drivers: can: split CAN classic and CAN-FD syscalls

Split CAN classic and CAN-FD syscalls into two:
- can_set_timing() -> can_set_timing() + can_set_timing_data()
- can_set_bitrate() -> can_set_bitrate() + can_set_bitrate_data()

Fixes: #45303

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>

doc/hardware/peripherals/canbus/controller.rst

@@ -284,11 +284,7 @@ Setting the bitrate
 *******************
 
 The bitrate and sampling point is initially set at runtime. To change it from
-the application, one can use the :c:func:`can_set_timing` API. This function
+the application, one can use the :c:func:`can_set_timing` API. The :c:func:`can_calc_timing`
-takes three arguments. The first timing parameter sets the timing for classic
-CAN and arbitration phase for CAN-FD. The second parameter sets the timing of
-the data phase for CAN-FD. For classic CAN, you can use only the first
-parameter and put NULL to the second one. The :c:func:`can_calc_timing`
 function can calculate timing from a bitrate and sampling point in permille.
 The following example sets the bitrate to 250k baud with the sampling point at
 87.5%.
@@ -309,11 +305,14 @@ The following example sets the bitrate to 250k baud with the sampling point at
     return;
   }
 
-  ret = can_set_timing(can_dev, &timing, NULL);
+  ret = can_set_timing(can_dev, &timing);
   if (ret != 0) {
     LOG_ERR("Failed to set timing");
   }
 
+A similar API exists for calculating and setting the timing for the data phase for CAN-FD capable
+controllers. See :c:func:`can_set_timing_data` and :c:func:`can_calc_timing_data`.
+
 SocketCAN
 *********
 

drivers/can/can_common.c

@@ -207,12 +207,9 @@ uint16_t sample_point_for_bitrate(uint32_t bitrate)
 	return sample_pnt;
 }
 
-int z_impl_can_set_bitrate(const struct device *dev, uint32_t bitrate, uint32_t bitrate_data)
+int z_impl_can_set_bitrate(const struct device *dev, uint32_t bitrate)
 {
 	struct can_timing timing;
-#ifdef CONFIG_CAN_FD_MODE
-	struct can_timing timing_data;
-#endif /* CONFIG_CAN_FD_MODE */
 	uint32_t max_bitrate;
 	uint16_t sample_pnt;
 	int ret;
@@ -241,7 +238,25 @@ int z_impl_can_set_bitrate(const struct device *dev, uint32_t bitrate, uint32_t
 
 	timing.sjw = CAN_SJW_NO_CHANGE;
 
+	return can_set_timing(dev, &timing);
+}
+
 #ifdef CONFIG_CAN_FD_MODE
+int z_impl_can_set_bitrate_data(const struct device *dev, uint32_t bitrate_data)
+{
+	struct can_timing timing_data;
+	uint32_t max_bitrate;
+	uint16_t sample_pnt;
+	int ret;
+
+	ret = can_get_max_bitrate(dev, &max_bitrate);
+	if (ret == -ENOSYS) {
+		/* Maximum bitrate unknown */
+		max_bitrate = 0;
+	} else if (ret < 0) {
+		return ret;
+	}
+
 	if ((max_bitrate > 0) && (bitrate_data > max_bitrate)) {
 		return -ENOTSUP;
 	}
@@ -258,8 +273,6 @@ int z_impl_can_set_bitrate(const struct device *dev, uint32_t bitrate, uint32_t
 
 	timing_data.sjw = CAN_SJW_NO_CHANGE;
 
-	return can_set_timing(dev, &timing, &timing_data);
+	return can_set_timing_data(dev, &timing_data);
-#else /* CONFIG_CAN_FD_MODE */
-	return can_set_timing(dev, &timing, NULL);
-#endif /* !CONFIG_CAN_FD_MODE */
 }
+#endif /* CONFIG_CAN_FD_MODE */

drivers/can/can_handlers.c

@@ -24,21 +24,14 @@ static int z_vrfy_can_calc_timing(const struct device *dev, struct can_timing *r
 #include <syscalls/can_calc_timing_mrsh.c>
 
 static inline int z_vrfy_can_set_timing(const struct device *dev,
-					const struct can_timing *timing,
+					const struct can_timing *timing)
-					const struct can_timing *timing_data)
 {
 	struct can_timing timing_copy;
-	struct can_timing timing_data_copy;
 
