev);
-
 		if (priv->do_set_data_bittiming) {
 			/* Finally, set the bit-timing registers */
 			err = priv->do_set_data_bittiming(dev);
@@ -223,9 +326,52 @@ static int can_changelink(struct net_device *dev, struct nlattr *tb[],
 		priv->termination = termval;
 	}
 
+	if (data[IFLA_CAN_TDC]) {
+		/* Use the provided TDC parameters */
+		err = can_tdc_changelink(dev, data[IFLA_CAN_TDC], extack);
+		if (err)
+			return err;
+	} else if (!tdc_mask) {
+		/* Both TDC parameters and flags not provided: do calculation */
+		can_calc_tdco(dev);
+	} /* else: both CAN_CTRLMODE_TDC_{AUTO,MANUAL} are explicitly
+	   * turned off. TDC is disabled: do nothing
+	   */
+
 	return 0;
 }
 
+static size_t can_tdc_get_size(const struct net_device *dev)
+{
+	struct can_priv *priv = netdev_priv(dev);
+	size_t size;
+
+	if (!priv->tdc_const)
+		return 0;
+
+	size = nla_total_size(0);			/* nest IFLA_CAN_TDC */
+	if (priv->ctrlmode_supported & CAN_CTRLMODE_TDC_MANUAL) {
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCV_MIN */
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCV_MAX */
+	}
+	size += nla_total_size(sizeof(u32));		/* IFLA_CAN_TDCO_MIN */
+	size += nla_total_size(sizeof(u32));		/* IFLA_CAN_TDCO_MAX */
+	if (priv->tdc_const->tdcf_max) {
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCF_MIN */
+		size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCF_MAX */
+	}
+
+	if (can_tdc_is_enabled(priv)) {
+		if (priv->ctrlmode & CAN_CTRLMODE_TDC_MANUAL)
+			size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCV */
+		size += nla_total_size(sizeof(u32));		/* IFLA_CAN_TDCO */
+		if (priv->tdc_const->tdcf_max)
+			size += nla_total_size(sizeof(u32));	/* IFLA_CAN_TDCF */
+	}
+
+	return size;
+}
+
 static size_t can_get_size(const struct net_device *dev)
 {
 	struct can_priv *priv = netdev_priv(dev);
@@ -257,10 +403,56 @@ static size_t can_get_size(const struct net_device *dev)
 		size += nla_total_size(sizeof(*priv->data_bitrate_const) *
 				       priv->data_bitrate_const_cnt);
 	size += sizeof(priv->bitrate_max);			/* IFLA_CAN_BITRATE_MAX */
+	size += can_tdc_get_size(dev);				/* IFLA_CAN_TDC */
 
 	return size;
 }
 
+static int can_tdc_fill_info(struct sk_buff *skb, const struct net_device *dev)
+{
+	struct nlattr *nest;
+	struct can_priv *priv = netdev_priv(dev);
+	struct can_tdc *tdc = &priv->tdc;
+	const struct can_tdc_const *tdc_const = priv->tdc_const;
+
+	if (!tdc_const)
+		return 0;
+
+	nest = nla_nest_start(skb, IFLA_CAN_TDC);
+	if (!nest)
+		return -EMSGSIZE;
+
+	if (priv->ctrlmode_supported & CAN_CTRLMODE_TDC_MANUAL &&
+	    (nla_put_u32(skb, IFLA_CAN_TDC_TDCV_MIN, tdc_const->tdcv_min) ||
+	     nla_put_u32(skb, IFLA_CAN_TDC_TDCV_MAX, tdc_const->tdcv_max)))
+		goto err_cancel;
+	if (nla_put_u32(skb, IFLA_CAN_TDC_TDCO_MIN, tdc_const->tdco_min) ||
+	    nla_put_u32(skb, IFLA_CAN_TDC_TDCO_MAX, tdc_const->tdco_max))
+		goto err_cancel;
+	if (tdc_const->tdcf_max &&
+	    (nla_put_u32(skb, IFLA_CAN_TDC_TDCF_MIN, tdc_const->tdcf_min) ||
+	     nla_put_u32(skb, IFLA_CAN_TDC_TDCF_MAX, tdc_const->tdcf_max)))
+		goto err_cancel;
+
+	if (can_tdc_is_enabled(priv)) {
+		if (priv->ctrlmode & CAN_CTRLMODE_TDC_MANUAL &&
+		    nla_put_u32(skb, IFLA_CAN_TDC_TDCV, tdc->tdcv))
+			goto err_cancel;
+		if (nla_put_u32(skb, IFLA_CAN_TDC_TDCO, tdc->tdco))
+			goto err_cancel;
+		if (tdc_const->tdcf_max &&
+		    nla_put_u32(skb, IFLA_CAN_TDC_TDCF, tdc->tdcf))
+			goto err_cancel;
+	}
+
+	nla_nest_end(skb, nest);
+	return 0;
+
+err_cancel:
+	nla_nest_cancel(skb, nest);
+	return -EMSGSIZE;
+}
+
 static int can_fill_info(struct sk_buff *skb, const struct net_device *dev)
 {
 	struct can_priv *priv = netdev_priv(dev);
@@ -318,7 +510,9 @@ static int can_fill_info(struct sk_buff *skb, const struct net_device *dev)
 
 	    (nla_put(skb, IFLA_CAN_BITRATE_MAX,
 		     sizeof(priv->bitrate_max),
-		     &priv->bitrate_max))
+		     &priv->bitrate_max)) ||
+
+	    (can_tdc_fill_info(skb, dev))
 	    )
 
 		return -EMSGSIZE;
diff --git a/include/uapi/linux/can/netlink.h b/include/uapi/linux/can/netlink.h
index 004cd09a7d49..75b85c60efb2 100644
--- a/include/uapi/linux/can/netlink.h
+++ b/include/uapi/linux/can/netlink.h
@@ -136,10 +136,35 @@ enum {
 	IFLA_CAN_BITRATE_CONST,
 	IFLA_CAN_DATA_BITRATE_CONST,
 	IFLA_CAN_BITRATE_MAX,
-	__IFLA_CAN_MAX
+	IFLA_CAN_TDC,
+
+	/* add new constants above here */
+	__IFLA_CAN_MAX,
+	IFLA_CAN_MAX = __IFLA_CAN_MAX - 1
 };
 
-#define IFLA_CAN_MAX	(__IFLA_CAN_MAX - 1)
+/*
+ * CAN FD Transmitter Delay Compensation (TDC)
+ *
+ * Please refer to struct can_tdc_const and can_tdc in
+ * include/linux/can/bittiming.h for further details.
+ */
+enum {
+	IFLA_CAN_TDC_UNSPEC,
+	IFLA_CAN_TDC_TDCV_MIN,	/* u32 */
+	IFLA_CAN_TDC_TDCV_MAX,	/* u32 */
+	IFLA_CAN_TDC_TDCO_MIN,	/* u32 */
+	IFLA_CAN_TDC_TDCO_MAX,	/* u32 */
+	IFLA_CAN_TDC_TDCF_MIN,	/* u32 */
+	IFLA_CAN_TDC_TDCF_MAX,	/* u32 */
+	IFLA_CAN_TDC_TDCV,	/* u32 */
+	IFLA_CAN_TDC_TDCO,	/* u32 */
+	IFLA_CAN_TDC_TDCF,	/* u32 */
+
+	/* add new constants above here */
+	__IFLA_CAN_TDC,
+	IFLA_CAN_TDC_MAX = __IFLA_CAN_TDC - 1
+};
 
 /* u16 termination range: 1..65535 Ohms */
 #define CAN_TERMINATION_DISABLED 0
