diff --git a/kernel/drivers/net/can/rockchip/rockchip_canfd.c b/kernel/drivers/net/can/rockchip/rockchip_canfd.c
index f28f4165bd..818ac06de9 100644
--- a/kernel/drivers/net/can/rockchip/rockchip_canfd.c
+++ b/kernel/drivers/net/can/rockchip/rockchip_canfd.c
@@ -292,8 +292,6 @@ static int set_normal_mode(struct net_device *ndev)
 
 	val = rockchip_canfd_read(rcan, CAN_MODE);
 	val |= WORK_MODE;
-	if (rcan->mode >= ROCKCHIP_CAN_MODE && rcan->txtorx)
-		val |= MODE_RXSTX;
 	rockchip_canfd_write(rcan, CAN_MODE, val);
 
 	netdev_dbg(ndev, "%s MODE=0x%08x\n", __func__,
@@ -499,7 +497,7 @@ static void rockchip_canfd_tx_err_delay_work(struct work_struct *work)
 		rockchip_canfd_write(rcan, CAN_CMD, CAN_TX0_REQ);
 		schedule_delayed_work(&rcan->tx_err_work, 1);
 	} else if (rcan->txtorx && rcan->mode >= ROCKCHIP_CAN_MODE && id & CAN_EFF_FLAG) {
-		schedule_delayed_work(&rcan->tx_err_work, 1); //rpdzkj
+		schedule_delayed_work(&rcan->tx_err_work, 1);
 	}
 }
 
@@ -552,6 +550,11 @@ static int rockchip_canfd_start_xmit(struct sk_buff *skb,
 			dlc |= TX_FD_BRS_ENABLE;
 	}
 
+	if (rcan->txtorx && rcan->mode >= ROCKCHIP_CAN_MODE && cf->can_id & CAN_EFF_FLAG)
+		rockchip_canfd_write(rcan, CAN_MODE, rockchip_canfd_read(rcan, CAN_MODE) | MODE_RXSTX);
+	else
+		rockchip_canfd_write(rcan, CAN_MODE, rockchip_canfd_read(rcan, CAN_MODE) & (~MODE_RXSTX));
+
 	if (!rcan->txtorx && rcan->mode >= ROCKCHIP_CAN_MODE && cf->can_id & CAN_EFF_FLAG) {
 		/* Two frames are sent consecutively.
 		 * Before the first frame is tx finished,
@@ -618,10 +621,12 @@ static int rockchip_canfd_rx(struct net_device *ndev)
 		if (rcan->txtorx) {
 			if (rockchip_canfd_read(rcan, CAN_TX_CHECK_FIC) & FORMAT_MASK) {
 				ret = rockchip_canfd_read(rcan, CAN_TXID) & CAN_SFF_MASK;
-				if (id_rockchip_canfd == ret) {
+				if ((id_rockchip_canfd == ret) && !(dlc & FORMAT_MASK)) {
 					rockchip_canfd_write(rcan, CAN_TX_CHECK_FIC,
 							     ts | CAN_TX0_REQ);
 					return 1;
+				} else {
+					return 1;
 				}
 			}
 		}
@@ -724,8 +729,9 @@ static int rockchip_canfd_err(struct net_device *ndev, u32 isr)
 	}
 
 	if (rcan->can.state >= CAN_STATE_BUS_OFF ||
-	    ((sta_reg & 0x20) == 0x20))
+	    ((sta_reg & 0x20) == 0x20)) {
 		can_bus_off(ndev);
+	}
 
 	stats->rx_packets++;
 	stats->rx_bytes += cf->can_dlc;
@@ -757,9 +763,11 @@ static irqreturn_t rockchip_canfd_interrupt(int irq, void *dev_id)
 		if (rcan->txtorx && rcan->mode >= ROCKCHIP_CAN_MODE && dlc & FORMAT_MASK) {
 			cancel_delayed_work(&rcan->tx_err_work);
 			rockchip_canfd_write(rcan, CAN_TX_CHECK_FIC, FORMAT_MASK);
-			quota = (rockchip_canfd_read(rcan, CAN_RXFC) &
-				 rcan->rx_fifo_mask) >>
-				rcan->rx_fifo_shift;
+			do {
+				quota = (rockchip_canfd_read(rcan, CAN_RXFC) &
+					 rcan->rx_fifo_mask) >>
+					rcan->rx_fifo_shift;
+			} while (quota == 0); 
 			if (quota) {
 				while (work_done < quota)
 					work_done += rockchip_canfd_rx(ndev);
diff --git a/kernel/net/can/raw.c b/kernel/net/can/raw.c
index 069657f681..a55ac5a757 100644
--- a/kernel/net/can/raw.c
+++ b/kernel/net/can/raw.c
@@ -819,7 +819,7 @@ static int raw_sendmsg(struct socket *sock, struct msghdr *msg, size_t size)
 	skb->sk = sk;
 	skb->priority = sk->sk_priority;
 
-	err = can_send(skb, ro->loopback);
+	err = can_send(skb, 0);
 
 	dev_put(dev);