diff --git a/drivers/net/can/xilinx_can.c b/drivers/net/can/xilinx_can.c
index 6de5004..97d0933 100644
--- a/drivers/net/can/xilinx_can.c
+++ b/drivers/net/can/xilinx_can.c
@@ -63,6 +63,7 @@
 	XCAN_FSR_OFFSET		= 0x00E8, /* RX FIFO Status */
 	XCAN_TXMSG_BASE_OFFSET	= 0x0100, /* TX Message Space */
 	XCAN_RXMSG_BASE_OFFSET	= 0x1100, /* RX Message Space */
+	XCAN_RXMSG_2_BASE_OFFSET	= 0x2100, /* RX Message Space */
 };
 
 #define XCAN_FRAME_ID_OFFSET(frame_base)	((frame_base) + 0x00)
@@ -75,6 +76,8 @@
 					 XCAN_CANFD_FRAME_SIZE * (n))
 #define XCAN_RXMSG_FRAME_OFFSET(n)	(XCAN_RXMSG_BASE_OFFSET + \
 					 XCAN_CANFD_FRAME_SIZE * (n))
+#define XCAN_RXMSG_2_FRAME_OFFSET(n)	(XCAN_RXMSG_2_BASE_OFFSET + \
+					 XCAN_CANFD_FRAME_SIZE * (n))
 
 /* the single TX mailbox used by this driver on CAN FD HW */
 #define XCAN_TX_MAILBOX_IDX		0
@@ -152,6 +155,7 @@
  * instead of the regular FIFO at 0x50
  */
 #define XCAN_FLAG_RX_FIFO_MULTI	0x0010
+#define XCAN_FLAG_CANFD_2	0x0020
 
 struct xcan_devtype_data {
 	unsigned int flags;
@@ -221,6 +225,18 @@
 	.brp_inc = 1,
 };
 
+static const struct can_bittiming_const xcan_bittiming_const_canfd2 = {
+	.name = DRIVER_NAME,
+	.tseg1_min = 1,
+	.tseg1_max = 256,
+	.tseg2_min = 1,
+	.tseg2_max = 128,
+	.sjw_max = 128,
+	.brp_min = 1,
+	.brp_max = 256,
+	.brp_inc = 1,
+};
+
 /**
  * xcan_write_reg_le - Write a value to the device register little endian
  * @priv:	Driver private data structure
@@ -973,7 +989,10 @@
 		if (!(fsr & XCAN_FSR_FL_MASK))
 			return -ENOENT;
 
-		offset = XCAN_RXMSG_FRAME_OFFSET(fsr & XCAN_FSR_RI_MASK);
+		if (priv->devtype.flags & XCAN_FLAG_CANFD_2)
+			offset = XCAN_RXMSG_2_FRAME_OFFSET(fsr & XCAN_FSR_RI_MASK);
+		else
+			offset = XCAN_RXMSG_FRAME_OFFSET(fsr & XCAN_FSR_RI_MASK);
 
 	} else {
 		/* check if RX FIFO is empty */
@@ -1430,11 +1449,24 @@
 	.bus_clk_name = "s_axi_aclk",
 };
 
+static const struct xcan_devtype_data xcan_canfd2_data = {
+	.flags = XCAN_FLAG_EXT_FILTERS |
+		 XCAN_FLAG_RXMNF |
+		 XCAN_FLAG_TX_MAILBOXES |
+		 XCAN_FLAG_CANFD_2 |
+		 XCAN_FLAG_RX_FIFO_MULTI,
+	.bittiming_const = &xcan_bittiming_const_canfd2,
+	.btr_ts2_shift = XCAN_BTR_TS2_SHIFT_CANFD,
+	.btr_sjw_shift = XCAN_BTR_SJW_SHIFT_CANFD,
+	.bus_clk_name = "s_axi_aclk",
+};
+
 /* Match table for OF platform binding */
 static const struct of_device_id xcan_of_match[] = {
 	{ .compatible = "xlnx,zynq-can-1.0", .data = &xcan_zynq_data },
 	{ .compatible = "xlnx,axi-can-1.00.a", .data = &xcan_axi_data },
 	{ .compatible = "xlnx,canfd-1.0", .data = &xcan_canfd_data },
+	{ .compatible = "xlnx,canfd-2.0", .data = &xcan_canfd2_data },
 	{ /* end of list */ },
 };
 MODULE_DEVICE_TABLE(of, xcan_of_match);