 	Z_OOPS(Z_SYSCALL_DRIVER_CAN(dev, set_timing));
 	Z_OOPS(z_user_from_copy(&timing_copy, timing, sizeof(timing_copy)));
 
-	if (timing_data != NULL) {
+	return z_impl_can_set_timing(dev, &timing_copy);
-		Z_OOPS(z_user_from_copy(&timing_data_copy, timing_data, sizeof(timing_data_copy)));
-		return z_impl_can_set_timing(dev, &timing_copy, &timing_data_copy);
-	}
-
-	return z_impl_can_set_timing(dev, &timing_copy, NULL);
 }
 #include <syscalls/can_set_timing_mrsh.c>
 
@@ -113,6 +106,27 @@ static inline const struct can_timing *z_vrfy_can_get_timing_max_data(const stru
 }
 #include <syscalls/can_get_timing_max_data_mrsh.c>
 
+static inline int z_vrfy_can_set_timing_data(const struct device *dev,
+					     const struct can_timing *timing_data)
+{
+	struct can_timing timing_data_copy;
+
+	Z_OOPS(Z_SYSCALL_DRIVER_CAN(dev, set_timing_data));
+	Z_OOPS(z_user_from_copy(&timing_data_copy, timing_data, sizeof(timing_data_copy)));
+
+	return z_impl_can_set_timing_data(dev, &timing_data_copy);
+}
+#include <syscalls/can_set_timing_data_mrsh.c>
+
+static inline int z_vrfy_can_set_bitrate_data(const struct device *dev,
+					      uint32_t bitrate_data)
+{
+	Z_OOPS(Z_SYSCALL_DRIVER_CAN(dev, set_timing_data));
+
+	return z_impl_can_set_bitrate_data(dev, bitrate_data);
+}
+#include <syscalls/can_set_bitrate_data_mrsh.c>
+
 #endif /* CONFIG_CAN_FD_MODE */
 
 static inline int z_vrfy_can_get_max_filters(const struct device *dev, enum can_ide id_type)
@@ -132,12 +146,11 @@ static inline int z_vrfy_can_set_mode(const struct device *dev, enum can_mode mo
 }
 #include <syscalls/can_set_mode_mrsh.c>
 
-static inline int z_vrfy_can_set_bitrate(const struct device *dev, uint32_t bitrate,
+static inline int z_vrfy_can_set_bitrate(const struct device *dev, uint32_t bitrate)
-					 uint32_t bitrate_data)
 {
 	Z_OOPS(Z_SYSCALL_DRIVER_CAN(dev, set_timing));
 
-	return z_impl_can_set_bitrate(dev, bitrate, bitrate_data);
+	return z_impl_can_set_bitrate(dev, bitrate);
 }
 #include <syscalls/can_set_bitrate_mrsh.c>
 

drivers/can/can_loopback.c

@@ -206,12 +206,11 @@ static int can_loopback_set_mode(const struct device *dev, enum can_mode mode)
 }
 
 static int can_loopback_set_timing(const struct device *dev,
-				   const struct can_timing *timing,
+				   const struct can_timing *timing)
-				   const struct can_timing *timing_data)
 {
 	ARG_UNUSED(dev);
 	ARG_UNUSED(timing);
-	ARG_UNUSED(timing_data);
+
 	return 0;
 }
 

drivers/can/can_mcan.c

@@ -185,7 +185,34 @@ void can_mcan_configure_timing(struct can_mcan_reg *can,
 }
 
 int can_mcan_set_timing(const struct device *dev,
-			const struct can_timing *timing,
+			const struct can_timing *timing)
+{
+	const struct can_mcan_config *cfg = dev->config;
+	struct can_mcan_reg *can = cfg->can;
+	int ret;
+
+	ret = can_enter_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
+	if (ret) {
+		LOG_ERR("Failed to enter init mode");
+		return -EIO;
+	}
+
+	/* Configuration Change Enable */
+	can->cccr |= CAN_MCAN_CCCR_CCE;
+
+	can_mcan_configure_timing(can, timing, NULL);
+
+	ret = can_leave_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
+	if (ret) {
+		LOG_ERR("Failed to leave init mode");
+		return -EIO;
+	}
+
+	return 0;
+}
+
+#ifdef CONFIG_CAN_FD_MODE
+int can_mcan_set_timing_data(const struct device *dev,
 			const struct can_timing *timing_data)
 {
 	const struct can_mcan_config *cfg = dev->config;
@@ -201,7 +228,7 @@ int can_mcan_set_timing(const struct device *dev,
 	/* Configuration Change Enable */
 	can->cccr |= CAN_MCAN_CCCR_CCE;
 
