diff --git a/usb/usb_can/Makefile b/usb/usb_can/Makefile
new file mode 100644
index 0000000..0636b3d
--- /dev/null
+++ b/usb/usb_can/Makefile
@@ -0,0 +1,12 @@
+ARCH ?= arm
+CROSS_COMPILE ?= /home/jzh/work/study/weidongshan/100ask_stm32mp157_pro-sdk/ToolChain/arm-buildroot-linux-gnueabihf_sdk-buildroot/bin/arm-linux-
+KERN_DIR ?= /home/jzh/work/study/weidongshan/100ask_stm32mp157_pro-sdk/Linux-5.4
+
+all:
+	make -C $(KERN_DIR) M=`pwd` ARCH=$(ARCH) CROSS_COMPILE=$(CROSS_COMPILE) modules
+
+clean:
+	make -C $(KERN_DIR) M=`pwd` ARCH=$(ARCH) CROSS_COMPILE=$(CROSS_COMPILE) modules clean
+	rm -rf modules.order
+
+obj-m += usb_can.o
diff --git a/usb/usb_can/usb_can.c b/usb/usb_can/usb_can.c
new file mode 100644
index 0000000..5691720
--- /dev/null
+++ b/usb/usb_can/usb_can.c
@@ -0,0 +1,188 @@
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/usb.h>
+#include <linux/netdevice.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+
+#define USB_CAN_VENDOR  0xffff
+#define USB_CAN_PRODUCT 0xffff
+
+struct usb_can_priv {
+    struct can_priv can;
+    struct usb_device *udev;
+    struct usb_interface *intf;
+
+    struct net_device *netdev;
+
+    u8 ep_in;
+    u8 ep_out;
+
+    struct urb *rx_urb;
+    u8 *rx_buf;
+};
+
+static void usb_can_rx_callback(struct urb *urb)
+{
+    struct usb_can_priv *priv = urb->context;
+    struct net_device *netdev = priv->netdev;
+    struct sk_buff *skb;
+    struct can_frame *cf;
+
+    if (urb->status)
+        return;
+
+    skb = alloc_can_skb(netdev, &cf);
+    if (!skb)
+        goto resubmit;
+
+    memcpy(cf, urb->transfer_buffer, sizeof(struct can_frame));
+
+    netif_rx(skb);
+
+resubmit:
+    usb_submit_urb(urb, GFP_ATOMIC);
+}
+
+static int usb_can_open(struct net_device *netdev)
+{
+    struct usb_can_priv *priv = netdev_priv(netdev);
+
+    priv->rx_urb = usb_alloc_urb(0, GFP_KERNEL);
+    priv->rx_buf = kmalloc(64, GFP_KERNEL);
+
+    usb_fill_bulk_urb(priv->rx_urb,
+                      priv->udev,
+                      usb_rcvbulkpipe(priv->udev, priv->ep_in),
+                      priv->rx_buf,
+                      64,
+                      usb_can_rx_callback,
+                      priv);
+
+    usb_submit_urb(priv->rx_urb, GFP_KERNEL);
+
+    netif_start_queue(netdev);
+
+    return 0;
+}
+
+static int usb_can_stop(struct net_device *netdev)
+{
+    struct usb_can_priv *priv = netdev_priv(netdev);
+
+    netif_stop_queue(netdev);
+
+    usb_kill_urb(priv->rx_urb);
+
+    usb_free_urb(priv->rx_urb);
+    kfree(priv->rx_buf);
+
+    return 0;
+}
+
+static netdev_tx_t usb_can_start_xmit(struct sk_buff *skb,
+                                      struct net_device *netdev)
+{
+    struct usb_can_priv *priv = netdev_priv(netdev);
+    struct can_frame *cf = (struct can_frame *)skb->data;
+    int actual_length;
+
+    usb_bulk_msg(priv->udev,
+                 usb_sndbulkpipe(priv->udev, priv->ep_out),
+                 cf,
+                 sizeof(struct can_frame),
+                 &actual_length,
+                 1000);
+
+    dev_kfree_skb(skb);
+
+    return NETDEV_TX_OK;
+}
+
+static const struct net_device_ops usb_can_netdev_ops = {
+    .ndo_open       = usb_can_open,
+    .ndo_stop       = usb_can_stop,
+    .ndo_start_xmit = usb_can_start_xmit,
+};
+
+static int usb_can_probe(struct usb_interface *intf,
+                         const struct usb_device_id *id)
+{
+    struct net_device *netdev;
+    struct usb_can_priv *priv;
+    struct usb_host_interface *iface_desc;
+    struct usb_endpoint_descriptor *ep;
+    int i;
+
+    iface_desc = intf->cur_altsetting;
+
+    /* 只绑定 data interface */
+    if (iface_desc->desc.bInterfaceNumber != 1)
