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Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
199 lines
6.8 KiB
C
199 lines
6.8 KiB
C
/**
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* @file can_config.h
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* @brief CAN bus configuration for automotive applications
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*/
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#ifndef CAN_CONFIG_H
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#define CAN_CONFIG_H
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#include <stdint.h>
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/* ============================================================================
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* CAN Hardware Configuration
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* ============================================================================ */
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/* Number of CAN controllers */
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#define CAN_CONTROLLER_COUNT 2
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/* CAN controller base addresses */
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#define CAN0_BASE_ADDRESS 0x40006400U
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#define CAN1_BASE_ADDRESS 0x40006800U
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/* CAN controller interrupts */
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#define CAN0_IRQ_NUMBER 19
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#define CAN1_IRQ_NUMBER 20
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/* CAN controller priorities */
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#define CAN0_IRQ_PRIORITY 5
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#define CAN1_IRQ_PRIORITY 5
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/* ============================================================================
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* CAN Baudrate Configuration
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* ============================================================================ */
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/* CAN baudrates */
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#define CAN_BAUDRATE_125K 125000
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#define CAN_BAUDRATE_250K 250000
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#define CAN_BAUDRATE_500K 500000
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#define CAN_BAUDRATE_1M 1000000
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/* CAN FD baudrates */
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#define CAN_FD_BAUDRATE_2M 2000000
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#define CAN_FD_BAUDRATE_5M 5000000
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#define CAN_FD_BAUDRATE_8M 8000000
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/* Default CAN baudrate */
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#define CAN_DEFAULT_BAUDRATE CAN_BAUDRATE_500K
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/* CAN FD data baudrate */
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#define CAN_FD_DATA_BAUDRATE CAN_FD_BAUDRATE_2M
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/* ============================================================================
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* CAN Frame Configuration
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* ============================================================================ */
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/* Enable CAN FD */
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#define CAN_FD_ENABLED 1
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/* Maximum CAN frame length */
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#define CAN_MAX_FRAME_LENGTH 64
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/* Enable automatic retransmission */
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#define CAN_AUTO_RETRANSMIT 1
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/* Maximum retransmission attempts */
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#define CAN_MAX_RETRANSMIT 3
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/* ============================================================================
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* CAN Message IDs
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* ============================================================================ */
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/* OBD-II IDs */
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#define CAN_ID_OBD_REQUEST 0x7DF
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#define CAN_ID_OBD_RESPONSE 0x7E8
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#define CAN_ID_OBD_RESPONSE_2 0x7E9
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/* Diagnostic IDs */
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#define CAN_ID_DIAG_REQUEST 0x700
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#define CAN_ID_DIAG_RESPONSE 0x708
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/* Network management IDs */
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#define CAN_ID_NM_BASE 0x400
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#define CAN_ID_NM_END 0x4FF
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/* ============================================================================
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* Application Message IDs
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* ============================================================================ */
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/* Engine control messages */
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#define CAN_ID_ENGINE_DATA 0x100
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#define CAN_ID_ENGINE_CONTROL 0x101
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#define CAN_ID_ENGINE_STATUS 0x102
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#define CAN_ID_ENGINE_FAULT 0x103
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/* Transmission messages */
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#define CAN_ID_TRANSMISSION_DATA 0x110
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#define CAN_ID_TRANSMISSION_CONTROL 0x111
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#define CAN_ID_GEAR_POSITION 0x112
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/* Brake control messages */
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#define CAN_ID_BRAKE_DATA 0x120
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#define CAN_ID_BRAKE_CONTROL 0x121
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#define CAN_ID_ABS_DATA 0x122
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#define CAN_ID_WHEEL_SPEED 0x123
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/* Steering messages */
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#define CAN_ID_STEERING_ANGLE 0x130
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#define CAN_ID_STEERING_TORQUE 0x131
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#define CAN_ID_STEERING_CONTROL 0x132
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/* Body control messages */
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#define CAN_ID_BODY_CONTROL 0x140
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#define CAN_ID_DOOR_STATUS 0x141
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#define CAN_ID_LIGHT_STATUS 0x142
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#define CAN_ID_WINDOW_CONTROL 0x143
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/* Dashboard messages */
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#define CAN_ID_SPEED 0x150
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#define CAN_ID_RPM 0x151
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#define CAN_ID_FUEL_LEVEL 0x152
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#define CAN_ID_TEMPERATURE 0x153
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/* Safety messages */
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#define CAN_ID_AIRBAG_STATUS 0x160
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#define CAN_ID_SEATBELT_STATUS 0x161
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#define CAN_ID_CRASH_DETECTION 0x162
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/* ============================================================================
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* CAN Filter Configuration
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* ============================================================================ */
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typedef struct {
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uint32_t filter_id;
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uint32_t filter_mask;
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bool is_extended;
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uint8_t controller;
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uint8_t fifo;
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} CanFilterConfig_t;
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/* Default CAN filters */
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static const CanFilterConfig_t can_filters[] = {
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/* Engine messages */
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{.filter_id = 0x100, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 0},
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/* Transmission messages */
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{.filter_id = 0x110, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 0},
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/* Brake messages */
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{.filter_id = 0x120, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 0},
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/* Steering messages */
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{.filter_id = 0x130, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 0},
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/* Body control messages */
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{.filter_id = 0x140, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 1},
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/* Dashboard messages */
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{.filter_id = 0x150, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 1},
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/* Safety messages */
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{.filter_id = 0x160, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 0},
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/* OBD-II messages */
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{.filter_id = 0x7DF, .filter_mask = 0x7FF, .is_extended = false, .controller = 1, .fifo = 0},
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/* Diagnostic messages */
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{.filter_id = 0x700, .filter_mask = 0x7F0, .is_extended = false, .controller = 1, .fifo = 1},
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/* Network management */
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{.filter_id = 0x400, .filter_mask = 0x700, .is_extended = false, .controller = 0, .fifo = 1}
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};
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#define CAN_FILTER_COUNT (sizeof(can_filters) / sizeof(CanFilterConfig_t))
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/* ============================================================================
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* CAN TP Configuration
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* ============================================================================ */
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/* CAN TP timeouts */
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#define CAN_TP_N_AS_TIMEOUT 1000 /* ms */
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#define CAN_TP_N_BS_TIMEOUT 1000 /* ms */
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#define CAN_TP_N_CR_TIMEOUT 1000 /* ms */
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/* CAN TP parameters */
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#define CAN_TP_STMIN_DEFAULT 10 /* ms */
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#define CAN_TP_BS_DEFAULT 8 /* frames */
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#define CAN_TP_MAX_PAYLOAD 4096 /* bytes */
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/* ============================================================================
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* CAN NM Configuration
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* ============================================================================ */
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/* CAN NM parameters */
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#define CAN_NM_TIMEOUT 2000 /* ms */
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#define CAN_NM_REPEAT_TIME 500 /* ms */
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#define CAN_NM_WAIT_BUS_SLEEP 2000 /* ms */
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/* ============================================================================
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* CAN Statistics
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* ============================================================================ */
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/* Enable CAN statistics collection */
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#define CAN_STATS_ENABLED 1
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/* Statistics buffer size */
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#define CAN_STATS_BUFFER_SIZE 100
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#endif /* CAN_CONFIG_H */
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