-	can_mcan_configure_timing(can, timing, timing_data);
+	can_mcan_configure_timing(can, NULL, timing_data);
 
 	ret = can_leave_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
 	if (ret) {
@@ -211,6 +238,7 @@ int can_mcan_set_timing(const struct device *dev,
 
 	return 0;
 }
+#endif /* CONFIG_CAN_FD_MODE */
 
 int can_mcan_set_mode(const struct device *dev, enum can_mode mode)
 {

drivers/can/can_mcan.h

@@ -260,8 +260,10 @@ struct can_mcan_reg;
 int can_mcan_set_mode(const struct device *dev, enum can_mode mode);
 
 int can_mcan_set_timing(const struct device *dev,
-			const struct can_timing *timing,
+			const struct can_timing *timing);
-			const struct can_timing *timing_data);
+
+int can_mcan_set_timing_data(const struct device *dev,
+			     const struct can_timing *timing_data);
 
 int can_mcan_init(const struct device *dev);
 

drivers/can/can_mcp2515.c

@@ -330,10 +330,8 @@ static int mcp2515_get_max_bitrate(const struct device *dev, uint32_t *max_bitra
 }
 
 static int mcp2515_set_timing(const struct device *dev,
-			      const struct can_timing *timing,
+			      const struct can_timing *timing)
-			      const struct can_timing *timing_data)
 {
-	ARG_UNUSED(timing_data);
 	struct mcp2515_data *dev_data = dev->data;
 	int ret;
 
@@ -949,7 +947,7 @@ static int mcp2515_init(const struct device *dev)
 		}
 	}
 
-	ret = can_set_timing(dev, &timing, NULL);
+	ret = can_set_timing(dev, &timing);
 	if (ret) {
 		return ret;
 	}

drivers/can/can_mcux_flexcan.c

@@ -152,10 +152,8 @@ static int mcux_flexcan_get_max_bitrate(const struct device *dev, uint32_t *max_
 }
 
 static int mcux_flexcan_set_timing(const struct device *dev,
-				   const struct can_timing *timing,
+				   const struct can_timing *timing)
-				   const struct can_timing *timing_data)
 {
-	ARG_UNUSED(timing_data);
 	struct mcux_flexcan_data *data = dev->data;
 	const struct mcux_flexcan_config *config = dev->config;
 	uint8_t sjw_backup = data->timing.sjw;

drivers/can/can_mcux_mcan.c

@@ -94,6 +94,7 @@ static const struct can_driver_api mcux_mcan_driver_api = {
 		.prescaler = 512,
 	},
 #ifdef CONFIG_CAN_FD_MODE
+	.set_timing_data = can_mcan_set_timing_data,
 	/*
 	 * MCUX MCAN data timing limits are specified in the "Data bit timing
 	 * and prescaler register (DBTP)" table in the SoC reference manual.

drivers/can/can_rcar.c

@@ -648,15 +648,12 @@ static void can_rcar_set_bittiming(const struct can_rcar_cfg *config,
 }
 
 static int can_rcar_set_timing(const struct device *dev,
-			       const struct can_timing *timing,
+			       const struct can_timing *timing)
-			       const struct can_timing *timing_data)
 {
 	const struct can_rcar_cfg *config = dev->config;
 	struct can_rcar_data *data = dev->data;
 	int ret = 0;
 
-	ARG_UNUSED(timing_data);
-
 	k_mutex_lock(&data->inst_mutex, K_FOREVER);
 
 	/* Changing bittiming should be done in reset mode */
@@ -955,7 +952,7 @@ static int can_rcar_init(const struct device *dev)
 		}
 	}
 
-	ret = can_rcar_set_timing(dev, &timing, NULL);
+	ret = can_rcar_set_timing(dev, &timing);
 	if (ret) {
 		return ret;
 	}

drivers/can/can_sam.c

@@ -98,6 +98,7 @@ static const struct can_driver_api can_sam_driver_api = {
 		.prescaler = 0x200
 		},
 #ifdef CONFIG_CAN_FD_MODE
+	.set_timing_data = can_mcan_set_timing_data,
 	.timing_min_data = {
 		.sjw = 0x01,
 		.prop_seg = 0x00,

drivers/can/can_shell.c

@@ -272,7 +272,7 @@ static int cmd_config(const struct shell *sh, size_t argc, char **argv)
 		return -EINVAL;
 	}
 