+        return -ENODEV;
+
+    netdev = alloc_candev(sizeof(struct usb_can_priv), 1);
+    if (!netdev)
+        return -ENOMEM;
+
+    priv = netdev_priv(netdev);
+
+    priv->udev = usb_get_dev(interface_to_usbdev(intf));
+    priv->intf = intf;
+    priv->netdev = netdev;
+
+    for (i = 0; i < iface_desc->desc.bNumEndpoints; i++) {
+
+        ep = &iface_desc->endpoint[i].desc;
+
+        if (usb_endpoint_is_bulk_in(ep))
+            priv->ep_in = ep->bEndpointAddress;
+
+        if (usb_endpoint_is_bulk_out(ep))
+            priv->ep_out = ep->bEndpointAddress;
+    }
+
+    netdev->netdev_ops = &usb_can_netdev_ops;
+
+    priv->can.clock.freq = 48000000;
+
+    SET_NETDEV_DEV(netdev, &intf->dev);
+
+    register_candev(netdev);
+
+    usb_set_intfdata(intf, priv);
+
+    printk("usb_can_simple: device connected\n");
+
+    return 0;
+}
+
+static void usb_can_disconnect(struct usb_interface *intf)
+{
+    struct usb_can_priv *priv = usb_get_intfdata(intf);
+
+    unregister_candev(priv->netdev);
+
+    free_candev(priv->netdev);
+
+    printk("usb_can_simple: device disconnected\n");
+}
+
+static struct usb_device_id usb_can_id_table[] = {
+    { USB_DEVICE(USB_CAN_VENDOR, USB_CAN_PRODUCT) },
+    { }
+};
+
+MODULE_DEVICE_TABLE(usb, usb_can_id_table);
+
+static struct usb_driver usb_can_driver = {
+    .name       = "usb_can_simple",
+    .probe      = usb_can_probe,
+    .disconnect = usb_can_disconnect,
+    .id_table   = usb_can_id_table,
+};
+
+module_usb_driver(usb_can_driver);
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("demo");
+MODULE_DESCRIPTION("Simple USB CAN driver");
diff --git a/usb/usb_canfd/Makefile b/usb/usb_canfd/Makefile
new file mode 100644
index 0000000..12c6f19
--- /dev/null
+++ b/usb/usb_canfd/Makefile
@@ -0,0 +1,12 @@
+ARCH ?= arm
+CROSS_COMPILE ?= /home/jzh/work/study/weidongshan/100ask_stm32mp157_pro-sdk/ToolChain/arm-buildroot-linux-gnueabihf_sdk-buildroot/bin/arm-linux-
+KERN_DIR ?= /home/jzh/work/study/weidongshan/100ask_stm32mp157_pro-sdk/Linux-5.4
+
+all:
+	make -C $(KERN_DIR) M=`pwd` ARCH=$(ARCH) CROSS_COMPILE=$(CROSS_COMPILE) modules
+
+clean:
+	make -C $(KERN_DIR) M=`pwd` ARCH=$(ARCH) CROSS_COMPILE=$(CROSS_COMPILE) modules clean
+	rm -rf modules.order
+
+obj-m += usb_canfd.o
diff --git a/usb/usb_canfd/usb_canfd.c b/usb/usb_canfd/usb_canfd.c
new file mode 100644
index 0000000..b61c416
--- /dev/null
+++ b/usb/usb_canfd/usb_canfd.c
@@ -0,0 +1,195 @@
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/usb.h>
+#include <linux/netdevice.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+
+#define USB_CAN_VENDOR  0xffff
+#define USB_CAN_PRODUCT 0xffff
+#define USB_MAX_RX_URBS 8  // 支持的最大 URB 数量
+
+struct usb_can_priv {
+    struct can_priv can;
+    struct usb_device *udev;
+    struct usb_interface *intf;
+    struct net_device *netdev;
+
+    u8 ep_in;
+    u8 ep_out;
+
+    struct urb *rx_urb[USB_MAX_RX_URBS]; // 支持多个URB
+    u8 *rx_buf[USB_MAX_RX_URBS];
+
+    struct urb *tx_urb;
+    u8 *tx_buf;
+};
+
+static void usb_can_rx_callback(struct urb *urb)
+{
+    struct usb_can_priv *priv = urb->context;
+    struct net_device *netdev = priv->netdev;
+    struct sk_buff *skb;
+    struct can_frame *cf;
+
+    if (urb->status) {
+        printk(KERN_ERR "USB CAN RX error: %d\n", urb->status);
+        return;
+    }
+
+    skb = alloc_can_skb(netdev, &cf);
+    if (!skb)
+        goto resubmit;
+
+    memcpy(cf, urb->transfer_buffer, sizeof(struct can_frame));
+
+    netif_rx(skb);
+
+resubmit:
+    usb_submit_urb(urb, GFP_ATOMIC);  // 继续接收
+}
+
+static int usb_can_open(struct net_device *netdev)
+{
+    struct usb_can_priv *priv = netdev_priv(netdev);
