CAN Driver (Can, CanTrcv) Configuration

/* CAN bit timing: fCAN = 80 MHz, target = 500 kbit/s */
/* Bit time = 1/500000 = 2000 ns */
/* Time quantum (tq): fCAN / prescaler = 80 MHz / 4 = 20 MHz -> tq = 50 ns */
/* Total TQs per bit: 2000 ns / 50 ns = 40 TQ */
/* Segment split: SYNC(1) + PROP+SEG1(31) + SEG2(8) = 40 TQ */
/* Sample point: (1+31)/40 = 80% -- automotive standard */

const Can_ControllerConfigType CanControllerConfig[] = {
    {
        .CanControllerId    = CAN_CONTROLLER_0,
        .CanControllerBaudRate = 500u,    /* kbit/s */
        /* Classical CAN bit timing */
        .CanBitTimingConfig = {
            .CanCpuClockRef  = 80000u,    /* kHz - peripheral clock */
            .CanPropSeg      = 15u,       /* propagation segment TQ */
            .CanSeg1         = 16u,       /* phase segment 1 TQ */
            .CanSeg2         = 8u,        /* phase segment 2 TQ */
            .CanSyncJumpWidth= 4u,        /* SJW TQ (resync tolerance) */
            .CanPrescaler    = 4u,        /* CAN clock / 4 = 20 MHz tq clock */
        },
        /* CAN FD data phase: 2 Mbit/s */
        .CanFdBitTimingConfig = {
            .CanFdPropSeg    = 3u,
            .CanFdSeg1       = 4u,
            .CanFdSeg2       = 2u,
            .CanFdSJW        = 1u,
            .CanFdPrescaler  = 4u,        /* 80 MHz / 4 = 20 MHz -> 2 Mbit/s */
        },
        .CanControllerActivation = TRUE,
    },
};

/* Mode control */
void CanController_Start(void)
{
    Can_Init(&CanConfig);
    Can_SetControllerMode(CAN_CONTROLLER_0, CAN_CS_STARTED);
    CanTrcv_SetOpMode(CANTRCV_CHANNEL_0, CANTRCV_TRCVMODE_NORMAL);
}