-	ret = can_set_bitrate(can_dev, bitrate, 0);
+	ret = can_set_bitrate(can_dev, bitrate);
 	if (ret) {
 		shell_error(sh, "Failed to set bitrate [%d]",
 			    ret);

drivers/can/can_stm32.c

@@ -402,16 +402,13 @@ done:
 }
 
 static int can_stm32_set_timing(const struct device *dev,
-				const struct can_timing *timing,
+				const struct can_timing *timing)
-				const struct can_timing *timing_data)
 {
 	const struct can_stm32_config *cfg = dev->config;
 	CAN_TypeDef *can = cfg->can;
 	struct can_stm32_data *data = dev->data;
 	int ret = -EIO;
 
-	ARG_UNUSED(timing_data);
-
 	k_mutex_lock(&data->inst_mutex, K_FOREVER);
 	ret = can_enter_init_mode(can);
 	if (ret) {
@@ -566,7 +563,7 @@ static int can_stm32_init(const struct device *dev)
 		}
 	}
 
-	ret = can_stm32_set_timing(dev, &timing, NULL);
+	ret = can_stm32_set_timing(dev, &timing);
 	if (ret) {
 		return ret;
 	}

drivers/can/can_stm32fd.c

@@ -137,6 +137,7 @@ static const struct can_driver_api can_stm32fd_driver_api = {
 		.prescaler = 0x200
 	},
 #ifdef CONFIG_CAN_FD_MODE
+	.set_timing_data = can_mcan_set_timing_data,
 	.timing_min_data = {
 		.sjw = 0x01,
 		.prop_seg = 0x00,

drivers/can/can_stm32h7.c

@@ -127,6 +127,7 @@ static const struct can_driver_api can_stm32h7_driver_api = {
 		.prescaler = 0x200
 	},
 #ifdef CONFIG_CAN_FD_MODE
+	.set_timing_data = can_mcan_set_timing_data,
 	/* Data timing limits are per the STM32H7 Reference Manual
 	 * (RM0433 Rev 7), section 56.5.3, FDCAN data bit timing and prescaler
 	 * register (FDCAN_DBTP).

include/zephyr/drivers/can.h

@@ -297,8 +297,14 @@ typedef void (*can_state_change_callback_t)(const struct device *dev,
  * See @a can_set_timing() for argument description
  */
 typedef int (*can_set_timing_t)(const struct device *dev,
-				const struct can_timing *timing,
+				const struct can_timing *timing);
-				const struct can_timing *timing_data);
+
+/**
+ * @brief Callback API upon setting CAN bus timing for the data phase.
+ * See @a can_set_timing_data() for argument description
+ */
+typedef int (*can_set_timing_data_t)(const struct device *dev,
+				     const struct can_timing *timing_data);
 
 /**
  * @brief Callback API upon setting CAN controller mode
@@ -388,6 +394,7 @@ __subsystem struct can_driver_api {
 	/* Max values for the timing registers */
 	struct can_timing timing_max;
 #if defined(CONFIG_CAN_FD_MODE) || defined(__DOXYGEN__)
+	can_set_timing_data_t set_timing_data;
 	/* Min values for the timing registers during the data phase */
 	struct can_timing timing_min_data;
 	/* Max values for the timing registers during the data phase */
@@ -769,6 +776,60 @@ static inline const struct can_timing *z_impl_can_get_timing_max_data(const stru
 __syscall int can_calc_timing_data(const struct device *dev, struct can_timing *res,
 				   uint32_t bitrate, uint16_t sample_pnt);
 