+    struct usb_host_interface *iface_desc;
+    struct usb_endpoint_descriptor *ep;
+    int i;
+
+    iface_desc = priv->intf->cur_altsetting;
+
+    for (i = 0; i < iface_desc->desc.bNumEndpoints; i++) {
+        ep = &iface_desc->endpoint[i].desc;
+
+        if (usb_endpoint_is_bulk_in(ep))
+            priv->ep_in = ep->bEndpointAddress;
+
+        if (usb_endpoint_is_bulk_out(ep))
+            priv->ep_out = ep->bEndpointAddress;
+    }
+
+    // 设置 RX URBs
+    for (i = 0; i < USB_MAX_RX_URBS; i++) {
+        priv->rx_urb[i] = usb_alloc_urb(0, GFP_KERNEL);
+        priv->rx_buf[i] = kmalloc(64, GFP_KERNEL);
+
+        usb_fill_bulk_urb(priv->rx_urb[i],
+                          priv->udev,
+                          usb_rcvbulkpipe(priv->udev, priv->ep_in),
+                          priv->rx_buf[i],
+                          64,
+                          usb_can_rx_callback,
+                          priv);
+
+        usb_submit_urb(priv->rx_urb[i], GFP_KERNEL);  // 提交URB以开始接收
+    }
+
+    netif_start_queue(netdev);
+
+    return 0;
+}
+
+static int usb_can_stop(struct net_device *netdev)
+{
+    struct usb_can_priv *priv = netdev_priv(netdev);
+    int i;
+
+    netif_stop_queue(netdev);
+
+    // 停止所有的URB接收
+    for (i = 0; i < USB_MAX_RX_URBS; i++) {
+        usb_kill_urb(priv->rx_urb[i]);
+        usb_free_urb(priv->rx_urb[i]);
+        kfree(priv->rx_buf[i]);
+    }
+
+    usb_free_urb(priv->tx_urb);
+    kfree(priv->tx_buf);
+
+    return 0;
+}
+
+static netdev_tx_t usb_can_start_xmit(struct sk_buff *skb, struct net_device *netdev)
+{
+    struct usb_can_priv *priv = netdev_priv(netdev);
+    struct can_frame *cf = (struct can_frame *)skb->data;
+    int actual_length;
+
+    usb_bulk_msg(priv->udev,
+                 usb_sndbulkpipe(priv->udev, priv->ep_out),
+                 cf,
+                 sizeof(struct can_frame),
+                 &actual_length,
+                 1000);  // 发送数据到USB设备
+
+    dev_kfree_skb(skb);
+
+    return NETDEV_TX_OK;
+}
+
+static const struct net_device_ops usb_can_netdev_ops = {
+    .ndo_open       = usb_can_open,
+    .ndo_stop       = usb_can_stop,
+    .ndo_start_xmit = usb_can_start_xmit,
+};
+
+static int usb_can_probe(struct usb_interface *intf, const struct usb_device_id *id)
+{
+    struct net_device *netdev;
+    struct usb_can_priv *priv;
+    int i;
+
+    netdev = alloc_candev(sizeof(struct usb_can_priv), 1);
+    if (!netdev)
+        return -ENOMEM;
+
+    priv = netdev_priv(netdev);
+
+    priv->udev = usb_get_dev(interface_to_usbdev(intf));
+    priv->intf = intf;
+    priv->netdev = netdev;
+
+    netdev->netdev_ops = &usb_can_netdev_ops;
+
+    priv->can.clock.freq = 48000000;  // 设置时钟频率
+
+    SET_NETDEV_DEV(netdev, &intf->dev);
+
+    register_candev(netdev);
+
+    usb_set_intfdata(intf, priv);
+
+    printk("usb_can_fd: device connected\n");
+
+    return 0;
+}
+
+static void usb_can_disconnect(struct usb_interface *intf)
+{
+    struct usb_can_priv *priv = usb_get_intfdata(intf);
+
+    unregister_candev(priv->netdev);
+    free_candev(priv->netdev);
+
+    printk("usb_can_fd: device disconnected\n");
+}
+
+static struct usb_device_id usb_can_id_table[] = {
+    { USB_DEVICE(USB_CAN_VENDOR, USB_CAN_PRODUCT) },
+    { }
+};
+
+MODULE_DEVICE_TABLE(usb, usb_can_id_table);
+
+static struct usb_driver usb_can_driver = {
+    .name       = "usb_can_fd",
+    .probe      = usb_can_probe,
+    .disconnect = usb_can_disconnect,
+    .id_table   = usb_can_id_table,
+};
+
+module_usb_driver(usb_can_driver);
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("USB CAN Driver");
+MODULE_DESCRIPTION("USB CAN FD Driver");