omnican/Kconfig at main · BitConcepts/omnican · GitHub

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# SPDX-License-Identifier: Apache-2.0
# OmniCAN — Unified multi-protocol CAN stack for Zephyr RTOS
# Copyright (c) 2026 BitConcepts, LLC

menuconfig OMNICAN
	bool "OmniCAN multi-protocol CAN stack"
	depends on CAN
	select NET_BUF
	help
	  Enable OmniCAN — a unified multi-protocol CAN stack for Zephyr.
	  Supports CANopen, CANopen FD, SAE J1939, ISO 14229 (UDS),
	  and SAE J1979 (OBD-II).

if OMNICAN

# ---------------------------------------------------------------------------
# Protocol modules
# ---------------------------------------------------------------------------

config OMNICAN_CANOPEN
	bool "CANopen (CiA 301)"
	default n
	help
	  Enable the CANopen protocol stack (CiA 301).
	  Includes NMT, SDO server, PDO, Emergency, Heartbeat.

config OMNICAN_CANOPEN_FD
	bool "CANopen FD (CiA 1301)"
	depends on OMNICAN_CANOPEN && CAN_FD_MODE
	default n
	help
	  Enable CANopen FD extensions (CiA 1301) on top of CANopen.
	  Requires CAN FD hardware and OMNICAN_CANOPEN.

config OMNICAN_J1939
	bool "SAE J1939"
	select CAN_ACCEPT_RTR
	default n
	help
	  Enable SAE J1939 support: address claiming (J1939/81),
	  PGN routing (J1939/21), and Transport Protocol (J1939/21 TP/ETP).
	  Uses 29-bit extended CAN identifiers.

config OMNICAN_UDS
	bool "ISO 14229 / UDS (Unified Diagnostic Services)"
	depends on ISOTP
	default n
	help
	  Enable ISO 14229 UDS server and client.
	  Core services: 0x10 DiagnosticSessionControl,
	  0x11 ECUReset, 0x22 ReadDataByIdentifier,
	  0x27 SecurityAccess, 0x28 CommunicationControl,
	  0x2E WriteDataByIdentifier, 0x31 RoutineControl,
	  0x34/0x36/0x37 RequestDownload/TransferData/RequestTransferExit,
	  0x3E TesterPresent, 0x85 ControlDTCSetting.
	  Transport: Zephyr ISO-TP (ISO 15765-2).

config OMNICAN_OBD2
	bool "SAE J1979 / OBD-II"
	depends on ISOTP
	default n
	help
	  Enable OBD-II (SAE J1979) PID query/response support.
	  Supports Mode 0x01..0x09. Transport: Zephyr ISO-TP (ISO 15765-4).

# ---------------------------------------------------------------------------
# Core frame router
# ---------------------------------------------------------------------------

config OMNICAN_FRAME_ROUTER
	bool
	default y if (OMNICAN_CANOPEN || OMNICAN_J1939 || OMNICAN_UDS || OMNICAN_OBD2)
	help
	  Internal: enable the CAN frame router when any protocol is active.

# ---------------------------------------------------------------------------
# ISOTP patch (Zephyr #86025 workaround)
# ---------------------------------------------------------------------------

config OMNICAN_ISOTP_PATCH
	bool "Apply Zephyr ISOTP same-ID bind/send workaround"
	depends on ISOTP && (OMNICAN_UDS || OMNICAN_OBD2)
	default y if OMNICAN_UDS || OMNICAN_OBD2
	help
	  Enables the OmniCAN workaround for Zephyr ISOTP issue #86025:
	  cannot bind and transmit on the same CAN ID. Required for
	  standard UDS physical addressing (e.g. 0x7E0/0x7E8).

# ---------------------------------------------------------------------------
# Logging
# ---------------------------------------------------------------------------

module = OMNICAN
module-str = OmniCAN
source "$(ZEPHYR_BASE)/subsys/logging/Kconfig.template.log_config"

endif # OMNICAN