+/**
+ * @brief Configure the bus timing for the data phase of a CAN-FD controller.
+ *
+ * If the sjw equals CAN_SJW_NO_CHANGE, the sjw parameter is not changed.
+ *
+ * @note @kconfig{CONFIG_CAN_FD_MODE} must be selected for this function to be
+ * available.
+ *
+ * @see can_set_timing()
+ *
+ * @param dev         Pointer to the device structure for the driver instance.
+ * @param timing_data Bus timings for data phase
+ *
+ * @retval 0 If successful.
+ * @retval -EIO General input/output error, failed to configure device.
+ */
+__syscall int can_set_timing_data(const struct device *dev,
+				  const struct can_timing *timing_data);
+
+static inline int z_impl_can_set_timing_data(const struct device *dev,
+					     const struct can_timing *timing_data)
+{
+	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
+
+	return api->set_timing_data(dev, timing_data);
+}
+
+/**
+ * @brief Set the bitrate for the data phase of the CAN-FD controller
+ *
+ * CAN in Automation (CiA) 301 v4.2.0 recommends a sample point location of
+ * 87.5% percent for all bitrates. However, some CAN controllers have
+ * difficulties meeting this for higher bitrates.
+ *
+ * This function defaults to using a sample point of 75.0% for bitrates over 800
+ * kbit/s, 80.0% for bitrates over 500 kbit/s, and 87.5% for all other
+ * bitrates. This is in line with the sample point locations used by the Linux
+ * kernel.
+ *
+ * @note @kconfig{CONFIG_CAN_FD_MODE} must be selected for this function to be
+ * available.
+ *
+ * @see can_set_bitrate()
+
+ * @param dev          Pointer to the device structure for the driver instance.
+ * @param bitrate_data Desired data phase bitrate.
+ *
+ * @retval 0 If successful.
+ * @retval -ENOTSUP bitrate not supported by CAN controller/transceiver combination
+ * @retval -EINVAL bitrate/sample point cannot be met.
+ * @retval -EIO General input/output error, failed to set bitrate.
+ */
+__syscall int can_set_bitrate_data(const struct device *dev, uint32_t bitrate_data);
+
 #endif /* CONFIG_CAN_FD_MODE */
 
 /**
@@ -800,28 +861,23 @@ int can_calc_prescaler(const struct device *dev, struct can_timing *timing,
  *
  * If the sjw equals CAN_SJW_NO_CHANGE, the sjw parameter is not changed.
  *
- * @note The parameter ``timing_data`` is only relevant for CAN-FD. If the
+ * @see can_set_timing_data()
- * controller does not support CAN-FD or if @kconfig{CONFIG_CAN_FD_MODE} is not
- * selected, the value of this parameter is ignored.
  *
  * @param dev         Pointer to the device structure for the driver instance.
  * @param timing      Bus timings.
- * @param timing_data Bus timings for data phase (CAN-FD only).
  *
  * @retval 0 If successful.
  * @retval -EIO General input/output error, failed to configure device.
  */
 __syscall int can_set_timing(const struct device *dev,
-			     const struct can_timing *timing,
+			     const struct can_timing *timing);
-			     const struct can_timing *timing_data);
 
 static inline int z_impl_can_set_timing(const struct device *dev,
-					const struct can_timing *timing,
+					const struct can_timing *timing)
-					const struct can_timing *timing_data)
 {
 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
-	return api->set_timing(dev, timing, timing_data);
+	return api->set_timing(dev, timing);
 }
 
 /**
@@ -854,20 +910,17 @@ static inline int z_impl_can_set_mode(const struct device *dev, enum can_mode mo
  * bitrates. This is in line with the sample point locations used by the Linux
  * kernel.
  *
- * @note The parameter ``bitrate_data`` is only relevant for CAN-FD. If the
+ * @see can_set_bitrate_data()
- * controller does not support CAN-FD or if @kconfig{CONFIG_CAN_FD_MODE} is not
+ *
- * selected, the value of this parameter is ignored.
-
  * @param dev          Pointer to the device structure for the driver instance.
  * @param bitrate      Desired arbitration phase bitrate.
- * @param bitrate_data Desired data phase bitrate.
  *
  * @retval 0 If successful.
  * @retval -ENOTSUP bitrate not supported by CAN controller/transceiver combination
  * @retval -EINVAL bitrate/sample point cannot be met.
  * @retval -EIO General input/output error, failed to set bitrate.
  */
-__syscall int can_set_bitrate(const struct device *dev, uint32_t bitrate, uint32_t bitrate_data);
+__syscall int can_set_bitrate(const struct device *dev, uint32_t bitrate);
 
 /** @} */
 

modules/canopennode/CO_driver.c

@@ -223,7 +223,7 @@ CO_ReturnError_t CO_CANmodule_init(CO_CANmodule_t *CANmodule,
 		txArray[i].bufferFull = false;
 	}
 
-	err = can_set_bitrate(CANmodule->dev, KHZ(CANbitRate), 0);
+	err = can_set_bitrate(CANmodule->dev, KHZ(CANbitRate));
 	if (err) {
 		LOG_ERR("failed to configure CAN bitrate (err %d)", err);
 		return CO_ERROR_ILLEGAL_ARGUMENT;

tests/drivers/can/api/src/main.c

@@ -636,7 +636,7 @@ static void test_set_bitrate_too_high(void)
 	zassert_equal(err, 0, "failed to get max bitrate (err %d)", err);
 	zassert_not_equal(max, 0, "max bitrate is 0");
 
-	err = can_set_bitrate(can_dev, max + 1, max + 1);
+	err = can_set_bitrate(can_dev, max + 1);
 	zassert_equal(err, -ENOTSUP, "too high bitrate accepted");
 }
 
@@ -647,7 +647,7 @@ static void test_set_bitrate(void)
 {
 	int err;
 
-	err = can_set_bitrate(can_dev, TEST_BITRATE_1, 0);
+	err = can_set_bitrate(can_dev, TEST_BITRATE_1);
 	zassert_equal(err, 0, "failed to set bitrate");
 }
 
@@ -981,10 +981,10 @@ static void test_filters_preserved_through_bitrate_change(void)
 	zassert_equal(err, 0, "receive timeout");
 	assert_frame_equal(&frame, &test_std_frame_1, 0);
 
-	err = can_set_bitrate(can_dev, TEST_BITRATE_2, 0);
+	err = can_set_bitrate(can_dev, TEST_BITRATE_2);
 	zassert_equal(err, 0, "failed to set bitrate");
 
-	err = can_set_bitrate(can_dev, TEST_BITRATE_1, 0);
+	err = can_set_bitrate(can_dev, TEST_BITRATE_1);
 	zassert_equal(err, 0, "failed to set bitrate");
 
 	send_test_frame(can_dev, &test_std_frame_1);

tests/drivers/can/timing/src/main.c

@@ -202,14 +202,10 @@ static void test_timing_values(const struct device *dev, const struct can_timing
 		assert_timing_within_bounds(&timing, min, max);
 		assert_sp_within_margin(&timing, test->sp, SAMPLE_POINT_MARGIN);
 
-		if (IS_ENABLED(CONFIG_CAN_FD_MODE)) {
+		if (IS_ENABLED(CONFIG_CAN_FD_MODE) && data_phase) {
-			if (data_phase) {
+			err = can_set_timing_data(dev, &timing);
-				err = can_set_timing(dev, can_get_timing_min(dev), &timing);
-			} else {
-				err = can_set_timing(dev, &timing, can_get_timing_min_data(dev));
-			}
 		} else {
-			err = can_set_timing(dev, &timing, NULL);
+			err = can_set_timing(dev, &timing);
 		}
 		zassert_equal(err, 0, "failed to set timing (err %d)", err);
 
@@ -258,12 +254,13 @@ void test_set_timing_min(void)
 	const struct device *dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
 	int err;
 
-	if (IS_ENABLED(CONFIG_CAN_FD_MODE)) {
+	err = can_set_timing(dev, can_get_timing_min(dev));
-		err = can_set_timing(dev, can_get_timing_min(dev), can_get_timing_min_data(dev));
-	} else {
-		err = can_set_timing(dev, can_get_timing_min(dev), NULL);
-	}
 	zassert_equal(err, 0, "failed to set minimum timing parameters (err %d)", err);
+
+	if (IS_ENABLED(CONFIG_CAN_FD_MODE)) {
+		err = can_set_timing_data(dev, can_get_timing_min_data(dev));
+		zassert_equal(err, 0, "failed to set minimum timing data parameters (err %d)", err);
+	}
 }
 
 /**
@@ -274,12 +271,13 @@ void test_set_timing_max(void)
 	const struct device *dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
 	int err;
 
-	if (IS_ENABLED(CONFIG_CAN_FD_MODE)) {
+	err = can_set_timing(dev, can_get_timing_max(dev));
-		err = can_set_timing(dev, can_get_timing_max(dev), can_get_timing_max_data(dev));
-	} else {
-		err = can_set_timing(dev, can_get_timing_max(dev), NULL);
-	}
 	zassert_equal(err, 0, "failed to set maximum timing parameters (err %d)", err);
+
+	if (IS_ENABLED(CONFIG_CAN_FD_MODE)) {
+		err = can_set_timing_data(dev, can_get_timing_max_data(dev));
+		zassert_equal(err, 0, "failed to set maximum timing data parameters (err %d)", err);
+	}
 }
 
 void test_main(void)